Humanoid robot foot bearing structure

Abstract

The application discloses a kind of humanoid robot foot bearing structure, including forefoot bottom plate, rear foot bottom plate, imitate foot arch piece and imitate foot bottom fascia, forefoot bottom plate, rear foot bottom plate, imitate foot arch piece three form longitudinally deformable triangular arch support, imitate foot bottom fascia with imitate foot arch piece elastic deformation, flexible rotating mechanism is provided in imitate foot arch piece front arch segment, so that imitate foot arch piece can be transversely rotated, simulate human foot tarsal joint movement, relieve lateral disturbance.Advantages, utilize flexible rotating mechanism to make front arch segment and rear arch segment can be rotated in rigid connection shaft, improve complex terrain adaptability and gait stability;Triangular arch structure formed by imitate foot arch piece can be dynamically opened and closed deformation, disperse the impact force when robot walks, reduce vertical stiffness, extend buffering time;Flexible imitate foot bottom fascia simulates human foot bottom fascia mechanism, when imitate foot arch piece is compressed, store energy, produce restoring force when lifting foot, improve robot gait efficiency and foot naturalness.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of humanoid robot structure design, and particularly relates to a humanoid robot foot bearing structure. BACKGROUND

[0002] With the improvement of the motion ability of humanoid robots in complex environments, the structural bionics and environmental adaptability of the foot mechanism have become a research hotspot. The human foot realizes excellent attachment, buffering, adaptation and stability through the coordinated structure of complex bones, ligaments and joints.

[0003] To improve the bionic performance of the foot, some existing technologies introduce a foot arch structure, that is, a triangular arch bearing structure is formed by a front arch segment, a rear arch segment and a midfoot connecting shaft. This kind of structure can provide certain longitudinal elastic support in static or small range dynamic and improve the energy feedback performance, but it only realizes the bionics of the longitudinal arch structure and fails to cover the transverse torsion ability of the human foot, such as the pronation and supination movement realized by the human foot transverse joint, thereby limiting the compliant deformation ability of the foot bottom.

[0004] In addition, the existing foot arch structure mostly adopts a rigid rotating structure and only serves as a movable pair connection, lacks active or elastic adjustment ability and cannot adapt to complex ground deformation.

[0005] In the publication CN113443043B, a public technology named "double-foot robot foot structure capable of adapting to uneven road surface" is disclosed. The technology realizes automatic adjustment of the robot foot angle by setting a spring connection assembly in the foot structure, thereby improving the terrain adaptability. Although the mechanism simulates the deformation of the foot bottom to some extent, the foot only has elastic deformation ability in the vertical direction and lacks structure design for the transverse joint movement, so it is difficult to realize three-dimensional deformation support and dynamic stability of the foot bottom.

[0006] Therefore, a robot foot bearing structure with reasonable structure, compliant connection and effective simulation of the coordinated work of the human foot transverse joint and foot bottom fascia is urgently needed, aiming to solve the problems of insufficient structural bionics, difficulty in multi-degree-of-freedom coordinated control and lack of dynamic limiting design in the prior art. The neglect of the foot torsion degree of freedom cannot effectively simulate the internal and external rotation torsion deformation process of the human foot, and the modeling of the foot bottom stress transmission path and energy feedback mechanism is insufficient, so as to realize the gait response and terrain adaptability closer to human mechanics. SUMMARY

[0007] The technical problem to be solved by the present application is that the existing robot foot bearing structure mentioned in the background art lacks effective simulation of the human foot transverse joint torsion function, and the existing structure uses rigid connection, lacks structural coupling and angle control ability, and is difficult to realize the multi-degree-of-freedom linkage deformation of the bionic foot bottom, and cannot reasonably simulate the flexible limiting function of the human foot fascia.

