Bionic humanoid robot foot

Abstract

The invention discloses a bionic humanoid robot foot, and relates to the field of robot design. The problem that an existing humanoid robot is not high in walking efficiency due to the fact that foot pedaling force is insufficient is solved. The invention comprises a front sole, a middle foot, a rear foot and a fascia connecting rod mechanism, the middle foot and the fascia connecting rod mechanism are oppositely arranged up and down and are arranged between the front sole and the rear foot, the front sole and the rear foot are connected through the middle foot and the fascia connecting rod mechanism, and a multi-degree-of-freedom supporting connecting rod structure is defined by the middle foot, the fascia connecting rod mechanism, the front sole and the rear foot; when the feet of the humanoid robot touch the ground, the supporting connecting rod structures are stressed to deform, so that the terrain self-adaptive capacity of the feet of the robot is improved; the fascia connecting rod mechanism is of a bendable rod-shaped structure, a limiting assembly is arranged on the fascia connecting rod mechanism, and the limiting assembly can limit bending of the fascia connecting rod mechanism, so that the degree of freedom of the supporting connecting rod structure is reduced, the supporting connecting rod structure becomes rigid, and the treading force of the robot feet is increased in the treading process of the robot feet. The method is mainly used for robot foot design.

Description

Technical Field

[0001] The invention relates to the field of robot design, and in particular to a bionic humanoid robot foot. Background Art

[0002] In recent years, the field of humanoid robots has developed rapidly. Compared with wheeled, multi-rotor robots and other foot-type robots, humanoid robots, with their humanoid appearance, can more easily integrate into human society and replace humans to complete operations, transportation and other tasks. Existing robots have relatively few designs for feet, and generally use a one-stage flat foot. Although this type of robot foot is simple in structure, it is difficult to adapt to complex terrain and the buffering effect is not ideal. There are also three-stage structures, such as the "A humanoid foot mechanical foot for humanoid robots" disclosed in application publication number CN118928586A. Although it can increase the terrain adaptability and has a buffering effect, its ground-pushing force is insufficient, resulting in low walking efficiency of the humanoid robot. Summary of the invention

[0003] In view of this, the present invention provides a bionic humanoid robot foot, which can increase the ground-pushing force of the robot foot to increase the walking efficiency of the humanoid robot.

[0004] In order to solve the above technical problems, the technical solution of the present invention is:

[0005] A bionic humanoid robot foot comprises a forefoot, a midfoot and a hindfoot, and is characterized in that it also comprises a fascia linkage mechanism, wherein the midfoot and the fascia linkage mechanism are arranged opposite to each other up and down, and the two are arranged between the forefoot and the hindfoot, the midfoot and the fascia linkage mechanism both connect the forefoot and the hindfoot, and enclose a support linkage structure with multiple degrees of freedom together with the forefoot and the hindfoot; when the humanoid robot foot touches the ground, the support linkage structure is deformed by force to increase the terrain adaptability of the robot foot; the fascia linkage mechanism is a bendable rod-shaped structure, and a limiting component is arranged on the fascia linkage mechanism, and the limiting component can limit the bending of the fascia linkage mechanism to reduce the degree of freedom of the support linkage structure during the process of the robot foot pushing off the ground, and the support linkage structure becomes rigid to increase the pushing off force of the robot foot.

[0006] On the basis of technical solution 1, the forefoot is provided with a longitudinal connection part and a front support part, the longitudinal connection part is arranged at the top of the front support part, and the front support part can be supported on the ground; the hindfoot is provided with a calf connection part and a rear support part, the calf connection part is arranged at the top of the rear support part, and is used to connect the ankle joint of the robot leg, so that the robot foot can be lifted and swung together with the robot leg, and the rear support part can be supported on the ground; the midfoot is provided with a first connection end and a second connection end, the first connection end of the midfoot is connected to the calf connection part, and forms a foot arch with the calf connection, and the second connection end of the midfoot is rotated The fascia connecting rod mechanism is provided with a first plantar fascia rod and a second plantar fascia rod. Two first plantar fascia rods are provided, and the two first plantar fascia rods are respectively arranged on the left and right sides of the calf connecting part. One end of each first plantar fascia rod is rotatably connected to the calf connecting part, and the other end of each first plantar fascia rod is rotatably connected to one end of the second plantar fascia rod, and the other end of the second plantar fascia rod is rotatably connected to the longitudinal connecting part. The first plantar fascia rod, the second plantar fascia rod, the longitudinal connecting part, the midfoot and the calf connecting part constitute a supporting connecting rod structure.

