A biomimetic bow-beam robot foot load-bearing skeleton

Abstract

The application discloses a kind of bionic bow beam type robot foot bearing skeleton, it is related to robot foot structure technical field.The upper installation component is used to be connected with robot ankle;Bearing beam component is arranged between upper installation component and foot bottom support component, contains multiple groups of arc-shaped bearing beam arranged along foot width direction, each group of arc-shaped bearing beam includes forefoot bearing beam and heel bearing beam, forefoot bearing beam integrated support column or oblique connection beam and is separated to form hollow area, and open space bearing network is constructed;Foot bottom support component has multiple groups of foot bottom support unit corresponding to arc-shaped bearing beam, each group of foot bottom support unit includes heel support unit, middle support unit, forefoot support unit.The application realizes multi-path transmission, lightweight structure, foot bottom contact transition is smooth, and large load bearing capacity is considered, and it is suitable for humanoid, foot type robot.

Description

Technical Field

[0001] This invention relates to the field of robot foot structure technology, and in particular to a biomimetic arch-beam type robot foot support frame. Background Technology

[0002] The feet of a humanoid robot are positioned between the robot body and the ground. This structure needs to reliably transfer the load from the lower leg or ankle to the sole of the foot, while simultaneously completing ground contact tasks at different stages, such as landing, support, weight transfer, and liftoff. The configuration of the foot's load-bearing structure directly determines the load transfer path and the support area of ​​the sole, and also affects the robot's forward and backward and lateral movement stability.

[0003] Most existing robot feet use a single rigid footplate or a load-bearing structure formed by splicing together a few flat components. While this type of structure is easy to manufacture and control, the continuous flat structure rapidly couples local contact disturbances to the entire foot sole; when the contact state changes between the front and back areas of the foot sole, the contact position changes abruptly. Furthermore, to ensure the overall rigidity of the foot, the flat structure requires a large area of ​​solid material, making it difficult to balance load-bearing capacity with structural lightweighting.

[0004] Some existing technologies improve foot cushioning and terrain adaptability by incorporating arch springs, movable toes, separate forefoot and hindfoot plates, and flexible fascia. However, most of these structures are built around a single longitudinal arch or a forefoot and hindfoot hinge mechanism, and there is still considerable room for improvement in multi-path force transmission in the foot width direction, differentiated support on the inner and outer sides, and the collaborative working ability among multiple distributed plantar support units.

[0005] In addition, when the entire foot is rigidly fixed, local impact loads will be directly transmitted along the component; if unrestrained flexible connections or movable joints are used, excessive displacement will occur under large load conditions, compromising load-bearing stability. Therefore, the industry urgently needs a technical solution that uses a rigid frame to bear the main load, with local nodes having limited flexibility, and switches to rigid limiting load bearing after deformation reaches a set stroke. Summary of the Invention

[0006] The main objective of this invention is to provide a biomimetic bow-beam type robot foot support frame to solve the above-mentioned problems.

[0007] To achieve the above objectives, the present invention provides a biomimetic bow-beam type robot foot support frame, including an upper mounting component, a support beam assembly, and a foot support assembly; The upper mounting component is connected to the robot's ankle. The load-bearing beam assembly is disposed between the upper mounting component and the foot support component; the load-bearing beam assembly includes multiple sets of arc-shaped load-bearing beams spaced apart along the foot width direction, each set of arc-shaped load-bearing beams includes a forefoot load-bearing beam and a heel load-bearing beam extending from the upper mounting component towards the front and rear sides of the foot length direction, respectively; its height gradually decreases as it moves away from the upper mounting component, so that the arc-shaped load-bearing beam forms an arched or bow-shaped profile in the side view direction; several support columns or oblique connecting beams are integrally formed on the forefoot load-bearing beam; the lower part of the arc-shaped load-bearing beam is divided into several hollow areas by the support columns or oblique connecting beams, thereby forming an open space load-bearing network between the upper mounting component and the foot support component; The foot support assembly includes multiple sets of foot support units spaced apart along the width of the foot and corresponding one-to-one with the arc-shaped load-bearing beam; each set of foot support units includes a heel support unit located in the heel area, a middle support unit located in the arch area, and a forefoot support unit located in the forefoot area, all spaced apart; adjacent support units form a through-spacing; the heel support unit is connected to the bottom of the heel load-bearing beam, the middle support unit is connected to the forefoot load-bearing beam through several support columns or diagonal connecting beams; the forefoot support unit is connected to the bottom of the forefoot load-bearing beam.