[0008] In view of the above technical problems, a humanoid robot foot bearing structure is provided; the technical scheme is realized as follows: a humanoid robot foot bearing structure, comprising a forefoot bottom plate, a hindfoot bottom plate, a foot arch imitation piece and a foot bottom fascia imitation piece, the foot arch imitation piece comprising a forefoot arch segment and a hindfoot arch segment, one end of the forefoot arch segment being movably hinged to the forefoot bottom plate, the other end being movably hinged to the hindfoot arch segment, the other end of the hindfoot arch segment being movably hinged to the hindfoot bottom plate, the forefoot bottom plate, the hindfoot bottom plate and the foot arch imitation piece together forming a triangular arch-shaped support deformed longitudinally along the hinge; the foot bottom fascia imitation piece connecting the forefoot bottom plate and the hindfoot bottom plate, the foot bottom fascia imitation piece stretching and rebounding synchronously with the deformation of the foot arch imitation piece; the foot arch imitation piece further comprising a flexible rotation mechanism, the flexible rotation mechanism being arranged in the forefoot arch segment, the flexible rotation mechanism being transversely rotatable relative to the foot arch imitation piece, simulating the human foot transverse joint movement and relieving the lateral disturbance when the robot foot lands; the flexible rotation mechanism comprising a rigid connecting shaft and a rotation damper, both the rigid connecting shaft and the rotation damper being connected to the forefoot arch segment.

[0009] Preferably, the forefoot arch segment comprises a forefoot arch segment front member and a forefoot arch segment rear member, the forefoot arch segment front member and the forefoot arch segment rear member being connected by the flexible rotation mechanism, the forefoot arch segment front member comprising a second hinged support, the forefoot arch segment front member being hinged to the forefoot bottom plate through the second hinged support, the forefoot arch segment rear member comprising a third hinged support, the forefoot arch segment rear member being hinged to the hindfoot arch segment through the third hinged support, the two-segment design of the forefoot arch segment facilitating the installation of the flexible rotation mechanism, enabling the forefoot arch segment to perform small-angle internal rotation and external rotation movement during the landing or supporting stage, simulating the forward rotation and backward rotation functions of the human foot transverse joint, improving the adaptability of the foot on complex terrain, and enhancing the stability of the gait of the robot under lateral disturbance.

[0010] Preferably, a connecting shaft mounting hole and a damper mounting hole are arranged at one end of the forefoot arch segment front member away from the second hinged support, the flexible rotation mechanism being connected to the forefoot arch segment rear member through the connecting shaft mounting hole and the damper mounting hole, which facilitates the installation of the flexible rotation mechanism.

[0011] In the preferred technical solution of the present application, the rear arch section comprises a second hinge base and a fourth hinge support, the rear arch section is hinged to the front member of the front arch section through the second hinge base, and the rear arch section is hinged to the rear foot bottom plate through the fourth hinge support, which facilitates the front arch section and the rear arch section to form a triangular arch structure, and dynamic opening and closing deformation can occur when a vertical load is applied in the vertical direction, which helps to disperse the impact force, and compared with a rigid fixed structure, the foot arch structure can reduce the vertical stiffness and prolong the contact and buffering time in the initial landing stage.

[0012] In the preferred technical solution of the present application, the two ends of the rigid connecting shaft are connected to the front member of the arch section and the rear member of the front arch section, the two ends of the rotary damper are connected to the front member of the arch section and the rear member of the front arch section, the rear member of the front arch section rotates relative to the front member of the front arch section along the rigid connecting shaft, and the rotary damper provides a damping torque for rotation, and the flexible rotation mechanism facilitates the front arch section to perform small-angle internal rotation and external rotation in the landing or supporting stage, simulates the forward rotation and backward rotation functions of the transverse joint of the human foot, improves the adaptability of the foot on complex terrain, and enhances the stability of the gait of the robot under lateral disturbance.

[0013] In the preferred technical solution of the present application, the flexible rotation mechanism further comprises an elastic limiting device, the elastic limiting device comprises a limiting spring and a limiting block, the limiting block is fixed on the rotary damper, and the limiting spring is arranged in a limiting block mounting hole in the front member of the arch section, the limiting spring connects the limiting block and the limiting block mounting hole, the elastic limiting device limits the lateral rotation angle of the flexible rotation mechanism relative to the foot arch structure, and provides a soft limiting rebound function for lateral rotation, and the elastic limiting device limits the relative rotation angle of the rotary damper, and when the rotary damper rotates beyond a set angle limit, the elastic limiting device is compressed to provide a recovery force for reverse rotation of the rotary damper.

[0014] In the preferred technical solution of the present application, the rotary damper comprises a connecting head, an elastic sleeve is arranged in the connecting head, the rotary damper is fixed in a damper mounting hole formed in the front member of the front arch section through a pin penetrating the elastic sleeve, and the connecting head can move up and down in the damper mounting hole along the pin, which facilitates the robot foot to perform small-angle internal rotation and external rotation in the landing or supporting stage of the front arch section, improves the adaptability of the foot on complex terrain, and enhances the stability of the gait of the robot under lateral disturbance.

