Foot bionic device based on humanoid robot

Abstract

The invention discloses a foot bionic device based on a humanoid robot, and relates to the technical field of robots, the foot bionic device comprises a flange joint piece, a top carbon fiber sheet is integrally arranged at the bottom of the flange joint piece, and the flange joint piece and the top carbon fiber sheet form a connecting piece of a robot leg. Compared with the prior art, the robot has the advantages that the Z-shaped spring buffer structure and the multi-layer composite buffer design are designed, vertical impact force is converted into elastic deformation of components, impact energy is effectively absorbed and reduced, then the robot body structure is protected, the deformation degree can be automatically adjusted according to the ground hardness through the multi-layer buffer structure, the terrain adaptability is improved, and the service life of the robot is prolonged. The top carbon fiber sheet, the middle carbon fiber sheet and the bottom carbon fiber sheet are connected through bolts, the formed modular design facilitates replacement of connecting pieces, the maintenance cost is reduced, the maintenance time is shortened, the top carbon fiber sheet, the middle carbon fiber sheet and the bottom carbon fiber sheet are made of carbon fiber materials, the strength is guaranteed, meanwhile, light weight is achieved, and energy consumption of the robot is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a foot bionic device based on humanoid robot. BACKGROUND

[0002] At present, the foot of the humanoid robot mostly adopts rigid or simple elastic structure, and its buffering and damping performance is limited. When the robot is walking or running, the impact force generated by the foot and the ground will be directly or through a simple spring element transmitted to the leg joint and the body of the robot, increasing the energy consumption and damaging the driving components. The applicant found through retrieval that a Chinese patent disclosed a "bionic robot foot structure", with the publication number "CN111959634A". When an impact occurs, the ground impact first acts on one end of the rigid lever, and after transmission through the lever structure, the damping spring shock absorber at the end is reached. The transmission path is long and lacks intermediate dissipation structure, resulting in part of the impact energy being conducted to the body before reaching the damping spring shock absorber, causing the robot to move unstably. Therefore, we propose a foot bionic device based on humanoid robot. SUMMARY

[0003] The purpose of the present application is to provide a foot bionic device based on humanoid robot.

[0004] To achieve the above purpose, the present application provides the following technical scheme: a foot bionic device based on humanoid robot, comprising a flange joint, the bottom of the flange joint is integrally provided with a top carbon fiber sheet, and the flange joint and the top carbon fiber sheet constitute a connecting piece of the robot leg.

[0005] One end of the top carbon fiber sheet is bolted with a middle carbon fiber sheet, the middle carbon fiber sheet is engaged with a heel rubber pad through epoxy resin glue at one end, the other end of the middle carbon fiber sheet is bolted with a bottom carbon fiber sheet, and the middle carbon fiber sheet, the bottom carbon fiber sheet and the heel rubber pad form a middle layer buffer module, and the top carbon fiber sheet and the middle carbon fiber sheet are provided with a compressible gap at the front side for elastic deformation stroke.

[0006] The bottom end of the bottom carbon fiber sheet is attached with a rear sole rubber pad through epoxy resin glue, the other end of the bottom carbon fiber sheet is attached with a front sole rubber pad through epoxy resin glue, and the bottom carbon fiber sheet, the front sole rubber pad and the rear sole rubber pad form a lower layer buffer module, and the whole device constitutes a Z-shaped spring buffer structure, realizing multi-stage buffering.

[0007] As a further scheme of the present application, the flange joint and the top carbon fiber sheet are integrally formed of carbon fiber composite material.

[0008] As a further aspect of the present invention: at least three bolts are distributed at both ends of the top carbon fiber sheet and the middle carbon fiber sheet, and bottom carbon fiber sheet bolts are provided at the front ends of the middle carbon fiber sheet and the bottom carbon fiber sheet, wherein the bottom carbon fiber sheet bolts are M8 bolts.

[0009] As a further embodiment of the present invention: the bottom carbon fiber plate bolt passes through the middle carbon fiber plate and the bottom carbon fiber plate, and its bottom is embedded in the groove at the top of the forefoot rubber pad.

[0010] As a further aspect of the present invention: the middle carbon fiber sheet, the bottom carbon fiber sheet and the area of ​​the forefoot rubber pad corresponding to the metatarsophalangeal joint of the foot are separated, and a split foot design is adopted.

[0011] As a further aspect of the present invention: the compressible gap between the top carbon fiber sheet and the front side of the middle carbon fiber sheet is 2-10 mm.

[0012] As a further aspect of the present invention, the force transmission path of the Z-shaped spring buffer structure is at an angle of 30-60 degrees to the vertical direction.

[0013] As a further aspect of the present invention: the heel rubber pad, the forefoot rubber pad, and the heel rubber pad are all made of hard rubber material.