[0007] On the basis of Technical Solution 2, when the first connection end of the midfoot is fixedly connected to the calf connection portion, the supporting link structure is a four-link structure.

[0008] On the basis of Technical Solution 2, when the first connection end of the midfoot is rotatably connected to the calf connection part, the support link structure is a five-link structure, and an elastic connection part is also provided between the midfoot and the calf connection part. When the forefoot is raised and dorsiflexed, the elastic connection part and the arch of the foot are raised to form an antagonistic effect to increase the stiffness of the support link structure.

[0009] Based on Technical Solution 4, the elastic connector is a spring steel sheet, which is an arched spring steel sheet. One end of the spring steel sheet is fixedly connected to the calf connection part, and the other end is fixedly connected to the midfoot. The arched protrusion of the spring steel sheet extends outward.

[0010] On the basis of Technical Solution 2, a torsion spring is arranged between the second connection end of the midfoot and the longitudinal connection portion, one leg of the torsion spring abuts against the second connection end of the midfoot, and the other leg abuts against the longitudinal connection portion.

[0011] Based on technical solution 2, the limit assembly includes a first limit block and a second limit block, the first limit block is set on the first rod of the plantar fascia, and the second limit block is set on the second rod of the plantar fascia. When the first limit block abuts against the second limit block, the relative flipping of the first rod of the plantar fascia and the second rod of the plantar fascia is limited.

[0012] Based on technical solution 2, the length of the first plantar fascia rod is smaller than the length of the second plantar fascia rod.

[0013] Based on Technical Solution 2, the second plantar fascia rod is an inwardly bent "H"-shaped block structure.

[0014] Based on Technical Solution 2, the midfoot is an "H"-shaped block structure.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The robot foot of the present invention adopts a three-section structure, specifically composed of the forefoot, the supporting connecting rod structure and the hindfoot. The three-section structure is used to imitate the structure of the human foot. The shape of the sole simulates the contact surface curve of the human gait foot, that is, the forefoot and the hindfoot contact the ground, and the middle section is concave inward, which makes it possible for the humanoid robot to achieve a more anthropomorphic and smooth walking gait. When the bionic robot foot is applied to a humanoid robot, the humanoid robot can be more anthropomorphic, more convenient to adapt to the human working environment, and easier to interact with the tools used by humans.

[0017] 2. The supporting link structure of the present invention has multiple degrees of freedom, so when the humanoid robot foot touches the ground, the forefoot and / or the hindfoot are subjected to force, and the supporting link structure passively deforms to a certain extent (after a certain degree of deformation, it becomes rigid), so that the forefoot and the hindfoot can be at different ground heights, so that the forefoot and the hindfoot are both in contact with the ground, can adapt to complex terrain, and increase the terrain adaptability of the foot.

[0018] 3. The supporting link structure of the present invention can adopt a four-link structure or a five-link structure. When the five-link structure is adopted, an elastic connector is provided at the top of the arch of the foot. The elastic connector and the arch of the foot imitate the arch spring mechanism of the human foot, which can absorb part of the impact force of the ground and improve the buffering capacity of the entire robot foot. On the other hand, during the process of the forefoot upturning and dorsiflexion, the supporting link structure is converted from a five-link structure to a four-link structure under the sole capstan mechanism. At the same time, under the antagonistic effect of the restoring force of the elastic connector and the arch of the foot lifting, the arch of the foot is no longer lifted, increasing the stiffness and stability of the supporting link structure, making the robot more powerful when pushing the ground, and improving walking efficiency.