[0015] In the preferred technical solution of the present application, the elastic sleeve is made of an elastic material and can be deformed when the connecting head moves up and down along the pin, which facilitates the robot foot to perform small-angle internal rotation and external rotation in the landing or supporting stage of the front arch section, improves the adaptability of the foot on complex terrain, and enhances the stability of the gait of the robot under lateral disturbance.

[0016] The foot bottom muscle membrane is made of elastic material, for example, rubber or thermoplastic polyurethane, and the connecting pressure plates are arranged at both ends of the foot bottom muscle membrane; the foot bottom muscle membrane is connected with the forefoot bottom plate and the hindfoot bottom plate through the connecting pressure plates, respectively; the foot bottom muscle membrane is passively stretched during the sinking of the top end of the foot arch piece under the load, so as to simulate the synergistic stability mechanism and the elastic energy storage and release mechanism of the human foot bottom muscle membrane, the compression stage of the foot arch piece has the storage capacity, the recovery force is generated in the lifting stage, and the gait efficiency and the naturalness of the foot are improved.

[0017] Compared with the prior art, the present application has the following beneficial effects:

[0018] In the technical scheme of the present application, the flexible rotating mechanism is arranged in the forefoot arch segment, so that the forefoot arch segment has small-angle internal rotation and external rotation movement in the landing or supporting stage, the forefoot transverse joint of the human foot is simulated in structure, the adaptability of the foot to complex terrain is improved, and the gait stability of the robot under lateral disturbance is enhanced.

[0019] The rigid connecting shaft in the flexible rotating mechanism provides the forefoot arch segment with a main guiding rotation degree of freedom, and the rotation dampers are arranged side by side, so that the rigid guiding and the flexible control are combined, the structural independence and the rotation angle control are realized, and the problems of rigid coupling and misalignment in the traditional multi-degree-of-freedom mechanism are effectively avoided.

[0020] The elastic limiting device is used in combination with the foot bottom muscle membrane to limit the transverse rotation angle of the foot arch, prevent excessive internal and external rotation from causing mechanism interference or instability, and improve the bionics and structural reliability in combination with the flexible constraint function of the foot bottom muscle membrane structure on the transverse joint of the human foot. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a perspective view of the present application;

[0022] Figure 2 is a front view of the front member of the forefoot arch segment (including the flexible rotating mechanism);

[0023] Figure 3 is a right-rotation-after state diagram of the forefoot arch segment;

[0024] Figure 4 is a right-rotation-after state diagram of the forefoot arch segment (perspective view);

[0025] Figure 5 is a left-rotation-after state diagram of the forefoot arch segment;

[0026] Figure 6 is a perspective view of the forefoot arch segment (perspective view and including the flexible rotating mechanism);

[0027] Figure 7 schematic diagram of the elastic limiting device in the front arch segment;

[0028] Figure 8 schematic diagram of the connection between the foot arch membrane and the forefoot plate and the hindfoot plate;

[0029] Figure 9 schematic diagram of the explosion of the present application;

[0030] Legend: 1-forefoot plate, 11-first hinged support, 2-hindfoot plate, 21-first hinged table, 22-foot connecting shaft, 3-imitation foot arch piece, 4-front arch segment, 41-front arch segment front component, 42-front arch segment rear component, 43-connection shaft mounting hole, 44-second hinged support, 45-damper mounting hole, 46-third hinged support, 47-limiter mounting hole, 48-middle connecting shaft, 5-hind arch segment, 51-second hinged table, 52-fourth hinged support, 6-flexible rotating mechanism, 61-rigid connecting shaft, 62-bearing, 63-rotating damper, 64-limiting spring, 65-limiting block, 66-connection head, 67-elastic sleeve, 7-imitation foot bottom membrane, 71-connecting tablet. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings of the embodiments of the present application. Figures 1-9 The technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings of the embodiments of the present application.

[0032] As shown in the accompanying drawings, Figure 1 A humanoid robot foot bearing structure includes a forefoot plate 1, a hindfoot plate 2, an imitation foot arch piece 3, and an imitation foot bottom membrane 7. The imitation foot arch piece 3 is hinged at one end to the forefoot plate 1 and at the other end to the hindfoot plate 2. The imitation foot bottom membrane 7 connects the forefoot plate 1 and the hindfoot plate 2. The imitation foot arch piece 3, the hindfoot plate 2, and the forefoot plate 1 together form a triangular arch-shaped support.

