Humanoid mechanical foot and humanoid robot

Abstract

The invention discloses a humanoid mechanical foot which comprises an ankle, a main supporting assembly, a heel, an instep, toes, an arch and a force sensor. The ankle capable of axially rotating in multiple directions is connected with the top end of the force sensor, and the bottom end of the force sensor is connected with the first end of the main supporting assembly. A heel main body of the heel is rotationally connected with the second end of the main supporting assembly, and the heel main body is elastically connected with the main supporting assembly; the instep main body of the instep is rotationally connected with the third end of the main supporting assembly, and the instep main body is elastically connected with the main supporting assembly; the instep main body is elastically connected with toes; the arch is of a curved elastic structure, and the two ends of the arch are connected with the heel body and the instep body respectively. The invention further discloses the humanoid robot. The device has the beneficial effects that through coordinated work of a plurality of components, adaptability to different ground types is achieved, impact force is effectively absorbed, and vibration generated when the device falls to the ground is relieved.

Description

Technical Field

[0001] The present invention relates to a robot, and more particularly to a foot structure of a robot. Background Art

[0002] Most of the existing humanoid robots currently use flat feet and do not have foot-ground contact sensors. At the same time, since the control algorithm often assumes that the foot-ground contact is point contact, the foot posture remains unchanged, and the body height remains unchanged, the walking gaits of current humanoid robots mostly exhibit the characteristics of knee bending, continuous stepping, and the sole always remaining horizontal with the ground. Although this reduces the difficulty of control and mechanical design and reduces the manufacturing cost, the knee bending causes the knee joint motor of the robot to always be in a state of bearing a high load, and the continuous stepping also greatly increases the energy consumption of the robot. At the same time, this unnatural gait is not friendly enough during human-robot interaction, with high noise and the possibility of accidental touch and injury to humans. Although some robot foot structures have been designed bionically, they have not effectively simulated the complete process of the human foot contacting the ground, especially in terms of the ability to absorb ground impact and vibration during walking, there are significant deficiencies.

[0003] The human foot exhibits complex biomechanical characteristics during walking, including functions such as dynamic contact with the ground, shock absorption, and energy conversion. These characteristics provide important reference bases for the design of robot feet. However, the existing robot foot designs are mostly limited to the bionics of the structure and have not fully simulated the dynamic functional characteristics of the human foot, resulting in problems such as poor stability, low energy efficiency, and insufficient shock absorption ability during walking.

[0004] The information disclosed in this background art section is only intended to enhance the overall understanding of the present invention and should not be regarded as an admission or any form of suggestion that this information has constituted the prior art known to those of ordinary skill in the art. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: how to solve the problem that the current humanoid robot foot cannot fully absorb the impact and vibration on the ground during walking, resulting in...

[0006] The present invention realizes the solution to the above technical problem through the following technical means:

[0007] Anthropomorphic foot-like robotic foot, comprising an ankle, a main support component, a heel, a dorsal surface of the foot, toes, an arch of the foot, and a force sensor; the ankle capable of multi-directional axial rotation is connected to the top end of the force sensor, and the bottom end of the force sensor is connected to the first end of the main support component; the heel body of the heel is rotatably connected to the second end of the main support component, and the heel body is elastically connected to the main support component; the dorsal surface body of the dorsal surface of the foot is rotatably connected to the third end of the main support component, and the dorsal surface body is elastically connected to the main support component; the dorsal surface body is elastically connected to the toes; the arch of the foot is a curved elastic structure, and the two ends of the arch of the foot are respectively connected to the heel body and the dorsal surface body.

[0008] The anthropomorphic foot-like robotic foot of the present invention realizes the adaptability to different ground types through the coordinated work of multiple components. When the heel touches the ground, the angle is adjusted through a connecting rod and a rotating shaft, and at the same time, the elastic element effectively absorbs the impact force and reduces the vibration generated during landing. When the sole of the foot is fully in contact with the ground, the metatarsophalangeal joint and the elastic element work together to absorb the pressure when the sole of the foot touches the ground and reduce the load borne by the robot. The arch of the foot further absorbs the impact force through the elastic element and stores it, ready to be released in the next movement. The toes provide assistance through the elastic element, absorb energy when the toes bend, and release energy when the toes leave the ground, thereby helping the robot to complete the step conversion more effectively.