[0019] 4. The present invention arranges a torsion spring between the midfoot and the forefoot. When the forefoot is upturned and dorsiflexed, the torsion spring is compressed and deformed. When the forefoot is lifted off the ground, the torsion spring releases energy, thereby increasing the pushing force between the forefoot and the ground, thereby improving the walking efficiency of the robot foot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are incorporated as part of this application and are used to provide a further understanding of the present invention.

[0021] Figure 1 This is a three-dimensional view of a bionic humanoid robot foot according to the present invention.

[0022] Figure 2 Schematic diagram of the robot foot in the initial state.

[0023] Figure 3 This is a schematic diagram of the robot's foot as a whole supporting the ground.

[0024] Figure 4 This is a schematic diagram of the forefoot pushing off the ground.

[0025] Figure 5 This is a schematic diagram of the robot's foot in the grounded state.

[0026] Explanation of the reference numerals: 1-forefoot; 1-1-longitudinal connecting part; 1-2-front supporting part; 2-midfoot; 2-1-first connecting end; 2-2-second connecting end; 3-hindfoot; 3-1-calf connecting part; 3-2-rear supporting part; 4-1-first rod of plantar fascia; 4-2-second rod of plantar fascia; 5-limiting assembly; 5-1-first limiting block; 5-2-second limiting block; 6-elastic connecting member; 7-torsion spring; 8-pin one; 9-pin two; 10-pin three; 11-pin four; 12-pin five. DETAILED DESCRIPTION

[0027] The present invention is described in detail below in conjunction with specific embodiments.

