Ankle and sole system of humanoid robot

Abstract

An ankle and sole system of a humanoid robot comprises a shank skeleton, an ankle and a sole, the tail end of the shank skeleton is movably connected with the sole through the ankle, and the ankle is driven by a driving mechanism; the driving mechanism comprises a driving mechanism A and a driving mechanism B which have the same structure and are mutually independent, and the driving mechanism A and the driving mechanism B are arranged on the two sides of the middle of the shank skeleton respectively. The upper ends of the driving mechanism A and the driving mechanism B are movably connected with the middle part of the shank skeleton, and the lower ends of the driving mechanism A and the driving mechanism B are movably connected with the sole; the relative distance AA between the base end joint ball bearing A and the output end joint ball bearing A and the relative distance BB between the base end joint ball bearing B and the output end joint ball bearing B are regulated and controlled, so that the foot bottom can pitch and roll transversely.

Description

Technical Field

[0001] The invention relates to the field of intelligent robots, and in particular to an ankle and sole system of a humanoid robot, which is used for improving the walking ability and stability of the robot on complex terrain. Background Art

[0002] The design of the ankle and sole directly affects the robot's ability to walk on complex terrain. Through the multi-degree-of-freedom ankle joint and flexible sole design, the robot can better adapt to uneven surfaces such as gravel roads, grass, muddy roads, etc.

[0003] The force sensor installed on the sole of the foot can sense the reaction force of the ground in real time, helping the robot adjust its body posture and maintain balance. By installing sensors on the sole of the foot, stable walking can be achieved in complex environments.

[0004] The design of the ankle and sole draws on the biomechanical characteristics of humans, improving the robot's movement efficiency and flexibility by simulating the way humans walk.

[0005] The multi-degree-of-freedom design of the ankle joint allows the robot to perform complex gait adjustments and achieve movements such as fast walking, turning and jumping.

[0006] Application scenario expansion

[0007] Service robots: In home and medical care scenarios, the design of the ankle and sole enables the robot to walk smoothly in indoor environments without falling and collisions.

[0008] Special operations: In dangerous environments (such as fire and earthquake rescue), robots with high-performance ankles and soles can quickly traverse complex terrain and perform search and rescue missions.

[0009] Technology and Engineering Optimization

[0010] Joint drive solution: The ankle usually uses a rotational or linear drive combined with a torque sensor to achieve high-precision motion control.

[0011] Sensor fusion: The application of force sensors in the ankle and sole provides rich feedback information for the robot's motion control, improving its autonomy and adaptability.

[0012] In summary, the ankle and sole design of humanoid robots not only affects their motion performance, but also plays an important role in complex environment adaptation, service applications and special operations.

[0013] The ankle and sole of a humanoid robot require highly complex mechanical structures and high-precision components to achieve human-like movement capabilities. However, this complexity leads to a significant increase in manufacturing costs. For example, the manufacturing cost of some high-end bionic ankle joints is as high as tens of thousands of yuan, which makes the overall price of humanoid robots high and hinders their popularity in the consumer market.

[0014] Movement of the ankle and soles of the feet consumes a lot of energy, especially when walking on complex terrain or for long periods of time. Current battery technology is unable to meet the needs of such high-intensity movement, resulting in limited endurance of robots. For example, hydraulically driven humanoid robots are powerful but have low energy efficiency, complex systems and difficult maintenance.

[0015] The design of the ankle and sole needs to maintain balance on complex terrain, but current technology still has difficulty in fully simulating the dynamic balance ability of humans. For example, humanoid robots are easily affected by ground unevenness, modeling inaccuracies, and external interference during walking, resulting in insufficient stability. In addition, the ankle joint has weak load-bearing capacity, uneven stiffness, and small working space, which further limits its ability to adapt to complex environments.

[0016] The ankles and soles of humanoid robots require multi-degree-of-freedom designs to achieve flexible movement, but too many degrees of freedom will increase the difficulty of control, thus affecting the robot's motion control performance.