[0009] The data of the force sensor is fed back to the humanoid robot, which can help the humanoid robot adjust the foot angle and force application method under different ground conditions, so as to ensure stability and a comfortable gait.

[0010] Preferably, the ankle comprises a cross support structure, an upper connecting frame, and a lower connecting frame; the cross support structure is a symmetric structure, and the cross support structure comprises four mounting shafts, wherein a pair of opposite mounting shafts are rotatably connected to the two ends of the upper connecting frame, and the other pair of opposite mounting shafts are rotatably connected to the two ends of the lower connecting frame.

[0011] Preferably, the main support component comprises an annular mounting block, a main support frame, a first mounting shaft, and a second mounting shaft; the top surface of the main support frame is connected to the annular mounting block, the top surface of the annular mounting block is connected to the force sensor, one end of the main support frame is connected to the second elastic plate of the dorsal surface of the foot, and the other end of the main support frame is connected to the first elastic plate of the heel; the bottom of the main support frame extends downward to form a plurality of connecting feet, one end of the first mounting shaft is rotatably connected to the connecting foot of the main support frame close to the dorsal surface of the foot, and the other end of the first mounting shaft is connected to the dorsal surface body; one end of the second mounting shaft is rotatably connected to the connecting foot of the main support frame close to the heel, and the other end of the second mounting shaft is connected to the heel body.

[0012] Preferably, one end of the top surface of the main support frame close to the instep slopes downward to form a first mounting surface, and the second elastic plate of the instep is connected to the first mounting surface of the main support frame; the end face of the main support frame away from the instep is the second mounting surface, and the first elastic plate of the heel is connected to the second mounting surface of the main support frame.

[0013] Preferably, the heel includes a heel body, a first elastic plate, a third mounting shaft, and a heel connecting rod; one side of the top end of the heel body is connected to one end of the first elastic plate, the other end of the first elastic plate is connected to one side of the bottom end of the main support assembly, the other side of the heel body is rotatably connected to the third mounting shaft, one end of the heel connecting rod is connected to the third mounting shaft, and the other end of the heel connecting rod is connected to the bottom end of the main support assembly; the bottom surface of the heel body is connected to one end of the arch of the foot.

[0014] The design of the heel can effectively absorb the impact force generated when the robot's foot touches the ground. When the heel touches the ground, the heel rotates along the second mounting shaft on the main support assembly through the heel connecting rod. The design of the second mounting shaft allows the movement of the heel to change flexibly to adapt to different ground types. The rotation of the heel is blocked by the first elastic plate, and the presence of the first elastic plate can effectively absorb the impact force at the moment when the heel lands. In this way, when the robot lands, the pressure on the foot and other joints can be reduced, the impact on the robot can be minimized, and the walking stability can be improved.

[0015] Preferably, the instep includes an instep main body, a fourth mounting shaft, an instep connecting rod, and a second elastic plate. The top surface of the instep main body is connected to one end of the second elastic plate, and the other end of the second elastic band is connected to the main support assembly; one side of the instep main body close to the main support frame is connected to the fourth mounting shaft, the fourth mounting shaft is connected to one end of the instep connecting rod, and the other end of the instep connecting rod is connected to the main support assembly; both the instep connecting rod and the second elastic plate are arranged obliquely.

[0016] Preferably, there are two insteps and two toes, and the insteps correspondingly connect to the toes.

[0017] When the sole of the foot is in full contact with the ground, the metatarsophalangeal joint of the instep is connected to the main support assembly through the instep connecting rod and the second elastic plate, and the metatarsophalangeal joint rotates around the first mounting shaft on the main support assembly through the instep connecting rod. The movement of the metatarsophalangeal joint can adjust the angle between the instep and the ground, help the foot fit the ground better, and at the same time reduce the pressure generated by contacting the ground. The second elastic plate blocks the rotation of the metatarsophalangeal joint, can absorb the pressure generated when the human foot lands, and prevent the pressure from being transmitted excessively to other parts of the robot. At the same time, the second elastic plate can automatically adjust its suction effect according to the ground change to provide better shock absorption.