[0028] Figure 1 FIG. 4 shows a three-dimensional view of a bionic humanoid robot foot of the present embodiment, as shown in FIG. Figure 1As shown, a bionic humanoid robot foot includes a forefoot 1, a midfoot 2, a hindfoot 3 and a fascia linkage mechanism 4, wherein the midfoot 2 and the fascia linkage mechanism 4 are arranged opposite to each other up and down, and the two are arranged between the forefoot 1 and the hindfoot 3, and the midfoot 2 and the fascia linkage mechanism 4 are both connected to the forefoot 1 and the hindfoot 3, and enclose a multi-degree-of-freedom support linkage structure with the forefoot 1 and the hindfoot 3. Specifically, the forefoot 1 is provided with a longitudinal connection part 1-1 and a front support part 1-2, wherein the longitudinal connection part 1-1 is arranged at the rear side of the front support part 1-2 and is made integrally with the front support part 1-2, and the longitudinal connection part 1-1 and the front support part 1-2 form an "L"-shaped structure as a whole, wherein the longitudinal connection part 1-1 is one of the links in the support linkage structure, and the front support part 1-2 is supported on the ground. The hind foot 3 is provided with a calf connection part 3-1 and a rear support part 3-2. The calf connection part 3-1 is arranged on the top of the rear support part 3-2 and is made integrally with the rear support part 3-2. The calf connection part 3-1 is used to connect the ankle joint of the robot leg so that the robot foot can be lifted and swung together with the robot leg. The rear support part 3-2 can be supported on the ground. The front support part 1-2 and the rear support part 3-2 ensure the stability of the humanoid robot when standing. The mid-foot 2 is an "H"-shaped block structure, which is provided with a first connection end 2-1 and a second connection end 2-2. The first connection end 2-1 of the mid-foot 2 is connected to the upper position of the calf connection part 3-1, and the second connection end 2-2 of the mid-foot 2 is connected to the upper position of the longitudinal connection part 1-1 via a pin shaft 5 12, and can rotate around the pin shaft 5 12; it should be noted that the mid-foot 2 and the calf connection part 3-1 form the arch of the robot foot ( Figure 2 The angle between the two is the arch angle, which determines the height of the arch. The smaller the arch angle, the higher the arch. Conversely, the larger the arch angle, the lower the arch. Figures 2 to 5 It can be seen that the fascia linkage mechanism 4 is a bendable rod-shaped structure, which is provided with a first plantar fascia rod 4-1 and a second plantar fascia rod 4-2. Figure 1There are two plantar fascia first rods 4-1, and the plantar fascia second rod 4-2 is an "H"-shaped block structure bent inward in the middle. The plantar fascia second rod 4-2 is longer than the plantar fascia first rod 4-1. The two plantar fascia first rods 4-1 are respectively arranged on both sides of the calf connecting part 3-1. One end of each plantar fascia first rod 4-1 is connected to the calf connecting part 3-1 near the middle through a pin shaft 8 and can rotate around the pin shaft 8. The other end of each plantar fascia first rod 4-1 is connected to one end of the plantar fascia second rod 4-2 through a pin shaft 29 and can rotate around the pin shaft 29. The other end of the second plantar fascia rod 4-2 is connected to the lower position of the longitudinal connection part 1-1 via the pin shaft 3 10, and can rotate around the pin shaft 3 10. After the first plantar fascia rod 4-1 and the second plantar fascia rod 4-2 are connected, the lower surface of the two is higher than the height of the front support part 1-2 and the rear support part 3-2, so as to simulate the shape of the middle depression of the human foot. It can be seen that the first plantar fascia rod 4-1, the second plantar fascia rod 4-2, the longitudinal connection part 1-1, the midfoot 2 and the calf connection part 3-1 constitute a multi-degree-of-freedom support link structure. In other words, the forefoot 1 and the rear foot 3 can be regarded as connected by the support link structure, forming a three-stage structure as a whole, and the imitation of the human foot structure is achieved through the three-stage structure. The sole shape simulates the contact surface curve of the human gait foot, that is, the forefoot 1 and the rear foot 3 contact the ground, and the middle section is concave inward, which provides a possibility for the humanoid robot to achieve a more anthropomorphic and smooth walking gait. Since the supporting link structure has multiple degrees of freedom, when the humanoid robot foot touches the ground, the forefoot 1 and / or the hindfoot 3 are subjected to force, and the supporting link structure passively deforms to a certain extent (after a certain degree of deformation, it becomes rigid), so that the forefoot 1 and the hindfoot 3 can be at different ground heights, so that the forefoot 1 and the hindfoot 3 are both in contact with the ground, can adapt to complex terrain, and increase the terrain adaptability of the foot.

[0029] The fascia linkage mechanism 4 simulates the plantar fascia of a human foot, and the fascia linkage mechanism 4 and the forefoot 1 form a plantar capstan mechanism. Figure 2 FIG. 4 shows a schematic diagram of the robot foot in an initial state. Figure 2 As shown, in the initial state, there is a certain angle between the first plantar fascia rod 4-1 and the second plantar fascia rod 4-2 (equivalent to the plantar fascia of the human foot being in a relaxed state). Figure 3 FIG. 1 shows a schematic diagram of the robot's foot supporting the ground as a whole. Figure 3 As shown, after the humanoid robot foot touches the ground, there is still a certain angle between the first plantar fascia rod 4-1 and the second plantar fascia rod 4-2 (the plantar fascia of the human foot is still in a relaxed state). Figure 4 FIG. 1 shows a schematic diagram of the forefoot 1 pushing off the ground. Figure 4As shown, when the forefoot 1 pushes against the ground and the hindfoot 3 is lifted up with the robot leg, the forefoot 1 gradually tilts upward and dorsiflexes (because the forefoot 1 is supported on the ground and the hindfoot 3 is gradually lifted up with the robot leg, the hindfoot 3 can be regarded as a fixed point, and at this time the forefoot 1 is in an upward state relative to the hindfoot 3). Due to the plantar capstan mechanism, the fascia linkage mechanism 4 begins to be stretched, that is, the angle between the first plantar fascia rod 4-1 and the second plantar fascia rod 4-2 gradually increases under the drive of the forefoot 1. Figure 1 As shown, a limiting assembly 5 is provided on the fascia linkage mechanism 4, and the limiting assembly 5 includes a first limiting block 5-1 and a second limiting block 5-2. The first limiting block 5-1 is provided at one end of the first plantar fascia rod 4-1 close to the second plantar fascia rod 4-2, and the second limiting block 5-2 is provided at one end of the second plantar fascia rod 4-2 close to the first plantar fascia rod 4-1. When the first plantar fascia rod 4-1 and the second plantar fascia rod 4-2 are stretched to be collinear, the first limiting block 5-1 abuts against the second limiting block 5-2 (by Figure 3 Status shown to Figure 4 The robot leg 1 is in the state shown in the figure), so that the first plantar fascia rod 4-1 cannot continue to rotate with the upward tilt of the forefoot 1. In other words, the limit assembly 5 limits the deformation of the fascia link mechanism 4. The first plantar fascia rod 4-1 and the second plantar fascia rod 4-2 can be regarded as two links becoming one link, thereby reducing the degree of freedom of the support link structure. The forefoot 1 continues to tilt upward (the hindfoot 3 continues to lift with the robot leg) until the support link structure no longer deforms, which is equivalent to becoming a rigid link structure. The robot leg applies a pushing force to the forefoot 1 through the support link structure. The pushing force will not be lost, which can make the robot foot push more powerfully, increase the friction between the robot foot and the ground, and thus improve walking efficiency.