[0017] The materials of the ankle and sole need to have high strength and durability to cope with frequent movements and ground impact. However, current material technology still cannot fully meet these requirements, resulting in insufficient durability of the robot.

[0018] As the functions of humanoid robots increase, their interactions with humans become more frequent, and the design of the ankle and soles of the feet needs to take safety into consideration to avoid causing harm to humans. For example, when performing a task, the robot may lose balance and fall, causing damage to the surrounding people or the environment. Summary of the invention

[0019] In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides an ankle and sole system of a humanoid robot, which specifically adopts the following technical solutions:

[0020] An ankle and sole system of a humanoid robot includes a calf frame, an ankle and a sole, and is characterized in that: the end of the calf frame is movably connected to the sole through the ankle, and the ankle is driven by a driving mechanism; the driving mechanism includes at least two groups of independent driving units, the upper ends of the driving units are movably connected to the middle parts of the calf frame, and the lower ends of the driving units are movably connected to the sole; the ankle includes a rotating base, a pitch axis and a roll axis, the rotating base is movably connected to the calf frame through the roll axis, and the rotating base is movably connected to the sole through the pitch axis; the sole includes a sole plate and a toe plate, the sole plate and the toe plate are movably connected through the toe rotating axis, and at least two limiting bosses are provided on the toe plate for limiting the rotation angle range of the toe plate.

[0021] Preferably, a non-uniform cross-section fastening shaft mounting threaded hole is arranged in the center of the middle part of the calf frame in the normal direction, and non-uniform cross-section support shaft mounting seats are symmetrically arranged on the outer sides of both ends of the non-uniform cross-section fastening shaft mounting threaded hole; bearing mounting seats are symmetrically arranged at the end of the calf frame along the normal direction, and the symmetrical bearing mounting seats are separated by a limiting boss in the middle; and threading holes are also arranged on the calf frame.

[0022] Preferably, the sole includes a sole plate and a toe plate, and the sole plate and the toe plate are movably connected via a toe rotation axis. A drive shaft mounting seat is symmetrically arranged at the rear of the sole plate, and a pitch axis mounting seat and a toe rotation axis mounting seat are symmetrically arranged on both sides. A limiting boss C is arranged at the front end of the sole plate, and a height-variable recess is opened in the middle above the limiting boss C; a semicircular arch is arranged below the sole plate.

[0023] Preferably, the ankle includes a rotating base, a pitch axis and a roll axis; the cross-section of the rotating base is a "U"-shaped structure, the front and rear side walls of the rotating base are symmetrically provided with roll axis mounting seats, and the left and right side walls of the rotating base are symmetrically provided with bearing mounting seats.

[0024] Preferably, the driving mechanism includes two groups of driving mechanisms A and driving mechanisms B with identical structures and independent of each other, and the driving mechanism includes, from top to bottom, a base-end joint bearing, an end cover type force sensor, a planetary ball screw, a planetary ball screw, an extension rod, and an output-end joint bearing; the base-end joint bearing is fixedly installed on the top of the end cover type force sensor A by means of threads, and the end cover type force sensor is fixed to the upper end of the planetary ball screw by means of screws, and a lower end cover is fixed to the lower end of the planetary ball screw, the planetary ball screw passes through the center of the lower end cover and is connected to an extension rod at the end, and the planetary ball screw can be extended and retracted up and down under the drive of the planetary ball screw.

[0025] The present invention also discloses a method for achieving plantar pitch and roll, which is characterized by: adjusting the relative distance "AA" between the base end joint ball bearing A and the output end joint ball bearing A, and the relative distance "BB" between the base end joint ball bearing B and the output end joint ball bearing B, to achieve plantar pitch and roll;

[0026] When the distance between AA and BB becomes shorter or longer at the same time, and the changed distances are equal, the sole of the foot rotates around the pitch axis;

[0027] When the distances between AA and BB are not equal, the sole of the foot can perform rolling motion around the rolling axis.

[0028] The present invention also discloses an ankle and sole system of a humanoid robot in a service robot, wherein the robot comprises the above-mentioned ankle and sole system of the humanoid robot, and is characterized in that the ankle and sole system is used to achieve smooth walking in home and medical care scenarios to avoid falls and collisions.