[0018] Preferably, the toe includes a toe main body and a third elastic member. The toe main body is connected to one end of the third elastic member, and the other end of the third elastic member is connected to the instep main body.

[0019] The toes are connected to the instep through a third elastic member. The third elastic member can absorb energy when the toes bend, and when the toes leave the ground, the absorbed energy will be released, thus playing a boosting role. The design of connecting the toe body to the third elastic member can absorb the impact force from the ground when the toe body bends, and at the same time store this energy to provide assistance for the next foot movement. The energy generated by the bending of the toe body is stored in the third elastic member. When the toes leave the ground, the third elastic member will release the stored energy to help the toes quickly recover and provide a driving force to promote the smoothness of the gait.

[0020] The third elastic member 52 is made of a material with high elasticity and durability, such as rubber or polymer. These materials can effectively absorb and store a large amount of energy, and at the same time provide the necessary elastic rebound force to release the stored energy at the appropriate time.

[0021] Preferably, the middle part of the arch is curved. One end of the arch includes two mounting ends, and the two mounting ends are respectively connected to the toe bodies of the toes; the other end of the arch includes a mounting end, and this mounting end is connected to the heel body.

[0022] The middle part of the arch is curved, simulating the shape of the human arch. The shape of the arch gives it elasticity, which can absorb the impact force when the sole touches the ground and store it. When the sole touches the ground, the arch absorbs the impact force on the sole. The arch deforms during the contact process to absorb the vibration and pressure generated when the sole collides with the ground. This energy absorption mechanism ensures the smooth walking of the robot and reduces the negative impact of ground impact on the overall structure of the robot. While storing the impact force, the arch can also release energy to assist the next step of walking and provide more efficient motion output.

[0023] The present invention also discloses a humanoid robot, including the humanoid foot mechanical foot described above.

[0024] The advantages of the present invention are as follows:

[0025] Through the coordinated work of multiple components, the humanoid foot mechanical foot of the present invention realizes the adaptability to different ground types. When the heel touches the ground, the angle is adjusted through the connecting rod and the rotating shaft, and at the same time the elastic element effectively absorbs the impact force and reduces the vibration generated when landing. When the sole completely touches the ground, the metatarsophalangeal joint and the elastic element work together to absorb the pressure when the sole touches, reducing the load borne by the robot. The arch further absorbs the impact force through the elastic element and stores it, preparing to release it in the next movement. The toes provide assistance through the elastic element, absorb energy when the toes bend, and release energy when the toes leave the ground, thus helping the robot to complete the step conversion more effectively. Description of the Drawings

[0026] Figure 1 It is a schematic structural diagram of the humanoid-foot imitating mechanical foot according to an embodiment of the present invention;

[0027] Figure 2 It is a schematic structural diagram of the humanoid-foot imitating mechanical foot according to an embodiment of the present invention;

[0028] Figure 3 It is a schematic structural diagram of the humanoid-foot imitating mechanical foot according to an embodiment of the present invention;

[0029] Figure 4 It is a schematic structural diagram of the humanoid-foot imitating mechanical foot according to an embodiment of the present invention;

[0030] Figure 5 It is an exploded schematic diagram of the ankle according to an embodiment of the present invention;

[0031] Figure 6 It is a schematic structural diagram of the ankle according to an embodiment of the present invention;

[0032] Figure 7 It is a sectional view of the ankle according to an embodiment of the present invention;

[0033] Figure 8 It is a schematic structural diagram of the main support component according to an embodiment of the present invention;

[0034] Figure 9 It is a schematic structural diagram of the main support component according to an embodiment of the present invention;

[0035] Figure 10 It is a front view of the main support component according to an embodiment of the present invention;

[0036] Figure 11 It is Figure 10 a sectional view taken along line A-A in

[0037] Figure 12 It is a front view of the heel according to an embodiment of the present invention;

[0038] Figure 13 It is a perspective view of the heel according to an embodiment of the present invention;

[0039] Figure 14 It is an exploded view of the heel according to an embodiment of the present invention;

[0040] Figure 15 It is an exploded view of the heel according to an embodiment of the present invention;

[0041] Figure 16 It is a schematic structural diagram of the heel body according to an embodiment of the present invention;

[0042] Figure 17 It is a front view of the instep according to an embodiment of the present invention;