[0008] Furthermore, the arc-shaped load-bearing beams are provided in three groups, namely the inner arch beam group, the middle arch beam group, and the outer arch beam group. The inner arch beam group, the middle arch beam group, and the outer arch beam group respectively form a load transfer path extending from the heel area through the arch area to the forefoot area.

[0009] Furthermore, the inner bow beam group and the outer bow beam group are arranged asymmetrically in at least one of the following: bending direction, branch position, lateral span, beam cross-sectional size, or the position of the rigid foot support unit to which they are connected.

[0010] Furthermore, the outer arch beam assembly and / or the foot support unit connected to the outer arch beam assembly extend outward in the foot width direction to form an outward-spreading stable support section.

[0011] Furthermore, the lower surfaces of multiple foot support units together form a rolling foot profile; the rear end of the heel support unit gradually curves upward to form a heel curve, the front end of the forefoot support unit gradually curves upward to form a forefoot curve, and the middle support unit is positioned lower relative to the front and rear curves.

[0012] Furthermore, at least one of the arc-shaped load-bearing beams is provided with a limiting elastic nesting node; the limiting elastic nesting node includes a first rigid nesting member, a second rigid nesting member that cooperates with the first rigid nesting member, and an elastic bushing disposed between the first rigid nesting member and the second rigid nesting member; the first rigid nesting member is disposed on the heel load-bearing beam, and the second rigid nesting member is disposed on the forefoot load-bearing beam.

[0013] Furthermore, the elastic bushing is a silicone rubber bushing, a polyurethane elastomer bushing, or a rubber bushing, and the elastic bushing is configured to produce elastic compression, shear, and / or torsional deformation between the first rigid nesting member and the second rigid nesting member.

[0014] Furthermore, the first rigid nesting member adopts a seat with an inner cavity, the inner cavity being spherical, annular, or forked; the second rigid nesting member adopts a rod with one end spherical, axle-shaped, or pin-shaped.

[0015] Furthermore, a limiting gap is provided between the first rigid nesting member and the second rigid nesting member, and each is provided with a rigid limiting surface arranged opposite to each other; after the relative displacement of the limiting elastic nesting node reaches the set stroke corresponding to the limiting gap, the rigid limiting surfaces abut against each other.

[0016] Furthermore, the upper mounting component includes a mounting plate and a plurality of mounting holes spaced apart along the circumference of the mounting plate, and a plurality of the arc-shaped load-bearing beams are connected to the lower side of the mounting plate.