[0029] Beneficial Effects

[0030] Simple structure and low cost: the present invention reduces the manufacturing cost by using two sets of independent driving units and a simplified structure.

[0031] Strong dynamic performance: the planetary ball screw drive is adopted, which greatly improves the dynamic performance.

[0032] High motion control accuracy: Distributed plantar force sensors are set on the soles of the feet to provide real-time feedback on the size of the plantar force, improving motion control effect and safety.

[0033] Strong adaptability: The toe plate is equipped with a limit boss and a torsion spring to achieve passive freedom and adapt to different terrain changes.

[0034] High durability: composite force blocks and distributed plantar force sensors are used to improve overall durability and service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the ankle and sole assembly of the present invention;

[0036] Figure 2 A rear view of the ankle and sole of the present invention;

[0037] Figure 3 for Figure 2 UU cross-sectional view;

[0038] Figure 4 A side view of the ankle and sole of the present invention;

[0039] Figure 5 for Figure 4 EE cross-sectional view;

[0040] Figure 6 for Figure 4 FF cross-sectional view;

[0041] Figure 7 for Figure 4 DD cross-sectional view;

[0042] In the figure: calf skeleton, 2, base end joint bearing A, 3, end cover type force sensor A, 4, planetary roller screw A, 5, planetary roller screw A, 6, extension rod A, 7, output end joint bearing A, 8 base end joint bearing B, 9, planetary roller screw B, 10, planetary roller screw B, 11, extension rod B, 12, output end joint bearing B, 13, sole plate, 14, toe plate, 15, drive shaft A, 16, support shaft A, 17, drive shaft B, 16, support shaft B, 19, rotating base, 20, roll axis, 21, pitch axis, 22, toe rotation axis, 23, non-uniform cross-section support axis 1A, 24, non-uniform cross-section fastening axis A, 25, locking nut A, 26, anti-loosening washer A, 27, non-uniform cross-section support axis 2A , 28. Plantar force sensor, 29. Composite force block, 30. Plantar rubber A, 31. Plantar rubber B, 32. Plantar rubber C, 33. Angular contact ball bearing A, 34. Fastening screw A, 35. Angular contact ball bearing B, 36. Fastening screw B, 37. Anti-loosening washer B, 38. Angular contact ball bearing C, 39. Fastening screw C, 40. Torsion spring, 41. Limit screw, 1-1. Limiting boss, 13-11. Limiting boss C, 13-2. Semicircular arch, 13-3. Height variable concave platform, 14-1. Limiting boss A, 14-2. Limiting boss B, 14-3. Groove, 15-1. End face of drive shaft A, 23-1. Non-uniform cross-section support shaft A optical axis section, 23-2. Non-uniform cross-section support shaft A threaded section. DETAILED DESCRIPTION

[0043] 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.

[0044] See also Figure 1-7The present invention provides a technical solution: an ankle and sole system of a humanoid robot, including a calf skeleton, an ankle and a sole, the end of the calf skeleton is movably connected to the sole through the ankle, and the ankle is driven by a driving mechanism; the driving mechanism includes two groups of driving mechanisms A and B with the same structure, and the driving mechanisms A and B are respectively arranged on both sides of the middle part of the calf skeleton. The upper ends of the driving mechanisms A and B are movably connected to the middle part of the calf skeleton, and the lower ends of the driving mechanisms A and B are movably connected to the sole.

[0045] A non-uniform cross-section fastening shaft mounting threaded hole is arranged in the center of the middle part of the calf frame in the normal direction, and non-uniform cross-section support shaft mounting seats are symmetrically arranged on the outer sides of the two ends of the non-uniform cross-section fastening shaft mounting threaded hole; bearing mounting seats are symmetrically arranged at the end of the calf frame along the normal direction, and the symmetrical bearing mounting seats are separated by a limiting boss in the middle; the calf frame is also provided with threading holes to facilitate the fixation and bundling of the wiring harness; the sole includes a sole plate and a toe plate, and the sole plate and the toe plate are movably connected through a toe rotation axis, and a drive shaft mounting seat is symmetrically arranged at the rear of the sole plate for installing drive shaft A and drive shaft B; pitch axis mounting seats and toe rotation axis mounting seats are symmetrically arranged on both sides of the sole plate, a limiting boss C is arranged at the front end of the sole plate, and a height-variable recess is opened in the middle above the limiting boss C; the ankle includes a rotating base, a pitch axis and a roll axis.