[0043] Figure 18It is a schematic structural diagram of the instep in an embodiment of the present invention;

[0044] Figure 19 It is a schematic structural diagram of the instep in an embodiment of the present invention;

[0045] Figure 20 It is an exploded view of the instep in an embodiment of the present invention;

[0046] Figure 21 It is a front view of the toes in an embodiment of the present invention;

[0047] Figure 22 It is a schematic structural diagram of the toes in an embodiment of the present invention;

[0048] Figure 23 It is an exploded view of the toes in an embodiment of the present invention;

[0049] Figure 24 It is a schematic structural diagram of the arch in an embodiment of the present invention;

[0050] Figure 25 It is a front view of the arch in an embodiment of the present invention;

[0051] Reference numerals in the figure:

[0052] 1. Ankle; 11. Cross support structure; 12. Upper connecting frame; 13. Lower connecting frame; 14. Locking rod;

[0053] 2. Main support assembly; 21. Ring-shaped mounting block; 22. Main support frame; 221. First mounting surface; 222. Second mounting surface; 23. First mounting shaft; 24. Second mounting shaft;

[0054] 3. Heel; 31. Heel body; 311. Third mounting surface; 312. Fourth mounting surface; 32. First elastic plate; 33. Third mounting shaft; 34. Heel connecting rod;

[0055] 4. Instep; 41. Instep main body; 411. Fifth mounting surface; 412. Sixth mounting surface; 413. Seventh mounting surface; 42. Fourth mounting shaft; 43. Instep connecting rod; 44. Second elastic plate;

[0056] 5. Toes; 51. Toe main body; 511. Eighth mounting surface; 52. Third elastic member; 6. Arch; 7. Force sensor. Detailed implementation manners

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0058] Embodiment 1:

[0059] As Figures 1 - 4 shown, the humanoid foot mechanical foot includes an ankle 1, a main support component 2, a heel 3, a dorsal foot 4, toes 5, an arch 6, and a force sensor 7; the first end of the main support component 2 is connected to the ankle 1, and the ankle 1 can perform axial rotation in the left-right, front-back directions; the second end of the main support component 2 is rotatably connected to the heel 3 and is elastically connected, the third end of the main support component 2 is rotatably connected to the dorsal foot 4 and is elastically connected, the other end of the dorsal foot 4 is elastically connected to the toes 5, and the arch 6 is respectively connected to the bottom of the dorsal foot 4 and the bottom of the heel 3; the force sensor 7 is connected between the first end of the main support component 2 and the ankle 1.

[0060] Specifically, as Figure 5 , Figure 6 , Figure 7 shown, the ankle 1 includes a cross support structure 11, an upper connection frame 12, and a lower connection frame 13; the cross support structure 11 is a symmetric structure, and the cross support structure 11 includes four mounting shafts, each mounting shaft is a cylindrical rod, and one pair of opposite mounting shafts is rotatably connected to both ends of the upper connection frame 12 through bearings, and the other pair of opposite mounting shafts is rotatably connected to both ends of the lower connection frame 13 through bearings. The upper connection frame 12 is in the shape of a concave block, and the downward extensions at both ends of the concave block are connected to the mounting shafts of the cross support structure 11 through bearings. The lower connection frame 13 is also in the shape of a concave block, and the upward extensions at both ends of the concave block are connected to the mounting shafts of the cross support structure 11 through bearings. The upper connection frame 12 and the lower connection frame 13 are vertically distributed in space.

[0061] The four mounting shafts of the cross support structure 11 are hollow rods, and the outside of the upper connection frame 12 and the lower connection frame 13 is connected to the inner ring of the bearing through a locking rod 14 passing through the bearing, and the locking rod 14 is connected to the hollow rod of the cross support structure 11, thereby realizing the connection between the upper connection frame 12, the lower connection frame 13, and the cross support structure 11.

[0062] The middle part of the lower connecting frame 13 is a circular plate for connecting with the force sensor 7. The force sensor 7 is arranged at the part where the ankle 1 is connected to the main support assembly 2, and can accurately sense the pressure change generated when the foot contacts the ground. The data feedback of the force sensor 7 can help the robot adjust the foot angle and force application mode under different ground conditions, so as to ensure stability and comfortable gait. The function of the force sensor 7 is to monitor the contact situation between the foot and the ground in real time and obtain the foot force data. These data will be transmitted to the robot control system in real time. The robot control system automatically adjusts the foot posture according to the information fed back by the sensor to cope with different ground conditions or gait changes. An existing control system can be adopted for this part.