[0017] The present invention has the following beneficial effects: 1. Each set of arc-shaped load-bearing beams is divided into front foot load-bearing beams and heel load-bearing beams, with a gradual change in height to form a biomimetic arch-shaped outline. Combined with support columns or diagonal connecting beams, it forms a hollow area, constructing an open space load-bearing network. The materials are concentrated on the load transfer path, taking into account both load-bearing capacity and lightweight. 2. The foot support unit and the arc-shaped load-bearing beam correspond one-to-one. The heel support unit, the middle support unit, and the forefoot support unit are connected to different beams. Adjacent units are separated by a through interval to reduce the coupling transmission of local ground disturbances to the entire foot. 3. The inner and outer bow beam assemblies are arranged asymmetrically, and are combined with outwardly extending stabilizing support parts to increase the support range in the foot width direction and improve the robot's lateral anti-tipping stability. 4. The sole forms a rolling foot contour, and the contact area can smoothly shift along the length of the foot throughout the entire process of landing, supporting, and leaving the ground, resulting in a smoother gait transition; 5. The limiting elastic nested node is assembled between the heel bearing beam and the forefoot bearing beam; under small loads, the elastic bushing achieves compression, shear, and torsional deformation, providing buffering and compliance; after the displacement reaches the set stroke, the rigid limiting surfaces abut against each other, switching to rigid bearing, taking into account both buffering performance and structural stability under large load conditions. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the load-bearing frame of the present invention; Figure 2 This is a three-dimensional structural diagram of the support frame of the present invention from another direction; Figure 3 This is a top view of the supporting frame structure of the present invention; Figure 4 This is a bottom view of the supporting frame structure of the present invention; Figure 5 This is a side view of the supporting frame structure of the present invention; Figure 6 This is a schematic diagram of the end-view structure of the load-bearing frame of the present invention; Figure 7 This is a schematic diagram of the layout of the distributed plantar support unit; Figure 8 A schematic diagram of the rolling sole profile with the front and rear ends curving upwards; Figure 9 A schematic diagram of the asymmetrical inner and outer bow beams and the outward support section; Figure 10 This is a partial structural diagram of a limit-type elastic nested node; Figure 11 This is a schematic cross-sectional view of a limit-type flexible nested node.

[0019] Among them, 100-upper mounting component; 110-mounting plate; 111-mounting hole; 200-bearing beam assembly; 210-inner bow beam assembly; 220-middle bow beam assembly; 230-outer bow beam assembly; 240-heel bearing beam; 250-forefoot bearing beam; 260-support column or oblique connecting beam; 270-hollowed-out area; 300-foot support assembly; 310-heel support unit; 320-middle support unit; 330-forefoot support unit; 340-through interval; 350-outward stabilizing support part; 400-rolling foot contour; 410-heel upturned part; 420-forefoot upturned part; 500-limiting elastic nesting node; 510-first rigid nesting member; 520-second rigid nesting member; 530-elastic bushing; 540-rigid limiting surface; 550-limiting gap. Detailed Implementation

[0020] To achieve the above objectives and effects, the technical means and structure adopted by the present invention will be described in detail with reference to the accompanying drawings, focusing on the features and functions of the preferred embodiments of the present invention.

[0021] Example 1

[0022] like Figures 1-11 As shown in the figure, this embodiment discloses a biomimetic bow-beam robot foot support frame, including an upper mounting component 100, a support beam assembly 200, and a foot support assembly 300.

[0023] The upper mounting component 100 includes a mounting plate 110, with multiple mounting holes 111 spaced around the perimeter. The upper mounting component 100 is assembled and connected to the robot's ankle through the mounting holes 111, and receives vertical loads, forward and backward loads, lateral loads, and various torques transmitted from the robot's ankle or lower leg.

[0024] The load-bearing beam assembly 200 is arranged between the upper mounting member 100 and the foot support assembly 300. The load-bearing beam assembly 200 includes three sets of arc-shaped load-bearing beams spaced apart along the width of the foot. The three sets of arc-shaped load-bearing beams are connected to the underside of the mounting plate 110, namely the inner arch beam group 210, the middle arch beam group 220, and the outer arch beam group 230. Each set of arc-shaped load-bearing beams includes a forefoot load-bearing beam 250 and a heel load-bearing beam 240. The forefoot load-bearing beam 250 extends forward from the upper mounting member 100 in the length of the foot, and the heel load-bearing beam 240 extends backward from the upper mounting member 100 in the length of the foot. The height of the arc-shaped load-bearing beams gradually decreases as they move away from the upper mounting member 100, forming an arched or bow-shaped biomimetic profile when viewed from the side.

[0025] Several support columns or diagonal connecting beams 260 are integrally formed on the forefoot bearing beam 250; the support columns or diagonal connecting beams 260 divide the lower part of the arc-shaped bearing beam into several hollow areas 270, forming an open space bearing network between the upper mounting component 100 and the foot support component 300.