[0046] Reference Figure 6 The cross section of the rotating base is a "U"-shaped structure, and the front and rear side walls of the rotating base are symmetrically provided with roll shaft mounting seats, and the left and right side walls of the rotating base are symmetrically provided with bearing mounting seats; the end of the calf frame is movably connected with the rotating base through the roll shaft and the angular contact ball bearing B; wherein two angular contact ball bearings B are nested in the bearing mounting seats at the end of the calf frame; the two roll shafts pass through the front and rear side walls of the rotating base respectively, and the roll shaft is a stepped shaft, and the end shaft parts of the two roll shafts are fixedly matched with the inner rings of the two angular contact ball bearings B respectively, and the large end faces of the two roll shafts are fixed to the front and rear side walls of the rotating base respectively by multiple fastening screws B and anti-loosening washers B, and the two roll shafts are symmetrically arranged, and the end faces of the stepped shafts of the two roll shafts are respectively fixed with the inner rings of the two angular contact ball bearings B, and the outer rings of the two angular contact ball bearings B are limited by the limiting boss of the calf frame. The axial movement. The advantage of this is that the outer rings of the two angular contact ball bearings B can share a limiting boss, thereby reducing the axial dimension and the volume of the ankle.

[0047] The middle part of the sole plate is movably connected with the rotating base through a pitch axis and an angular contact ball bearing A; wherein, two angular contact ball bearings A are respectively nested in the bearing mounting seats on the left and right side walls of the rotating base, and two pitch axes respectively pass through the pitch axis mounting seats in the middle of the two side surfaces of the sole plate, and the pitch axis is a stepped axis. After the pitch axis passes through the pitch axis mounting seat of the sole plate, its terminal shaft portion is fixedly matched with the inner ring of the angular contact ball bearing A, and the large end faces of the two pitch axes are respectively locked on the pitch axis mounting seats on both sides of the sole plate by multiple fastening screws A and anti-loosening washers A, and the two pitch axes are symmetrically arranged, and the end faces of the stepped axes of the two pitch axes respectively fix the inner rings of the two angular contact ball bearings A, and the outer rings of the two angular contact ball bearings A are limited by the bearing mounting seat of the rotating base. The angular contact ball bearings A are arranged back to back, which can increase the tolerable overturning moment of the pitch axis.

[0048] A semicircular arch is arranged below the sole plate, and the sole plate adopts a bionic semicircular arch shape, which can well support the force of the sole, so that it can not only reduce weight, but also improve the structural strength and rigidity; the rear end of the toe plate is symmetrically provided with a bearing mounting seat for installing an angular contact ball bearing C, and there are two limiting bosses A and limiting bosses B at a certain angle around the circumferential direction on the toe plate, and two grooves are also provided on the toe plate; the sole plate and the toe plate are movably connected through a toe rotation axis, and the limiting boss C is located between the limiting boss A and the limiting boss B, and the toe plate rotates around the toe rotation axis, and when the upper surface of the limiting boss A contacts the lower surface of the limiting boss C, the toes can be well protected from bending down beyond the limit. When the lower surface of the limiting boss B contacts the upper surface of the limiting boss, the toe plate can be prevented from tilting upward too much. The relative position relationship among the limiting boss A, the limiting boss B and the limiting boss C can be adjusted to a desired angle range, thereby changing the pitch angle range of the toe plate.