[0033] The forefoot plate 1 and the hindfoot plate 2 are both metal plates, which mainly serve as carriers for the installation of the imitation foot arch piece 3 and the imitation foot bottom membrane 7.

[0034] The imitation foot arch piece 3 includes a front arch segment 4 and a hind arch segment 5. The front arch segment 4 and the hind arch segment 5 are hinged together through a middle connecting shaft 48. The imitation foot arch piece 3 cooperates with the forefoot plate 1, the hindfoot plate 2, and the imitation foot bottom membrane 7 to dynamically open and close when the robot foot is vertically loaded, which helps to disperse the impact force. Compared with a rigid fixed structure, the imitation foot arch piece 3 can reduce the vertical stiffness and prolong the contact and buffering time in the initial stage of the robot foot landing.

[0035] In the forefoot arch segment 4, a flexible rotation mechanism 6 is also installed, which enables the forefoot arch segment 4 to perform small-angle internal and external rotation movements during the robot foot landing or supporting stage, simulating the fore and rear rotation functions of the human foot transverse joint, improving the adaptability of the robot foot on complex terrain, and enhancing the gait stability of the robot under lateral disturbance.

[0036] The artificial foot bottom fascia 7 mainly simulates the human foot bottom fascia, and generates passive stretching when the robot foot lands, thereby simulating the synergistic stability mechanism and elastic energy storage and release mechanism of the human foot bottom fascia, enabling the arch compression stage to have storage capacity, generating restoring force during the lifting stage, and improving gait efficiency and foot naturalness.

[0037] Definition: In this embodiment, the ground is taken as the reference, the direction from the ground to the sky is taken as the upward direction, and vice versa. The direction from the heel to the toe is taken as the longitudinal direction. In this embodiment, the forefoot plate 1 represents the toe, and the rear foot plate 2 represents the heel. In the horizontal direction, the direction perpendicular to the longitudinal direction is taken as the transverse direction. The direction of the humanoid robot foot pointing to the other foot is taken as the medial side, and vice versa.

[0038] As shown in Figure 1 , Figure 8 and Figure 9 , the forefoot plate 1 and the rear foot plate 2 are both rectangular plates made of metal, and preferably made of aluminum alloy in this embodiment.

[0039] In order to facilitate connection with the artificial foot arch piece 3, a “U”-shaped hinged seat is welded on the upper surface of the forefoot plate 1, which is named as the first hinged support 11. Hinged holes are formed on the two vertical plates of the first hinged support 11, and the artificial foot arch piece 3 is hinged with the first hinged support 11 through the hinged holes.

[0040] A rectangular boss is centrally welded on the upper surface of the rear foot plate 2, which is named as the first hinged table 21. Hinged holes are formed on the first hinged table 21, and the artificial foot arch piece 3 is hinged with the rear foot plate 2 through the hinged holes.

[0041] Regarding the hinge connection between the artificial foot arch piece 3 and the forefoot plate 1 and the rear foot plate 2, a circular shaft is adopted for hinge connection in this embodiment, which is named as the foot bottom connecting shaft 22. After the hinge connection is completed, the artificial foot arch piece 3 can rotate along the foot bottom connecting shaft 22.

[0042] As shown in Figure 1 , Figure 4 , Figure 6 , Figure 7 and Figure 9 , the artificial foot arch piece 3 includes the forefoot arch segment 4 and the rear arch segment 5. The forefoot arch segment 4 and the rear arch segment 5 are hinged through a middle connecting shaft 48, and the forefoot arch segment 4 and the rear arch segment 5 can rotate along the middle connecting shaft 48.

[0043] The front arch segment 4 is a plate with a certain thickness, and in order to reduce the weight, the front arch segment 4 can be made of light aluminum alloy or carbon fiber reinforced material with certain rigidity and strength.

[0044] In order to facilitate the articulation of the rear arch segment 5 and the forefoot plate 1, a "U"-shaped articulation support is integrally fixed at each end of the front arch segment 4, respectively named as the second articulation support 44 and the third articulation support 46. The front arch segment 4 is articulated with the first articulation support 11 on the forefoot plate 1 through the forefoot connecting shaft 22 by using the second articulation support 44, and the front arch segment 4 is articulated with the rear arch segment 5 through the middle connecting shaft 48 by using the third articulation support 46.