[0026] The foot support assembly 300 includes three sets of foot support units arranged at intervals along the width of the foot and corresponding one-to-one with three sets of arc-shaped load-bearing beams; each set of foot support units includes a heel support unit 310, a midfoot support unit 320, and a forefoot support unit 330; the heel support unit 310 is arranged in the heel area, the midfoot support unit 320 is arranged in the arch area, and the forefoot support unit 330 is arranged in the forefoot area. A through-space 340 is formed between adjacent support units.

[0027] The heel support unit 310 and the heel bearing beam 240 are fixedly connected at the bottom; the middle support unit 320 is connected to the forefoot bearing beam 250 by means of a support column or an oblique connecting beam 260; the forefoot support unit 330 is fixedly connected to the bottom of the forefoot bearing beam 250.

[0028] The reference model dimensions for this embodiment are: total skeleton length 240mm, maximum width 99mm, and skeleton height 48mm. These dimensions are for illustrative purposes only and can be scaled up proportionally according to the robot's weight, overall size, ankle interface, and gait requirements. They do not constitute a limitation on the present invention.

[0029] Example 2

[0030] like Figure 3 , Figure 6 , Figure 9 As shown, this embodiment is based on the structure of embodiment 1. The inner arch beam group 210, the middle arch beam group 220, and the outer arch beam group 230 respectively form independent load transmission paths extending from the heel area through the arch area to the forefoot area.

[0031] The inner bow beam assembly 210 and the outer bow beam assembly 230 are arranged asymmetrically, differing structurally in at least one of the following: bending direction, branch position, lateral span, beam cross-sectional dimensions, and the position of the corresponding foot support unit. The outer bow beam assembly 230 and the connected foot support unit extend outward in the foot width direction, forming an outwardly extending stabilizing support part 350. The outwardly extending stabilizing support part 350 increases the support range of the skeleton in the foot width direction, providing a longer force transmission arm for lateral overturning loads. For the robot's left and right feet, the asymmetrical structure is arranged in a mirror image.

[0032] Example 3

[0033] like Figure 5 , Figure 8 As shown, this embodiment is based on the structure of Embodiment 1, and the lower surfaces of multiple foot support units together form a rolling foot contour 400. The rear end of the heel support unit 310 is raised upward to form the heel upturned part 410; the front end of the forefoot support unit 330 is raised upward to form the forefoot upturned part 420; the middle support unit 320 is positioned lower than the heel upturned part 410 and the forefoot upturned part 420.

[0034] In the initial stage of robot landing, the heel upturned part 410 and the adjacent heel support unit 310 make contact with the ground first; the robot's foot rotates relative to the ground, and the contact area gradually shifts to the middle support unit 320; during the lift-off stage, the contact area continues to shift to the forefoot support unit 330 and the forefoot upturned part 420, and the foot contact position is smoothly switched by relying on the geometric contour of the skeleton.

[0035] The contours of the heel upturned part 410 and the forefoot upturned part 420 can be circular arcs, spline curves, multi-segment circular arcs, or gradually changing slopes; the upturned curvature and upturned height are determined in combination with the robot's step length, the total length of the foot, and the target contact trajectory.

[0036] Example 4

[0037] like Figure 10 , Figure 11 As shown, this embodiment is based on the structure of Embodiment 1, and at least one set of arc-shaped bearing beams are provided with limiting elastic nested nodes 500. The limiting elastic nested node 500 includes a first rigid nesting member 510, a second rigid nesting member 520, and an elastic bushing 530. The first rigid nesting member 510 is fixedly mounted on the heel bearing beam 240, and the second rigid nesting member 520 is fixedly mounted on the forefoot bearing beam 250.