[0063] As Figure 8 , Figure 9 , Figure 10 , Figure 11 shown, the main support assembly 2 includes an annular mounting block 21, a main support frame 22, a first mounting shaft 23, and a second mounting shaft 24; the top surface of the main support frame 22 is connected to the annular mounting block 21, and the top surface of the annular mounting block 21 is used for connecting with the force sensor 7. One end of the top surface of the main support frame 22 close to the instep 4 is inclined downward to form a first mounting surface 221. A plurality of bolt holes are formed on the first mounting surface 221. The second elastic plate 44 of the instep 4 is connected to the first mounting surface 221 of the main support frame 22 through a plurality of bolt holes. The end surface of the main support frame 22 away from the instep 4 is a vertical surface, which is the second mounting surface 222. A plurality of bolt holes are formed on the second mounting surface 222. The first elastic plate 32 of the heel 3 is connected to the second mounting surface 222 of the main support frame 22 through a plurality of bolt holes. The bottom of the main support frame 22 extends downward to form a plurality of connecting feet. The first mounting shaft 23 is rotatably connected to the connecting feet close to the first mounting surface 221, and the second mounting shaft 24 is rotatably connected to the connecting feet close to the second mounting surface 222. Among them, the first mounting shaft 23 is used for connecting with the instep 4, and the second mounting shaft 24 is used for connecting with the heel 3.

[0064] In this embodiment, the first mounting surface 221 is arranged obliquely, and the second mounting surface 222 is arranged vertically, so that the instep 4 is also inclined at a certain angle approximately, and the heel 3 is inclined backward and tends to be arranged vertically, simulating the structure of the human foot.

[0065] In this embodiment, there are two first mounting shafts 23. Correspondingly, the bottom of the main support frame 22 close to the first mounting surface 221 is provided with four connecting feet. The four connecting feet are grouped in pairs. Both ends of the first mounting shaft 23 are rotatably connected to the connecting feet through bearings. Specifically, as Figure 11As shown, the first mounting shaft 23 can be composed of a T-shaped rod and a connecting screw. The outer wall of the T-shaped rod passes through the bearings in the two connecting feet and is fixedly connected thereto. A threaded hole is provided at one end of the T-shaped rod, and the connecting screw is threadedly connected to the threaded hole of the T-shaped rod. The second mounting shaft 24 can be referred to the first mounting shaft 23. Two connecting feet are provided at the bottom of the main support frame 22 close to the second mounting surface 222, and the two connecting feet are used to connect with the second mounting shaft 24. In this embodiment, the second mounting shaft 24 is arranged centrally along the vertical symmetry plane, and the two first mounting shafts 23 are symmetrically arranged along the vertical symmetry plane.

[0066] In addition to the above structure, the main support frame 22 can also be provided with some weight-reducing holes or grooves to achieve light weight.

[0067] As Figure 12 , Figure 13 , Figure 14 , Figure 15 As shown, the heel 3 includes a heel body 31, a first elastic plate 32, a third mounting shaft 33, and a heel link 34; the heel body 31 is a block structure, and the shape of the heel body 31 imitates the human heel. As Figure 12 shown, the lower right corner of the heel body 31 is an arc structure with a roughly right angle. At the top right side of the heel body 31, there is a third mounting surface 311, and the third mounting surface 311 includes a plurality of threaded holes, and the third mounting surface 311 is used to connect with one end of the first elastic plate 32. A notch is provided at the left end of the heel body 31, and the notch is used to accommodate the heel link 34. Through holes are provided on both sides of the notch, and bearings are installed in the through holes. Both ends of the third mounting shaft 33 are connected to the bearings, and the third mounting shaft 33 is connected to one end of the heel link 34, and the third mounting shaft 33 is perpendicularly connected to the heel link 34. Combining Figure 11 shown, the other end of the heel link 34 is connected to the second mounting shaft 24, so that the heel 3 can form a certain movable connection form relative to the main support frame 22.