[0014] Compared with the prior art, the beneficial effects of the present invention by adopting the above technical solution are as follows: 1. This invention, through the design of a Z-shaped spring buffer structure and a multi-layer composite buffer design, converts vertical impact force into elastic deformation of the components, effectively absorbing and reducing impact energy, thereby protecting the robot's main structure. Furthermore, the multi-layer buffer structure can automatically adjust the degree of deformation according to the ground hardness, improving terrain adaptability. 2. The present invention uses bolts to connect the top carbon fiber sheet, middle carbon fiber sheet and bottom carbon fiber sheet, forming a modular design that facilitates the replacement of connecting parts, reduces maintenance costs and time. In addition, the top carbon fiber sheet, middle carbon fiber sheet and bottom carbon fiber sheet are made of carbon fiber material, which achieves lightweight while ensuring strength and reducing robot energy consumption.

[0015] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure in an embodiment of the present invention; Figure 2 This is a side view of an embodiment of the present invention; Figure 3 This is a schematic diagram of the connection between the top carbon fiber sheet and the middle carbon fiber sheet in an embodiment of the present invention; Figure 4 This is an exploded view of an embodiment of the present invention.

[0017] In the diagram: 1. Flange face; 2. Top carbon fiber sheet; 3. Middle carbon fiber sheet; 4. Bottom carbon fiber sheet; 5. Heel rubber pad; 6. Forefoot rubber pad; 7. Rearfoot rubber pad; 8. Bottom carbon fiber sheet bolt. Detailed Implementation

[0018] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0019] Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0020] Please see the appendix Figure 1 - Appendix Figure 4 This invention discloses a foot bionic device based on a humanoid robot, comprising a flange face 1, with a top carbon fiber sheet 2 integrally formed at the bottom of the flange face 1. The flange face 1 and the top carbon fiber sheet 2 are bolted together, with M4 bolts and 12 bolts in total. The flange face 1 and the top carbon fiber sheet 2 are integrally formed structures of carbon fiber composite material. The top carbon fiber sheet 2, the middle carbon fiber sheet 3, and the bottom carbon fiber sheet 4 are made of carbon fiber material, achieving lightweight while ensuring strength and reducing robot energy consumption. The flange face 1 and the top carbon fiber sheet 2 constitute the connecting parts of the robot's leg.

[0021] In Example 1, a middle carbon fiber sheet 3 is bolted to one end of a top carbon fiber sheet 2. A heel rubber pad 5 is engaged with one end of the middle carbon fiber sheet 3 by epoxy resin. A bottom carbon fiber sheet 4 is bolted to the other end of the middle carbon fiber sheet 3. The thickness of the top carbon fiber sheet 2 is 4mm, the thickness of the middle carbon fiber sheet 3 is 5mm, and the thickness of the bottom carbon fiber sheet 4 is 4mm. The middle carbon fiber sheet 3, the bottom carbon fiber sheet 4, and the heel rubber pad 5 form a middle buffer module. A compressible gap is provided on the front side of the top carbon fiber sheet 2 and the middle carbon fiber sheet 3 for elastic deformation stroke. Specifically, at least three bolts are distributed at both ends of the top carbon fiber plate 2 and the middle carbon fiber plate 3. These are M5 bolts, and the number of bolts is 8. The middle carbon fiber plate 3 and the bottom carbon fiber plate 4 are provided with bottom carbon fiber plate bolts 8 at the front end. The bottom carbon fiber plate bolts 8 are M8 bolts. The bottom carbon fiber plate bolts 8 pass through the middle carbon fiber plate 3 and the bottom carbon fiber plate 4, and their bottoms are embedded in the groove at the top of the forefoot rubber pad 6. In this embodiment, the top carbon fiber sheet 2, the middle carbon fiber sheet 3, and the bottom carbon fiber sheet 4 are connected by bolts. The resulting modular design facilitates the replacement of the connecting parts and reduces maintenance costs and time. Specifically, the compressible gap between the top carbon fiber sheet 2 and the middle carbon fiber sheet 3 is 2-10mm, providing compressible stroke; Specifically, the force transmission path of the Z-shaped spring buffer structure is at an angle of 30-60 degrees to the vertical direction; In this embodiment, the inclined structure provides a longer effective buffer stroke within a limited height, allowing the material to distribute the maximum stress area and avoiding stress concentration.

[0022] In Example 2, a heel rubber pad 7 is attached to one end of the bottom of the carbon fiber sheet 4 with epoxy resin, and a forefoot rubber pad 6 is attached to the other end of the bottom of the carbon fiber sheet 4 with epoxy resin. The carbon fiber sheet 4, the forefoot rubber pad 6 and the heel rubber pad 7 form a lower buffer module. The entire device constitutes a Z-shaped spring buffer structure to achieve multi-level buffering. In this embodiment, when the foot lands, the heel area first contacts the ground, and the heel rubber pad 7 is initially compressed. The impact force is transmitted upward through the bottom carbon fiber sheet 4 along a zigzag path. As the center of gravity of the machine shifts, the forefoot area bears the load, causing the forefoot rubber pad 6 to compress. Specifically, the middle carbon fiber plate 3, the bottom carbon fiber plate 4, and the front end of the forefoot rubber pad 6 are separated from the area corresponding to the metatarsophalangeal joint of the foot, and it adopts a split foot design; In this embodiment, the split foot design further cushions the impact when the foot touches the ground; Specifically, the heel rubber pad 5, the forefoot rubber pad 6, and the heel rubber pad 7 are all made of hard rubber. In this embodiment, the heel rubber pad 5 and the rearfoot rubber pad 7 allow the heel to bear the initial impact, while the forefoot rubber pad 6 provides propulsive elasticity. The use of a rigid material prevents excessive compression from damaging the internal structure.