[0038] The first rigid nesting member 510 is a seat with an inner cavity, which can be shaped like a ball-and-socket, a ring, or a fork. The second rigid nesting member 520 is a rod, with its mating end being shaped like a ball head, a shaft head, or a pin sleeve. The mating end of the second rigid nesting member 520 is embedded in the inner cavity of the first rigid nesting member 510. An elastic bushing 530 is disposed between the first rigid nesting member 510 and the second rigid nesting member 520. The elastic bushing 530 is preferably made of silicone rubber, but polyurethane elastomers or rubber materials can also be used. The elastic bushing 530 can undergo compression, shear, and torsional deformation, thereby allowing limited relative micro-movements between the two rigid nesting members.

[0039] A limiting gap 550 is reserved between the first rigid nesting member 510 and the second rigid nesting member 520, and the two are provided with mutually cooperating rigid limiting surfaces 540. Under small load conditions, node buffering is achieved by the deformation of the elastic bushing 530; when the relative displacement of the node reaches the set stroke corresponding to the limiting gap 550, the rigid limiting surfaces 540 abut against each other, restricting the components from continuing to move relative to each other, and turning into rigid load bearing.

[0040] The size of the limiting gap 550, the hardness of the elastic bushing 530, the bushing thickness, and the relative position of the rigid limiting surface 540 are set according to the target load threshold and the maximum allowable displacement. This invention does not impose numerical limits on the elastic modulus, stiffness value, or limit stroke.

[0041] Example 5

[0042] The load-bearing beam assembly 200 and the foot support assembly 300 can be integrally machined; alternatively, they can be disassembled into multiple rigid components and combined through welding, threaded fastening, pin connection, or interference fit. When using additive manufacturing, continuous curved beams and locally reinforced structures can be designed according to the load transfer path.

[0043] The cross-section of the curved load-bearing beam can be circular, elliptical, rectangular, box-shaped, channel-shaped, or gradually deformed; different cross-sections can be used for different curved load-bearing beams within the same frame. The number and inclination angle of the supporting columns or diagonal connecting beams can be adjusted according to the spatial layout.

[0044] This invention is not limited to three sets of foot support paths. Depending on the width of the robot's foot, two, three, or more support paths can be set. Depending on the length of the foot, the number of heel support units 310, middle support units 320, and forefoot support units 330 can be increased or decreased, as long as the corresponding force transmission relationship between the foot support units and the arc-shaped load-bearing beam is maintained.

[0045] This invention is not limited to specific manufacturing materials: high-strength engineering plastics and fiber-reinforced composite materials are used for light-load robots; aluminum alloys, titanium alloys, steel, or a combination of multiple materials are used for high-load robots. The elastic bushing 530 can be configured as a replaceable component, facilitating the adjustment of the node micro-motion characteristics according to the operating scenario.

[0046] The above description is only a preferred embodiment of the present invention and not all embodiments. Anyone should know that structural changes made under the guidance of the present invention, and any technical solutions that are the same as or similar to the present invention, are within the protection scope of the present invention.

Claims

1. A biomimetic bow-beam type leg support frame for robots, characterized in that, It includes an upper mounting component (100), a load-bearing beam assembly (200), and a foot support assembly (300). The upper mounting component (100) is connected to the robot's ankle. The load-bearing beam assembly (200) is disposed between the upper mounting member (100) and the foot support assembly (300); the load-bearing beam assembly (200) includes multiple sets of arc-shaped load-bearing beams spaced apart along the foot width direction, each set of arc-shaped load-bearing beams includes a forefoot load-bearing beam (250) and a heel load-bearing beam (240) extending from the upper mounting member (100) to the front and rear sides of the foot length direction respectively; its height gradually decreases as it moves away from the upper mounting member (100), so that the arc-shaped load-bearing beam forms an arch or bow-shaped profile in the side view direction; several support columns or oblique connecting beams (260) are integrally formed on the forefoot load-bearing beam (250); the lower part of the arc-shaped load-bearing beam is divided into several hollow areas (270) by the support columns or oblique connecting beams (260), thereby forming an open space load-bearing network between the upper mounting member (100) and the foot support assembly (300); The foot support assembly (300) includes multiple sets of foot support units spaced apart along the width of the foot and corresponding one-to-one with the arc-shaped bearing beam; each set of foot support units includes a heel support unit (310) located in the heel area, a middle support unit (320) located in the arch area, and a forefoot support unit (330) located in the forefoot area; adjacent support units form a through gap (340); the heel support unit (310) is connected to the bottom of the heel bearing beam (240), the middle support unit (320) is connected to the forefoot bearing beam (250) through several support columns or oblique connecting beams (260); the forefoot support unit (330) is connected to the bottom of the forefoot bearing beam (250).