[0030] It can be seen that the forefoot 1 and the rear foot 3 are connected via a multi-degree-of-freedom support-link structure, which can realize the ground adaptability of the foot. Under the limitation of the limit assembly 5, the degrees of freedom of the support-link structure can be reduced, so that the stiffness of the support-link structure is increased, thereby improving walking efficiency.

[0031] When the first connection end 2-1 of the midfoot 2 is fixedly connected to the calf connection part 3-1, the midfoot 2 and the calf connection part 3-1 can be regarded as a bent connecting rod, then the supporting connecting rod structure is a four-link structure, and the arch angle between the midfoot 2 and the calf connection part 3-1 is a fixed angle, that is, the arch height of the robot foot is fixed. When the forefoot 1 is tilted up to a certain angle, the first plantar fascia rod 4-1 and the second plantar fascia rod 4-2 reach the limit position (the first limit block 5-1 abuts against the second limit block 5-2) and no longer bend, at this time the supporting connecting rod structure changes from a four-link structure to a three-link structure, that is, a stable triangular structure is formed, the supporting connecting rod structure has a large rigidity, which can make the robot more powerful when pushing off the ground and improve walking efficiency.

[0032] When the supporting link structure is a four-link structure, the arch height of the robot foot remains unchanged, resulting in a weaker buffering ability between the robot foot and the ground. At the same time, the fixed arch angle also limits the range of the height difference between the front support part 1-2 and the rear support part 3-2, affecting the terrain adaptability. To this end, the midfoot 2 and the calf connection part 3-1 of this embodiment are hinged to increase the number of links and degrees of freedom of the supporting link structure. At the same time, an elastic connector 6 is provided between the midfoot 2 and the calf connection part 3-1. The elastic connector 6 can not only realize the reset of the midfoot 2, but also antagonize the arch lifting to increase the rigidity and stability of the supporting link structure. Specifically, the first connection end 2-1 of the midfoot 2 is connected to the calf connection part 3-1 via the pin shaft four 11 and can rotate around the pin shaft four 11. Therefore, the midfoot 2 and the calf connection part 3-1 are two connecting rods in the support connecting rod structure. Compared with the fixed connection between the two, the number of connecting rods and the degree of freedom of the support connecting rod structure are increased. At this time, the support connecting rod structure is a five-link structure. As is well known, the five-link structure has better deformation ability than the four-link structure. Therefore, the use of the five-link structure can increase the range of the height difference between the front support part 1-2 and the rear support part 3-2, which can further increase the terrain adaptability of the robot foot.