[0049] A torsion spring is respectively embedded in the two toe rotation axes to realize the passive freedom and preload state of the toe plate. One end of the torsion spring is stuck in the groove of the toe plate, and the other end is placed on the height-variable concave platform of the sole plate. Limit screws are also provided at the ends of the two toe rotation axes to prevent the axial movement of the torsion spring. By adjusting the height of the height-variable concave platform, the torsion spring can have different preload torques, so that the initial preload force of the toe plate can be adjusted. The toe rotation axis passes through the sole plate, the angular contact ball bearing C and the torsion spring in sequence, and the toe rotation axis is fixed to the sole plate by the fastening screw C. The angular contact ball bearing C is embedded in the toe plate, and the outer ring of the angular contact ball bearing C is fixed by the toe plate, and the inner ring of the angular contact ball bearing C is fixed by the stepped shaft end face of the toe rotation axis.

[0050] There are three distributed plantar force sensors embedded in the bottom of the sole. The composite force block is closely attached to the bottom of the plantar force sensor. The composite force block can improve the sensitivity and accuracy of the plantar force sensor's ground contact feedback; the composite force block is closely attached to the plantar rubber, which can well protect the composite force block and the plantar force sensor, and can play the role of sealing, waterproofing, vibration reduction and wear resistance; the plantar rubber A is located under the toe plate, and it moves with the toe plate to avoid the whole rubber from pulling and damaging each other when the force is uneven, thereby improving the service life; the plantar rubber B and the plantar rubber C are located at the two ends of the semicircular arch, which can not only provide independent protection, but also reduce the force area of ​​the sole plate and increase the recognition sensitivity of the plantar force sensor. Compared with the traditional one-piece plantar material, this solution has a longer service life, better plantar force recognition accuracy, and lower processing difficulty.

[0051] The driving mechanism includes two groups of driving mechanisms A and driving mechanisms B with the same structure, and the driving mechanism includes a base end joint bearing, an end cover type force sensor, a planetary ball screw, a planetary ball screw, an extension rod, and an output end joint bearing in order from top to bottom; the base end joint bearing is fixedly installed on the top of the end cover type force sensor A by means of threads, the end cover type force sensor is fixed to the upper end of the planetary ball screw by means of screws, a lower end cover is fixed to the lower end of the planetary ball screw, the planetary ball screw passes through the center of the lower end cover and is connected to an extension rod at the end, and the planetary ball screw can be extended and retracted up and down under the drive of the planetary ball screw;

[0052] The base end joint ball bearing A of the driving mechanism A and the base end joint ball bearing B of the driving mechanism B are respectively fixed to both sides of the middle part of the calf skeleton through the non-uniform cross-section support shaft 1A, the non-uniform cross-section fastening shaft A, the non-uniform cross-section support shaft 1B, and the non-uniform cross-section fastening shaft B. The output end joint ball bearing A of the driving mechanism A and the output end joint ball bearing B of the driving mechanism B are respectively fixed to the rear end of the sole plate through the non-uniform cross-section support shaft 2A, the driving shaft A, the non-uniform cross-section support shaft 2B, and the driving shaft B.

[0053] Taking the driving mechanism A as an example, the non-uniform cross-section fastening shaft A is a stepped shaft and is provided with a smooth shaft section and a threaded section. The smooth shaft section of the non-uniform cross-section fastening shaft A passes through the base end joint ball bearing A and the non-uniform cross-section support shaft 1A in sequence and is nested in the calf frame, and is locked in the non-uniform cross-section fastening shaft installation threaded hole in the middle of the calf frame by relying on the threaded section at the end of the non-uniform cross-section fastening shaft A; the non-uniform cross-section support shaft A1 adopts a wedge shape, which has the advantage of increasing the rotation angle range of the base end joint ball bearing A on the one hand, and increasing the support stiffness and strength of the non-uniform cross-section fastening shaft A on the other hand, and avoiding deformation and damage. The end cap type force sensor A can provide real-time feedback on the changes in the push and pull force of the planetary roller screw A, and better improve the effect of motion control.

[0054] The end of the planetary roller screw A is connected to an extension rod A, one end of the extension rod A is connected to the planetary roller screw A, and the other end is connected to the output end joint ball bearing A. The function of the extension rod is to avoid the problems of machining difficulty and low coaxiality accuracy caused by the planetary roller screw A being too long, and different lengths of the extension rod A can be used to adjust the angular motion range of the ankle joint.