2. The biomimetic bow-beam robot foot support frame as described in claim 1, characterized in that, The arc-shaped load-bearing beams are provided in three groups, namely the inner arch beam group (210), the middle arch beam group (220), and the outer arch beam group (230). The inner arch beam group (210), the middle arch beam group (220), and the outer arch beam group (230) respectively form a load transfer path extending from the heel area through the arch area to the forefoot area.

3. The biomimetic bow-beam robot foot support frame as described in claim 2, characterized in that, The inner bow beam group (210) and the outer bow beam group (230) are arranged asymmetrically in at least one of the following: bending direction, branch position, lateral span, beam cross-sectional size, or the position of the rigid foot support unit to which they are connected.

4. The biomimetic bow-beam robot foot support frame as described in claim 3, characterized in that, The outer arch beam assembly (230) and / or the foot support unit connected to the outer arch beam assembly (230) extend outward in the foot width direction to form an outwardly oriented stable support part (350).

5. A biomimetic bow-beam robot foot support frame as described in any one of claims 1-4, characterized in that, The lower surfaces of multiple foot support units together form a rolling foot profile (400); the rear end of the heel support unit (310) gradually curves upward to form a heel upturned part (410), the front end of the forefoot support unit (330) gradually curves upward to form a forefoot upturned part (420), and the middle support unit (320) is in a lower position relative to the front and rear upturned parts.

6. The biomimetic bow-beam robot foot support frame as described in claim 5, characterized in that, At least one of the arc-shaped bearing beams is provided with a limiting elastic nesting node (500); the limiting elastic nesting node (500) includes a first rigid nesting member (510), a second rigid nesting member (520) that cooperates with the first rigid nesting member (510), and an elastic bushing (530) disposed between the first rigid nesting member (510) and the second rigid nesting member (520); the first rigid nesting member (510) is disposed on the heel bearing beam (240), and the second rigid nesting member (520) is disposed on the forefoot bearing beam (250).

7. The biomimetic bow-beam robot foot support frame as described in claim 6, characterized in that, The elastic bushing (530) is a silicone rubber bushing, a polyurethane elastomer bushing, or a rubber bushing, and the elastic bushing (530) is configured to produce elastic compression, shear, and / or torsional deformation between the first rigid nest (510) and the second rigid nest (520).

8. A biomimetic bow-beam robot foot support frame as described in claim 6 or 7, characterized in that, The first rigid nesting member (510) adopts a seat with an inner cavity, which is shaped like a ball, a ring, or a fork; the second rigid nesting member (520) adopts a rod with one end shaped like a ball, a shaft, or a pin.

9. The biomimetic bow-beam robot foot support frame as described in claim 8, characterized in that, A limiting gap (550) is provided between the first rigid nesting member (510) and the second rigid nesting member (520), and each is provided with a rigid limiting surface (540) arranged opposite to each other; after the relative displacement of the limiting elastic nesting node (500) reaches the set stroke corresponding to the limiting gap (550), the rigid limiting surfaces (540) abut against each other.

10. The biomimetic bow-beam robot foot support frame as described in claim 1, characterized in that, The upper mounting component (100) includes a mounting plate (110) and a plurality of mounting holes (111) spaced circumferentially along the mounting plate (110), and a plurality of the arc-shaped load-bearing beams are connected to the lower side of the mounting plate (110).

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