[0033] In addition, the hinge connection between the midfoot 2 and the calf connection 3-1 makes the arch angle variable, that is, the arch height of the robot foot is variable. The elastic connector 6, the midfoot 2 and the calf connection 3-1 imitate the arch spring mechanism of the human body. The elastic connector 6 is preferably an arch spring steel sheet, which is arranged above the midfoot 2 and the calf connection 3-1, one end of which is fixedly connected to the calf connection 3-1, and the other end is fixedly connected to the midfoot 2, and the arch spring steel sheet is bent outward. Figure 2 As shown, in the initial state, the front support part 1-2 is lower than the rear support part 3-2. When the robot foot lands, the forefoot 1 contacts the ground first, and the spring steel sheet absorbs part of the impact force of the ground through bending deformation, thereby improving the buffering capacity of the entire robot foot. Figure 3As shown in FIG. 1 , when the robot foot as a whole is supported on the ground (the front support part 1-2 and the rear support part 3-2 are both supported on the ground) and starts to bear weight, Figures 2 to 3 It can be seen that the forefoot 1 and / or the rear foot 3 are lifted by the support force of the ground, the arch angle becomes larger, that is, the arch is lowered, and the elastic connector 6 is further deformed and stores energy. In this process, the robot foot has a longer impact contact time with the ground, thereby reducing the impact force and playing a buffering role again. Figure 4 As shown, between the end of the stance phase and the beginning of the swing phase, the forefoot 1 gradually rises and dorsiflexes, and the first plantar fascia rod 4-1 and the second plantar fascia rod 4-2 are gradually stretched and reach the limit position (the first limit block 5-1 abuts against the second limit block 5-2), that is, Figure 3 The state shown transitions to Figure 4 In the state shown, the supporting link structure changes from a five-link structure to a four-link structure, and at the same time, the arch angle gradually decreases, the arch is raised, the elastic connecting member 6 bends inward and deforms, the forefoot 1 continues to be upturned and dorsiflexed, the arch continues to be lifted, and the deformation degree of the elastic connecting member 6 increases. When the restoring force of the elastic connecting member 6 antagonizes the lifting of the arch, the arch cannot continue to be lifted. In other words, no rotation can occur between the midfoot 2 and the calf connection 3-1, and the supporting link structure changes from a four-link structure to a three-link structure. At this time, the stiffness of the supporting link structure is the largest, which makes the robot's foot push against the ground with greater force and improves walking efficiency.

[0034] In order to further increase the ground pushing force of the robot foot, Figure 1 As shown, in this embodiment, a torsion spring 7 is arranged between the second connection end 2-2 of the midfoot 2 and the longitudinal connection part 1-1. The torsion spring 7 is sleeved on the pin shaft 5 12. One of the legs of the torsion spring 7 abuts against the second connection end 2-2 of the midfoot 2, and the other leg abuts against the longitudinal connection part 1-1. When the forefoot 1 is upturned and dorsiflexed, the angle between the midfoot 2 and the longitudinal connection part 1-1 gradually increases, so the torsion spring 7 is compressed and deformed. In the process of the forefoot 1 being lifted off the ground, the torsion spring 7 releases energy, thereby increasing the ground pushing force between the forefoot 1 and the ground, and improving the walking efficiency of the robot foot. At the same time, at the end of the support phase, when the humanoid robot begins to lift its foot, the elastic steel sheet begins to rebound, and the energy released during the rebound process can provide power for the forward propulsion of the body movement, thereby improving the walking efficiency.