[0068] As Figure 16 shown, the bottom surface of the heel body 31 is a fourth mounting surface 312, and the fourth mounting surface 312 is provided with a plurality of bolt holes, and the fourth mounting surface 312 can be bolted to one end of the arch 6.

[0069] The first elastic plate 32 is a bent part. As Figure 12As shown, the first elastic plate 32 is generally formed into a U-shaped bent plate. One end thereof near the main support frame 22 is wider and extends upward. This end is bolted to the second mounting surface 222 of the main support frame 22. The other end of the first elastic plate 32 is narrower and is bolted to the third mounting surface 311 of the heel body 31. Since the upper right corner of the heel body 31 passes through from the left side of the first elastic plate 32, an avoidance groove is provided on the left side of the first elastic plate 32 to avoid the heel body 31. As Figure 12 shown, the heel body 31 and the first elastic plate 32 are in a crossed shape, and the first elastic plate 32 can form an elastic connection between the main support frame 22 and the heel 3.

[0070] In this embodiment, the design of the heel 3 can effectively absorb the impact force generated when the robot's foot touches the ground. When the heel touches the ground, the heel 3 rotates along the second mounting shaft 24 on the main support assembly 2 through the heel link 34. The design of the second mounting shaft 24 allows the movement of the heel 3 to be flexibly changed to adapt to different ground types. The rotation of the heel 3 is hindered by the first elastic plate 32, and the presence of the first elastic plate 32 can effectively absorb the impact force at the moment when the heel lands. In this way, when the robot lands, the pressure on the foot and other joints can be reduced, the impact on the robot can be reduced, and the walking stability can be improved.

[0071] As Figure 17 、 Figure 18 、 Figure 19 、 Figure 20 shown, there are two insteps 4. The instep 4 includes an instep main body 41, a fourth mounting shaft 42, an instep link 43, and a second elastic plate 44. The instep main body 41 is in a block structure. The top surface of the instep main body 41 slopes towards the toe 5 direction. The top surface of the instep main body 41 is the fifth mounting surface 411, and the fifth mounting surface 411 is used to connect one end of the second elastic plate 44. The bottom surface of the instep main body 41 is the sixth mounting surface 412, and the sixth mounting surface 412 is used to connect one end of the arch 6. A notch is provided on one side of the instep main body 41 close to the main support frame 22. The two sides of the notch penetrate through. The notch is used to accommodate the instep link 43. Through holes are provided on both sides of the notch, and bearings are installed in the through holes. Both ends of the fourth mounting shaft 42 are connected to the bearings. The fourth mounting shaft 42 is connected to one end of the instep link 43, and the fourth mounting shaft 42 is perpendicularly connected to the instep link 43. The front end of the instep main body 41 is the seventh mounting surface 413, and the seventh mounting surface 413 is connected to the toe 5.

[0072] The instep link 43 is a straight rod. One end of the instep link 43 is connected to the instep main body 41, and the other end is connected to the first mounting shaft 23. The second elastic plate 44 is generally arranged parallel to the instep link 43.

[0073] In this embodiment, one end of the second elastic plate 44 is connected to the fifth mounting surface 411 by a plurality of bolts, and the other end of the second elastic plate 44 is connected to the first mounting surface 221 of the main support frame 22 by a plurality of bolts.

[0074] The second elastic plate 44 forms a Z-shaped bend in the middle, and both ends are flat plate structures.

[0075] When the sole of the foot is in full contact with the ground, the metatarsophalangeal joint of the instep 4 is connected to the main support assembly 2 through the instep link 43 and the second elastic plate 44, and the metatarsophalangeal joint rotates around the first mounting shaft 23 on the main support assembly 2 through the instep link 43. The movement of the metatarsophalangeal joint can adjust the angle between the instep 4 and the ground, help the foot fit the ground better, and at the same time reduce the pressure generated by contacting the ground. The second elastic plate 44 hinders the rotation of the metatarsophalangeal joint, can absorb the pressure generated when the human foot lands, and prevent the pressure from being transmitted excessively to other parts of the robot. At the same time, the second elastic plate 44 can automatically adjust its suction effect according to the ground change and provide better shock absorption.