[0045] In order to facilitate the installation of the flexible rotation mechanism 6, the front arch segment 4 is divided into two segments from the middle, one of which is named as the front arch segment front member 41, and the other is named as the front arch segment rear member 42. The second articulation support 44 is located on the front arch segment front member 41, and the third articulation support 46 is located on the front arch segment rear member 42. The front arch segment front member 41 and the front arch segment rear member 42 are connected by using the flexible rotation mechanism 6.

[0046] In order to facilitate the installation of the flexible rotation mechanism 6, a circular blind hole is centrally opened on the end face of the front arch segment front member 41 away from the second articulation support 44, perpendicular to the end face, and is named as the connecting shaft mounting hole 43. The rigid connecting shaft 61 in the flexible rotation mechanism 6 is installed in the connecting shaft mounting hole 43. At the same time, a connecting shaft mounting hole 43 is also correspondingly opened on the end face of the front arch segment rear member 42 away from the third articulation support 46. The two ends of the rigid connecting shaft 61 are respectively fixed in the connecting shaft mounting holes 43 in the front arch segment front member 41 and the front arch segment rear member 42.

[0047] In order to facilitate the installation of the rotation damper 63 in the flexible rotation mechanism 6, a hole is opened on each side of the end face of the front arch segment front member 41 and the front arch segment rear member 42 where the connecting shaft mounting hole 43 is opened, and is named as the damper mounting hole 45. The two ends of the rotation damper 63 are fixed in the damper mounting holes 45 by using pins.

[0048] In order to limit the angle of the pronation and supination of the front arch segment 4, a limit stopper mounting hole 47 is also opened beside the damper mounting hole 45 in the front arch segment front member 41. The elastic limit stopper device in the flexible rotation mechanism 6 is installed in the limit stopper mounting hole 47, and the pronation / supination angle of the front arch segment 4 is limited by the elastic limit stopper device.

[0049] The rear arch segment 5 is a "T" shaped block made of light weight aluminum alloy or carbon fiber reinforced material with certain rigidity and strength, and a rectangular platform is integrally fixed to the smaller segment of the rear arch segment 5, which is named as the second hinge platform 51, the second hinge platform 51 can be inserted into the third hinge support 46 in the rear arch segment rear member 42, and a hinge hole is formed in the second hinge platform 51, the rear arch segment 5 is hinged with the third hinge support 46 through the second hinge platform 51, and the hinge shaft is the middle connecting shaft 48, and the rear arch segment 5 can rotate relative to the front arch segment rear member 42 along the middle connecting shaft 48.

[0050] On the other end of the rear arch segment 5, a "U" shaped hinge support is integrally fixed, which is named as the fourth hinge support 52, and the first hinge platform 21 on the rear foot bottom plate 2 can be inserted into the fourth hinge support 52 and hinged through the foot bottom connecting shaft 22, so as to realize the hinge connection between the rear arch segment 5 and the rear foot bottom plate 2.

[0051] In this embodiment, the front foot bottom plate 1 and the front arch segment front member 41 on the front arch segment 4 are hinged through the first hinge support 11 and the second hinge support 44, the rear foot bottom plate 2 and the rear arch segment 5 are hinged through the fourth hinge support 52 and the first hinge platform 21, and the front arch segment 4 and the rear arch segment 5 are hinged through the third hinge support 46 and the second hinge platform 51, so as to form a rotating pair, so that the whole artificial arch 3 forms a triangular arch support structure similar to the arch of the foot in the plane perpendicular to the foot bottom, and also forms a three-segment joint, so that the front arch segment 4 and the rear arch segment 5 of the foot can rotate around the connecting shaft of the hinge in the longitudinal direction, so as to realize the dynamic arch deformation capability.

[0052] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , and Figure 9 , the flexible rotating mechanism 6 includes a rigid connecting shaft 61, a rotating damper 63 and an elastic limiting device.

[0053] The rigid connecting shaft 61 is a circular shaft made of high-strength stainless steel, and the main function of the rigid connecting shaft 61 is to connect the front arch segment front member 41 and the front arch segment rear member 42, and at the same time, the front arch segment front member 41 and the front arch segment rear member 42 can also rotate relative to the rigid connecting shaft 61, so as to realize the internal / external rotation of the front arch segment 4.

[0054] Regarding the connection of the rigid connecting shaft 61 with the front arch segment front member 41 and the front arch segment rear member 42, it is preferred in this embodiment that a bearing 62 is fixed in the connecting shaft mounting hole 43, the rigid connecting shaft 61 is fixed on the inner ring of the bearing 62, so as to realize smooth rotation, and the rigid connecting shaft 61 cannot slide relative to the bearing 62.