[0035] In this embodiment, a connection hole may be reserved at the top of the hind foot 3 for connecting the six-dimensional force sensor to the ankle joint. At the same time, the shape of the hind foot 3 refers to the contact surface curve of the human gait foot, which is conducive to the humanoid robot to achieve a human-like gait.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. A bionic humanoid robot foot, comprising a forefoot, a midfoot and a hindfoot, characterized in that: It also includes a fascia linkage mechanism, the midfoot and the fascia linkage mechanism are arranged opposite to each other up and down, and the two are arranged between the forefoot and the hindfoot, the midfoot and the fascia linkage mechanism are both connected to the forefoot and the hindfoot, and enclose the forefoot and the hindfoot to form a multi-degree-of-freedom support linkage structure; When the humanoid robot's foot touches the ground, the support-link structure is deformed under force to increase the robot's foot's ability to adapt to terrain; the fascia-link mechanism is a bendable rod-shaped structure, and a limit assembly is provided on the fascia-link mechanism, which can limit the bending of the fascia-link mechanism to reduce the degree of freedom of the support-link structure during the robot's foot pushing off the ground, and the support-link structure becomes rigid to increase the robot's foot's pushing off the ground force.

2. A bionic humanoid robot foot according to claim 1, characterized in that: The forefoot is provided with a longitudinal connection part and a front support part, the longitudinal connection part is arranged at the top of the front support part, and the front support part can be supported on the ground; the hindfoot is provided with a calf connection part and a rear support part, the calf connection part is arranged at the top of the rear support part, and is used to connect the ankle joint of the robot leg, so that the robot foot can be lifted and swung together with the robot leg, and the rear support part can be supported on the ground; the midfoot is provided with a first connection end and a second connection end, the first connection end of the midfoot is connected to the calf connection part, and forms a foot arch with the calf connection part, and the second connection end of the midfoot is rotatably connected to the longitudinal The fascia connecting rod mechanism is provided with a first plantar fascia rod and a second plantar fascia rod, two first plantar fascia rods are provided, and the two first plantar fascia rods are respectively arranged on the left and right sides of the calf connecting part, one end of each first plantar fascia rod is rotatably connected to the calf connecting part, the other end of each first plantar fascia rod is rotatably connected to one end of the second plantar fascia rod, and the other end of the second plantar fascia rod is rotatably connected to the longitudinal connecting part; the first plantar fascia rod, the second plantar fascia rod, the longitudinal connecting part, the midfoot and the calf connecting part constitute a supporting connecting rod structure.

3. The bionic humanoid robot foot according to claim 2, characterized in that: When the first connection end of the midfoot is fixedly connected to the calf connection portion, the support link structure is a four-link structure.

4. The bionic humanoid robot foot according to claim 2, characterized in that: When the first connection end of the midfoot is rotatably connected to the calf connection part, the support link structure is a five-link structure, and an elastic connection part is also provided between the midfoot and the calf connection part. When the forefoot is lifted and dorsiflexed, the elastic connection part and the arch of the foot are lifted to form an antagonistic effect to increase the stiffness of the support link structure.

5. The bionic humanoid robot foot according to claim 4, characterized in that: The elastic connecting piece is a spring steel sheet, which is an arched spring steel sheet. One end of the spring steel sheet is fixedly connected to the calf connecting part, and the other end is fixedly connected to the midfoot. The arched protrusion of the spring steel sheet extends outward.

6. The bionic humanoid robot foot according to claim 2, characterized in that: A torsion spring is arranged between the second connection end of the midfoot and the longitudinal connection portion, one leg of the torsion spring abuts against the second connection end of the midfoot, and the other leg abuts against the longitudinal connection portion.

7. The bionic humanoid robot foot according to claim 2, characterized in that: The limiting assembly includes a first limiting block and a second limiting block. The first limiting block is arranged on the first rod of the plantar fascia, and the second limiting block is arranged on the second rod of the plantar fascia. When the first limiting block abuts against the second limiting block, the relative flipping of the first rod of the plantar fascia and the second rod of the plantar fascia is limited.

8. The bionic humanoid robot foot according to claim 2, characterized in that: The length of the first rod of the plantar fascia is shorter than the length of the second rod of the plantar fascia.

9. The bionic humanoid robot foot according to claim 2, characterized in that: The second rod of the plantar fascia is an "H"-shaped block structure that bends inward.

10. The bionic humanoid robot foot according to claim 2, characterized in that: The midfoot is an "H" shaped block.

Images