[0023] Working principle: When the heel contacts the ground, the heel rubber pad 7 compresses, forming initial cushioning. The force is transmitted upward through the bottom carbon fiber plate 4, causing the middle carbon fiber plate 3 to be compressed. This causes the heel rubber pad 5 to deform, absorbing the vertical impact. When the foot is flattened, the entire foot contacts the ground, the center of gravity shifts forward, and the gap between the top carbon fiber plate 2 and the middle carbon fiber plate 3 begins to compress, initiating the first stage of cushioning. This then allows the entire Z-shaped cushioning structure to participate, transmitting force along an inclined path, causing the carbon fiber plates to bend and the rubber to deform, achieving composite energy absorption. When the foot leaves the ground, the heel begins to leave the ground, the center of gravity shifts to the forefoot, and the stored energy begins to be released, assisting in propulsion. The gap between the top carbon fiber plate 2 and the middle carbon fiber plate 3 reopens, the structure resets, the rubber elasticity recovers, providing rebound force, and preparing for the next landing cycle. At this point, the entire process is complete.

[0024] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1Based on.

[0025] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0026] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments.

[0027] For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and these variations still fall within the protection scope of the present invention.

Claims

1. A foot-inspired bionic device based on a humanoid robot, comprising a flange interface (1), characterized in that: The flange face piece (1) has an integrally formed top carbon fiber sheet (2) at the bottom, and the flange face piece (1) and the top carbon fiber sheet (2) constitute the connecting parts of the robot leg; One end of the top carbon fiber sheet (2) is bolted to a middle carbon fiber sheet (3), one end of the middle carbon fiber sheet (3) is engaged with a heel rubber pad (5) by epoxy resin, and the other end of the middle carbon fiber sheet (3) is bolted to a bottom carbon fiber sheet (4). The middle carbon fiber sheet (3), the bottom carbon fiber sheet (4) and the heel rubber pad (5) form a middle layer buffer module. The front side of the top carbon fiber sheet (2) and the middle carbon fiber sheet (3) is provided with a compressible gap for elastic deformation stroke. The bottom carbon fiber sheet (4) has a heel rubber pad (7) attached to one end of its bottom with epoxy resin adhesive, and a forefoot rubber pad (6) attached to the other end of its bottom with epoxy resin adhesive. The bottom carbon fiber sheet (4), the forefoot rubber pad (6) and the heel rubber pad (7) form a lower buffer module. The entire device constitutes a Z-shaped spring buffer structure to achieve multi-level buffering.

2. The foot-inspired bionic device based on a humanoid robot according to claim 1, characterized in that: The flange face part (1) and the top carbon fiber sheet (2) are an integrated molding structure of carbon fiber composite material.

3. The foot-inspired bionic device based on a humanoid robot according to claim 1, characterized in that: At least three bolts are distributed at both ends of the top carbon fiber sheet (2) and the middle carbon fiber sheet (3). The middle carbon fiber sheet (3) and the bottom carbon fiber sheet (4) are provided with bottom carbon fiber sheet bolts (8) at their front ends. The bottom carbon fiber sheet bolts (8) are M8 bolts.

4. The foot-inspired bionic device based on a humanoid robot according to claim 3, characterized in that: The bottom carbon fiber plate bolt (8) passes through the middle carbon fiber plate (3) and the bottom carbon fiber plate (4), and its bottom is embedded in the groove at the top of the forefoot rubber pad (6).

5. A foot-inspired bionic device based on a humanoid robot according to claim 1, characterized in that: The middle carbon fiber sheet (3) and the bottom carbon fiber sheet (4) are separated from the area of ​​the metatarsophalangeal joint at the front end of the forefoot rubber pad (6), and the design adopts a split foot design.

6. The foot-inspired bionic device based on a humanoid robot according to claim 1, characterized in that: The compressible gap between the top carbon fiber sheet (2) and the middle carbon fiber sheet (3) is 2-10 mm.

7. A foot-inspired bionic device based on a humanoid robot according to claim 1, characterized in that: The force transmission path of the Z-shaped spring buffer structure is at an angle of 30-60 degrees to the vertical direction.

8. A foot-inspired bionic device based on a humanoid robot according to claim 1, characterized in that: The heel rubber pad (5), forefoot rubber pad (6) and heel rubber pad (7) are all made of hard rubber.

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