[0055] The rotary damper 63 is a rotary viscous damper of the existing shell fixed type. The rotary damper 63 comprises two inner and outer rods which can rotate relative to each other. A connecting head 66 is fixed to the two ends of the inner and outer rods. A pin hole is formed in the connecting head 66. The rotary damper 63 is fixed in the damper mounting hole 45 of the front arch segment front member 41 and the front arch segment rear member 42 by a pin.

[0056] In order to adapt the slight axis deviation or angle distortion of the front and rear members in the transverse joint rotation of the human foot, the size of the damper mounting hole 45 formed in the front arch segment rear member 42 is larger than that of the connecting head 66. A pin hole is formed in the connecting head 66. The size of the pin hole is larger than that of the pin. An elastic sleeve 67 is inserted in the pin hole. The elastic sleeve 67 is a rubber tube. The outer wall of the elastic sleeve 67 is fixed to the inner wall of the pin hole by glue. The pin passes through the elastic sleeve 67. The elastic sleeve 67 absorbs the slight deviation in use and realizes the flexible connection. Thus, the shell stress or the movement hindrance caused by the rigid fixation is avoided. The one end of the rotary damper 63 provided with the elastic sleeve 67 can rise and fall in the transverse joint rotation. The rotary damper 63 can adapt the rotation of the transverse joint in a small angle range. When the front arch segment 4 rotates around the rigid connecting shaft 61, the rotary damper 63 provides a smooth and controllable damping torque. The rotary damper 63 makes the rotation return of the front arch segment 4 through the viscous damping instead of the elastic recovery. Thus, the rotation return of the front arch segment 4 is more stable and the vibration is smaller.

[0057] The rotary damper 63 is arranged side by side with the rigid connecting shaft 61. The rotary damper 63 is independent of the rigid connecting shaft 61 in function. The rotary damper 63 only needs to reserve a small angle rotation space required by the output shaft rotation angle range. The rotary damper 63 does not need a large angle or overall shell overturning space.

[0058] When the human foot rotates in the transverse joint, the rotary damper 63 is twisted in a limited space. The one end of the rotary damper 63 provided with the elastic sleeve 67 can rise and fall in the transverse joint rotation. The rotary damper 63 can adapt the rotation of the transverse joint in a small angle range. In addition, due to the buffering effect of the flexible connection sleeve and the symmetrical arrangement of the rotary damper 63, the whole structure can realize the function of the bionic support and stability control without interference.

[0059] In order to limit the transverse rotation of the foot in a certain angle range and more complex the movement mode of the human foot, an elastic limiting device for limiting the rotation angle of the rotary damper 63 is further installed in the limiter mounting hole 47 of the front arch segment front member 41 and the front arch segment rear member 42.

[0060] The elastic limiting device comprises a limiting spring 64 and a limiting block 65, the limiting block 65 is a rectangular metal block, the limiting block 65 is welded on the outer wall of the outer rod in the rotary damper 63, one end of the limiting spring 64 is fixed in the limiting device mounting hole 47, and the other end of the limiting spring 64 is fixed on the limiting block 65, and the fixing mode is a conventional fixing mode.

[0061] When the rotary damper 63 rotates, the outer rod in the rotary damper 63 rotates transversely around the inner rod, the limiting block 65 gradually contacts and compresses the limiting spring 64, the rotation angle is limited and buffered, the limiting spring 64 allows the limited rotation angle to be between ±10° (that is, the rotation angle of the rotary damper 63 is ±10° after the limiting spring 64 is fully expanded and compressed), and when the rotation is completed, the flexible returning ability can be provided without external force.

[0062] In the embodiment, different elastic feedbacks can be achieved by adjusting the spring stiffness or pre-tightening amount on both sides, and the limiting angle can be adjusted by replacing the limiting spring 64 of different specifications.

[0063] As shown in Figure 1 , Figure 8 and Figure 9 , the artificial foot bottom fascia 7 is a rectangular sheet made of elastic material, and the embodiment preferably uses thermoplastic polyurethane material.

[0064] The length of the artificial foot bottom fascia 7 is customized according to the foot bottom size, the artificial foot bottom fascia 7 is stretched and rebounded during the deformation of the artificial foot arch piece 3, and the function of simulating the human foot fascia to cooperatively adjust the arch shape and energy storage and release is realized.