[0055] The drive shaft A passes through the sole plate, the output end joint ball bearing A, the non-uniform cross-section support shaft A2, and the sole plate in sequence. The end of the drive shaft A is locked and fastened by a locking washer A and a locking nut A, wherein the output end joint ball bearing A is used to limit axial movement through the stepped shaft end face of the drive shaft A and the end face of the non-uniform cross-section support shaft 2A.

[0056] The driving mechanism B has the same structure as the driving mechanism A and is independent of each other. The two are symmetrically arranged on both sides of the calf frame.

[0057] A method for achieving pitch and roll of the ankle joint by using an ankle and sole system of a humanoid robot of the present invention and adjusting the relative distance "AA" between the base end joint ball bearing A and the output end joint ball bearing A, and the relative distance "BB" between the base end joint ball bearing B and the output end joint ball bearing B:

[0058] 1) When the distance between AA and BB becomes shorter or longer at the same time, and the distance of change is equal, the sole plate can rotate around the pitch axis;

[0059] 2) When the distances between AA and BB are not equal, the sole of the foot can roll around the roll axis.

[0060] In this solution, the angular contact ball bearing can be replaced by a deep groove ball bearing, the planetary roller screw can be replaced by another push rod that can realize linear reciprocating motion, and the composite force block and the plantar force sensor can be combined into one to form a force sensor module.

[0061] The advantages of the present invention over the prior art are:

[0062] Simplified structure, reduced cost: The ankle joints in the prior art usually adopt complex multi-degree-of-freedom designs, which make control difficult and manufacturing cost high. However, the present invention realizes a simplified two-degree-of-freedom design (pitch and roll) through two sets of independent drive units, which not only reduces the control complexity, but also greatly reduces the manufacturing cost and improves the market competitiveness.

[0063] Improved durability and recognition accuracy: The existing plantar sensor system usually adopts an integrated design, which has poor durability and is difficult to maintain high accuracy during long-term use. The present invention significantly improves the durability and recognition accuracy of the sensor through the design of distributed plantar force sensors and composite force blocks. The composite force block can effectively disperse the impact force and extend the service life of the sensor. At the same time, the distributed design improves the detection sensitivity and accuracy of the plantar force.

[0064] Enhanced terrain adaptability: The sole of the existing technology usually adopts a rigid design, which is difficult to adapt to complex terrain. The present invention realizes the passive freedom of the toe plate by setting a limit boss and a torsion spring, so that the robot can better adapt to different terrain changes. The cooperation of the limit boss and the torsion spring not only limits the rotation angle range of the toe plate, but also provides a preload force, thereby enhancing the adaptability of the sole to uneven ground.

[0065] Improve energy efficiency: The ankle and sole systems of the prior art consume a lot of energy when walking on complex terrain or for a long time. The present invention significantly improves energy utilization efficiency and extends the robot's endurance through a planetary ball screw drive and optimized structural design.

[0066] Enhanced stability and safety: The present invention can sense the reaction force of the ground in real time through the design of distributed plantar force sensors and composite force blocks, helping the robot to adjust its body posture and maintain balance. In addition, the design of the limit boss and torsion spring prevents the toe plate from rotating excessively, improving the stability and safety of the robot on complex terrain.

[0067] Modular design, easy maintenance: The drive mechanism, sole sensor and other components of the present invention adopt modular design, which is easy to disassemble and maintain. For example, the distributed sole force sensor and the composite force block can be replaced separately, reducing maintenance costs and time.

[0068] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An ankle and sole system of a humanoid robot, comprising a calf skeleton, an ankle and a sole, characterized by: The end of the calf frame is movably connected to the sole of the foot through the ankle, and the ankle is driven by a driving mechanism; the driving mechanism includes at least two groups of independent driving units, the upper end of the driving unit is movably connected to the middle part of the calf frame, and the lower end of the driving unit is movably connected to the sole of the foot; the ankle includes a rotating base, a pitch axis and a roll axis, the rotating base is movably connected to the calf frame through the roll axis, and the rotating base is movably connected to the sole of the foot through the pitch axis; the sole of the foot includes a sole plate and a toe plate, the sole plate and the toe plate are movably connected through a toe rotation axis, and at least two limit bosses are arranged on the toe plate to limit the rotation angle range of the toe plate.