[0076] Among them, the length of the instep link 43 is greater than that of the heel link 34, and the length of the second elastic plate 44 is also greater than

[0077] Such as Figure 21 、 Figure 22 、 Figure 23 As shown, there are also two toes 5, and the two toes 5 are respectively connected to the two insteps 4 correspondingly.

[0078] The toe 5 includes a toe body 51 and a third elastic member 52. The toe body 51 is connected to one end of the third elastic member 52, and the other end of the third elastic member 52 is connected to the seventh mounting surface 413 of the instep main body 4 by a plurality of bolts.

[0079] Specifically, the toe body 51 is in a block structure close to an ellipse. The top surface of the toe body 51 is the eighth mounting surface 511, and the eighth mounting surface 511 is connected to one end of the third elastic member 52. One end of the third elastic member 52 is a horizontal plate, the right end of the horizontal plate is bent downward to form an L shape, and the L shape is bent upward again. Both sides of the right end of the whole third elastic member 52 are bent outward to form a U-shaped card slot, and after being stuck on the instep main body 41, it is fixedly connected by bolts.

[0080] The toe 5 is connected to the instep 4 by a third elastic member 52. The third elastic member 52 can absorb energy when the toe 5 bends, and when the toe 5 leaves the ground, the absorbed energy will be released, thus playing a boosting role. The design of connecting the toe body 51 with the third elastic member 52 can absorb the impact force from the ground when the toe body 51 bends, and at the same time store this energy to provide assistance for the next foot movement. The energy generated by the bending of the toe body 51 is stored in the third elastic member 52. When the toe 5 leaves the ground, the third elastic member 52 will release the stored energy to help the toe 5 quickly recover and provide a driving force, promoting the smoothness of the gait.

[0081] The third elastic member 52 is made of a material with high elasticity and durability, such as rubber or polymer. These materials can effectively absorb and store a large amount of energy, and at the same time provide the necessary elastic rebound force to release the stored energy at the appropriate time.

[0082] As Figure 24 shown, the arch 6 simulates the shape of the human sole. The left end of the arch 6 includes two mounting ends, and the two mounting ends are respectively connected to two toes 5. Specifically, they are connected to the bottom surface of the toe body 41. The right end of the arch 6 includes a mounting end, and this mounting end is connected to the fourth mounting surface 312 of the heel body 31 by bolts.

[0083] As Figure 25 shown, the middle part of the arch 6 is curved, simulating the shape of the human arch. The shape of the arch 6 makes it elastic, and it can absorb the impact force when the sole touches the ground and store it. When the sole touches the ground, the arch 6 absorbs the impact force on the sole. The arch 6 deforms during the contact process to absorb the vibration and pressure generated when the sole collides with the ground. This energy absorption mechanism ensures the smooth walking of the robot and reduces the negative impact of ground impact on the overall structure of the robot. While storing the impact force, the arch 6 can also release energy to assist the next walking step and provide a more efficient motion output.

[0084] The humanoid foot-like robotic foot in this embodiment achieves adaptability to different ground types through the coordinated work of multiple components. The specific process is as follows: When the robot starts walking, the force sensor 7 monitors the contact force between the ankle 1 and the ground, and the control system adjusts the posture of each joint according to the sensed pressure data. When the heel touches the ground, the angle is adjusted through the connecting rod and the rotating shaft, and at the same time, the elastic element effectively absorbs the impact force and reduces the vibration generated when landing. When the sole completely touches the ground, the metatarsophalangeal joint and the elastic element work together to absorb the pressure when the sole touches the ground and reduce the load borne by the robot. The arch 6 further absorbs the impact force through the elastic element and stores it, preparing to release it in the next movement. The toes provide assistance through the elastic element, absorb energy when the toes bend, and release energy when the toes leave the ground, thus helping the robot to complete the pace conversion more effectively.

[0085] Embodiment 2:

[0086] This embodiment discloses a humanoid robot, including the humanoid foot-like robotic foot in Embodiment 1 above, and the humanoid foot-like robotic foot is connected to the bottom end of the leg of the humanoid robot. This embodiment does not limit the specific structure of other parts of the humanoid robot.