[0065] The overall structure of the artificial foot arch piece 3, the forefoot bottom plate 1 and the rear foot bottom plate 2 adopts a front and rear hinged fixing (the artificial foot arch piece 3 is hinged with the forefoot bottom plate 1 and the rear foot bottom plate 2)-middle floating (the front arch segment front member 41 and the front arch segment rear member 42 are connected through the flexible rotary mechanism 6) arrangement form, and the artificial foot bottom fascia 7 is responsible for controlling the rigid-flexible coupling transition.

[0066] Regarding the connection of the artificial foot bottom fascia 7 with the forefoot bottom plate 1 and the rear foot bottom plate 2, the embodiment adopts a connection pressing sheet 71, the connection pressing sheet 71 is a stainless steel sheet, screw holes are formed on the surface of the connection pressing sheet 71, the artificial foot bottom fascia 7 is placed on the upper surface of the forefoot bottom plate 1 and the rear foot bottom plate 2, the connection pressing sheet 71 is placed on the upper surface of the artificial foot bottom fascia 7, and the connection pressing sheet 71 is connected with the forefoot bottom plate 1 and the rear foot bottom plate 2 through screws, thereby realizing the connection of the artificial foot bottom fascia 7 with the forefoot bottom plate 1 and the rear foot bottom plate 2.

[0067] The use process of the embodiment is as follows:

[0068] When the robot foot lands, and the ground has a slight unevenness or lateral slope, the contact surface is unevenly stressed or laterally disturbed, and the front arch segment front member 41 and the front arch segment rear member 42 are relatively rotated around the rigid connection shaft 61 under the action of the flexible rotating mechanism 6. At this time, the rotating dampers 63 on both sides of the rigid connection shaft 61 are deformed to generate damping torque, and under the action of the elastic limiting device, a small angle range is allowed to be deformed, thereby realizing the function of adjusting the lateral rotation of the robot foot in a small amplitude, simulating the flexible response movement of the tarsal joint of the foot, and thereby adapting to the ground form. In this process, the foot bottom muscle membrane 7 is twisted and deformed with the lateral rotation of the foot, and the elastic limiting device is used to limit the rotation of the rotating damper 63.

[0069] When the robot foot lands, and the foot bottom contact surface is uneven, the foot bottom muscle membrane 7 is passively stretched to adapt to the ground, and is also twisted and deformed with the lateral rotation of the foot, taking into account the structural stability and torsional flexibility. The rigid connection shaft 61 guides the rotation, and the rotating dampers 63 on both sides provide elastic recovery and energy dissipation, thereby realizing clearer force transmission path, more stable structure, and more controllable response.

[0070] During the movement of the robot, the front arch segment 4 and the rear arch segment 5 are slightly opened and closed around the middle connection shaft 48, so that the whole foot arch piece 3 is compressed and deformed. At the same time, the foot arch piece 3 changes the included angle relative to the forefoot bottom plate 1 and the rear foot bottom plate 2 around the foot connection shaft 22, causing the foot arch piece 3 to contract or expand. The foot bottom muscle membrane 7 is passively stretched and stores elastic energy in the process, and releases energy at the lifting foot or load removal stage to assist the foot to restore the original state, and the foot bottom muscle membrane 7 rebounds to provide part of the energy feedback for the next stage of the robot.

[0071] The elastic recovery force generated by the foot bottom muscle membrane 7 can be approximately estimated according to the following formula: , wherein E f is the elastic modulus of the material of the foot bottom muscle membrane 7, A is the cross-sectional area of the foot bottom muscle membrane 7, L0 is the initial length of the foot bottom muscle membrane 7, K f is the stiffness coefficient of the elastic material, is the elongation of the elastic change (wherein The value of the foot bottom muscle membrane 7 has a trigonometric function relationship with the length of the front arch segment 4 and the rear arch segment 5 in the foot arch piece 3, and the opening angle of the foot arch piece 3).

[0072] The technical scheme of the embodiment has the functions of “longitudinal elasticity + lateral flexible rotation + muscle membrane linkage”, and enhances the dynamic stability, flexibility and energy utilization efficiency of the robot during walking.

[0073] The above examples only illustrate the technical idea of the present application, and cannot be used to limit the protection scope of the present application. Any modification made according to the technical idea of the present application on the basis of the technical scheme falls within the protection scope of the present application.