2. The ankle and sole system of a humanoid robot according to claim 1, characterized in that: A non-uniform cross-section fastening shaft mounting threaded hole is arranged in the center of the middle part of the calf frame in the normal direction, and non-uniform cross-section support shaft mounting seats are symmetrically arranged on the outer sides of both ends of the non-uniform cross-section fastening shaft mounting threaded hole; bearing mounting seats are symmetrically arranged at the end of the calf frame along the normal direction, and the symmetrical bearing mounting seats are separated by a limiting boss in the middle; threading holes are also arranged on the calf frame.

3. The ankle and sole system of a humanoid robot according to claim 1, characterized in that: The sole of the foot includes a sole plate and a toe plate, which are movably connected via a toe rotation axis. A drive shaft mounting seat is symmetrically arranged at the rear of the sole plate, and a pitch axis mounting seat and a toe rotation axis mounting seat are symmetrically arranged on both sides. A limiting boss C is arranged at the front end of the sole plate, and a height-variable recess is opened in the middle above the limiting boss C; a semicircular arch is arranged below the sole plate.

4. The ankle and sole system of a humanoid robot according to claim 1, characterized in that: The ankle includes a rotating base, a pitch axis and a roll axis; the cross section of the rotating base is a "U"-shaped structure, the front and rear side walls of the rotating base are symmetrically provided with roll axis mounting seats, and the left and right side walls of the rotating base are symmetrically provided with bearing mounting seats.

5. The ankle and sole system of a humanoid robot according to claim 1, characterized in that: The driving mechanism includes two groups of driving mechanisms A and B with identical structures and independent of each other. The driving mechanism includes, from top to bottom, a base end joint bearing, an end cover type force sensor, a planetary ball screw, a planetary ball screw, an extension rod, and an output end joint bearing; the base end joint bearing is fixedly installed on the top of the end cover type force sensor A through threads, the end cover type force sensor is fixed to the upper end of the planetary ball screw through screws, a lower end cover is fixed to the lower end of the planetary ball screw, the planetary ball screw passes through the center of the lower end cover and is connected to an extension rod at the end, and the planetary ball screw can be extended and retracted up and down under the drive of the planetary ball screw.

6. A method for achieving plantar pitch and roll, based on the ankle and plantar system of a humanoid robot according to any one of claims 1 to 5, characterized in that: 1) Regulate the relative distance "AA" between the base end joint ball bearing A and the output end joint ball bearing A, as well as the relative distance "BB" between the base end joint ball bearing B and the output end joint ball bearing B to achieve the foot pitch and roll; 2) When the distance between AA and BB becomes shorter or longer at the same time, and the distances changed are equal, the sole of the foot rotates around the pitch axis; 3) When the distances between AA and BB are not equal, the sole of the foot can perform rolling motion around the rolling axis.

7. The method according to claim 6, characterized in that: The planetary ball screws of the driving mechanism A and the driving mechanism B are connected to the output end joint bearings through extension rods, and the motion range of the ankle joint can be adjusted by adjusting the length of the extension rods.

8. The method according to claim 6, characterized in that: The rotation angle range of the toe plate is adjusted by the relative position relationship of the limiting boss A, the limiting boss B and the limiting boss C to meet the needs of different terrains.

9. The method according to claim 6, characterized in that: The foot sole force sensor detects the reaction force of the ground in real time, and adjusts the output of the driving mechanism through the control system to achieve dynamic balance of the robot.

10. An ankle and sole system of a humanoid robot serving a robot, the robot comprising the ankle and sole system of a humanoid robot according to any one of claims 1 to 5, characterized in that: The ankle and sole system is used to achieve smooth walking and avoid falls and collisions in home and medical care scenarios.

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