[0087] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. Humanoid foot-like robotic foot, characterized in that, It includes an ankle, a main support component, a heel, a dorsal foot, toes, an arch, and force sensors; the top of the ankle that can rotate axially in multiple directions is connected to the top of the force sensor, and the bottom of the force sensor is connected to the first end of the main support component; the heel body of the heel is rotatably connected to the second end of the main support component, and the heel body is elastically connected to the main support component; the dorsal foot body of the dorsal foot is rotatably connected to the third end of the main support component, and the dorsal foot body is elastically connected to the main support component; the dorsal foot body is elastically connected to the toes; the arch is a curved elastic structure, and both ends of the arch are respectively connected to the heel body and the dorsal foot body.

2. The humanoid foot-like robotic foot according to claim 1, characterized in that, The ankle includes a cross support structure, an upper connecting frame, and a lower connecting frame; the cross support structure is a symmetric structure, and the cross support structure includes four mounting shafts, where one pair of opposite mounting shafts is rotatably connected to both ends of the upper connecting frame, and the other pair of opposite mounting shafts is rotatably connected to both ends of the lower connecting frame.

3. The humanoid-foot imitating robotic foot according to claim 1, characterized in that, The main support component includes an annular mounting block, a main support frame, a first mounting shaft, and a second mounting shaft; the top surface of the main support frame is connected to the annular mounting block, the top surface of the annular mounting block is connected to the force sensor, one end of the main support frame is connected to the second elastic plate of the dorsal foot, and the other end of the main support frame is connected to the first elastic plate of the heel; the bottom of the main support frame extends downward to form multiple connecting feet, one end of the first mounting shaft is rotatably connected to the connecting foot of the main support frame close to the dorsal foot, and the other end of the first mounting shaft is connected to the dorsal foot body; one end of the second mounting shaft is rotatably connected to the connecting foot of the main support frame close to the heel, and the other end of the second mounting shaft is connected to the heel body.

4. The humanoid foot-like robotic foot according to claim 3, characterized in that, One end of the top surface of the main support frame close to the dorsal foot slopes downward to form a first mounting surface, and the second elastic plate of the dorsal foot is connected to the first mounting surface of the main support frame; the end surface of the main support frame away from the dorsal foot is the second mounting surface, and the first elastic plate of the heel is connected to the second mounting surface of the main support frame.

5. The humanoid foot-like robotic foot according to claim 1, characterized in that, The heel includes a heel body, a first elastic plate, a third mounting shaft, and a heel connecting rod; one side of the top end of the heel body is connected to one end of the first elastic plate, the other end of the first elastic plate is connected to one side of the bottom end of the main support component, the other side of the heel body is rotatably connected to the third mounting shaft, one end of the heel connecting rod is connected to the third mounting shaft, and the other end of the heel connecting rod is connected to the bottom end of the main support component; the bottom surface of the heel body is connected to one end of the arch.

6. The anthropomorphic foot-like mechanical foot according to claim 1, characterized in that, The dorsal foot includes a dorsal foot body, a fourth mounting shaft, a dorsal foot connecting rod, and a second elastic plate. The top surface of the dorsal foot body is connected to one end of the second elastic plate, and the other end of the second elastic band is connected to the main support component; one side of the dorsal foot body close to the main support frame is connected to the fourth mounting shaft, the fourth mounting shaft is connected to one end of the dorsal foot connecting rod, and the other end of the dorsal foot connecting rod is connected to the main support component; both the dorsal foot connecting rod and the second elastic plate are inclined.

7. The humanoid-foot imitating mechanical foot according to claim 1, characterized in that, There are two dorsal feet and two toes, and the dorsal feet correspondingly connect to the toes.

8. The anthropomorphic-foot-like mechanical foot according to claim 1, characterized in that, The toes include a toe body and a third elastic member. The toe body is connected to one end of the third elastic member, and the other end of the third elastic member is connected to the dorsal foot body.

9. The anthropomorphic foot-like mechanical foot according to claim 1, characterized in that, The middle part of the arch of the foot is arranged in a curved surface. One end of the arch of the foot includes two mounting ends, and the two mounting ends are respectively connected to the toe main bodies of the toes; the other end of the arch of the foot includes a mounting end, and this mounting end is connected to the heel body.

10. Humanoid robot, characterized in that, A humanoid foot mechanical foot including any one of the above claims 1-9.

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