Claims

1. A humanoid robot foot load bearing structure, characterized by: The invention relates to a kind of robot foot, including forefoot bottom plate (1), rear foot bottom plate (2), foot arch imitating piece (3) and foot bottom fascia imitating piece (7), foot arch imitating piece (3) includes front arch segment (4) and rear arch segment (5), one end of front arch segment (4) is movably hinged forefoot bottom plate (1), the other end is movably hinged with rear arch segment (5), the other end of rear arch segment (5) is movably hinged with rear foot bottom plate (2), forefoot bottom plate (1), rear foot bottom plate (2) and foot arch imitating piece (3) are collectively formed along the hinge longitudinal deformation triangular arch support; Foot bottom fascia imitating piece (7) connects forefoot bottom plate (1) and rear foot bottom plate (2), foot bottom fascia imitating piece (7) deforms with foot arch imitating piece (3), and synchronously stretches and rebounds; Foot arch imitating piece (3) further includes flexible rotating mechanism (6), flexible rotating mechanism (6) is arranged in front arch segment (4), flexible rotating mechanism (6) can be transversely rotated relative to foot arch imitating piece (3), simulates human foot tarsal joint movement, and relieves transverse disturbance when robot foot lands; Flexible rotating mechanism (6) includes rigid connecting shaft (61) and rotating damper (63), and rigid connecting shaft (61) and rotating damper (63) are connected with front arch segment (4); Front arch segment (4) includes front arch segment front component (41) and front arch segment rear component (42), and front arch segment front component (41) and front arch segment rear component (42) are connected by flexible rotating mechanism (6), front arch segment front component (41) includes second hinged support (44), and front arch segment front component (41) is hinged with forefoot bottom plate (1) by second hinged support (44), front arch segment rear component (42) includes third hinged support (46), and front arch segment rear component (42) is hinged with rear arch segment (5) by third hinged support (46); Flexible rotating mechanism (6) further includes elastic limiting device, and the elastic limiting device includes limiting spring (64) and limiting block (65), limiting block (65) is fixed on rotating damper (63), limiting spring (64) is arranged in limiting block installation hole (47) in front arch segment front component (41), limiting spring (64) is connected with limiting block (65) and limiting block installation hole (47), and the elastic limiting device limits the transverse rotation angle of flexible rotating mechanism (6) relative to foot arch imitating piece (3), and provides rebound function for transverse rotation.

2. The humanoid robotic foot bearing structure of claim 1, wherein: Connecting shaft installation hole (43) and damper installation hole (45) are arranged at the end of front arch segment front component (41) away from second hinged support (44), and flexible rotating mechanism (6) is connected with front arch segment rear component (42) by connecting shaft installation hole (43) and damper installation hole (45).

3. The humanoid robotic foot bearing structure of claim 1, wherein: Rear arch segment (5) includes second hinged table (51) and fourth hinged support (52), rear arch segment (5) is hinged with front arch segment front component (41) by second hinged table (51), and rear arch segment (5) is hinged with rear foot bottom plate (2) by fourth hinged support (52).

4. The humanoid robotic foot load bearing structure of claim 1, wherein: The two ends of the rigid connecting shaft (61) are connected with the front bow segment front member (41) and the front bow segment rear member (42), the two ends of the rotary damper (63) are connected with the front bow segment front member (41) and the front bow segment rear member (42), the front bow segment rear member (42) rotates relative to the front bow segment front member (41) along the rigid connecting shaft (61), and the rotary damper (63) provides a damping torque for rotation.

5. The humanoid robotic foot bearing structure of claim 4, wherein: The rotary damper (63) comprises a connecting head (66) provided with an elastic sleeve (67), the rotary damper (63) is fixed in a damper mounting hole (45) formed in the front bow segment front member (41) through a pin penetrating the elastic sleeve (67), and the connecting head (66) can move up and down along the pin in the damper mounting hole (45).

6. The humanoid robotic foot bearing structure of claim 5, wherein: The elastic sleeve (67) is made of an elastic material and can be deformed when the connecting head (66) moves up and down along the pin.

7. The anthropomorphic robotic foot bearing structure of claim 1, wherein: The artificial foot bottom fascia (7) is made of an elastic material, rubber or thermoplastic polyurethane, and is provided with connecting pressure plates (71) at two ends thereof, and the artificial foot bottom fascia (7) is connected with the front foot bottom plate (1) and the rear foot bottom plate (2) through the connecting pressure plates (71) respectively.

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