Foot, robot, biped robot and humanoid robot

Abstract

The utility model discloses a foot, a robot, a biped robot and a humanoid robot. The foot comprises a sole; the shaft seat comprises a seat plate, a shank connecting seat and a foot driving mechanism connecting seat, the seat plate is installed on the foot sole, the shank connecting seat is used for being connected with a shank, the foot driving mechanism connecting seat is used for being connected with a foot driving mechanism, and the seat plate, the shank connecting seat and the foot driving mechanism connecting seat are integrally formed. Therefore, the number of parts can be reduced, the fault risk caused by looseness or damage of the connecting position can be reduced, the overall weight of the foot can be reduced, and therefore the flexibility of the foot can be improved. In addition, the foot is high in strength and not prone to deformation.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a foot, a robot, a bipedal robot and a humanoid robot. Background Art

[0002] In the prior art, the foot is provided with a supporting seat and a connecting seat, and the supporting seat and the connecting seat are arranged at intervals, which not only occupies a large amount of space in the foot, but also increases the number of parts of the foot, resulting in a time-consuming problem in the installation process of the foot and reducing the installation efficiency of the foot. Moreover, the supporting seat and the connecting seat also have the problem of reduced strength and are prone to deformation. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model provides a foot that can reduce the number of parts, reduce the risk of failure caused by loose or damaged joints, and reduce the overall weight of the foot, thereby improving the flexibility of the foot. In addition, the foot has high strength and is not easily deformed.

[0004] The utility model further provides a robot.

[0005] The utility model also provides a biped robot.

[0006] The utility model also provides a humanoid robot.

[0007] The foot according to the first aspect of the utility model comprises: a sole; an axle seat, the axle seat comprising a seat plate, a calf connecting seat and a foot drive mechanism connecting seat, the seat plate is installed on the sole, the calf connecting seat is used to connect the calf, the foot drive mechanism connecting seat is used to connect the foot drive mechanism, and the seat plate, the calf connecting seat and the foot drive mechanism connecting seat are integrally formed.

[0008] Thus, the foot can reduce the number of parts, reduce the risk of failure due to loose or damaged joints, and reduce the weight of the entire foot, thereby improving the flexibility of the foot. In addition, the foot has high strength and is not easily deformed.

[0009] According to some embodiments of the present invention, the calf connecting seat is located in front of the foot driving mechanism connecting seat, and the rear end of the calf connecting seat is connected to the front end of the foot driving mechanism connecting seat.

[0010] According to some embodiments of the utility model, the calf connecting seat includes: a bottom plate, which is connected to the seat plate; a first mounting plate, which is connected to the bottom plate; a second mounting plate, which is connected to the bottom plate and is spaced apart from the first mounting plate in the front-to-back direction, and the first mounting plate and the second mounting plate are used to connect the calf.

[0011] According to some embodiments of the utility model, the first mounting plate is provided with a first mounting hole, and the first mounting hole is used to install a first bearing connected to the calf; the second mounting plate is provided with a second mounting hole, and the second mounting hole is used to install a second bearing connected to the calf, and the central axis of the first mounting hole is collinear with the central axis of the second mounting hole.

[0012] According to some embodiments of the utility model, a plurality of fixing holes for fixing the stop member are provided on one side of the first mounting plate away from the second mounting plate, and the plurality of fixing holes are arranged around the first mounting hole; and / or a stop step is provided on one end of the second mounting hole away from the first mounting plate, and the stop step is used to cooperate with the second bearing stop.

[0013] According to some embodiments of the present utility model, the foot drive mechanism connecting seat is provided with a rotating shaft hole, and the rotating shaft hole extends in the left-right direction.

[0014] According to some embodiments of the utility model, the sole of the foot is provided with a first limiting portion extending in the front-to-back direction, and the seat plate is provided with a second limiting portion, and the first limiting portion and the second limiting portion cooperate in limiting position in the left-to-right direction.

[0015] According to some embodiments of the utility model, the first limiting portion is constructed as a limiting strip protruding upward from the sole of the foot, and the second limiting portion is constructed as a limiting groove recessed upward from the bottom of the seat plate, and the seat plate is slidably matched with the limiting strip through the limiting groove.

[0016] A robot according to an embodiment of the second aspect of the utility model includes: the above-mentioned foot.

[0017] The bipedal robot according to the second embodiment of the utility model includes: a body; a first lower limb assembly and a second lower limb assembly, the first lower limb assembly and the second lower limb assembly are connected to the lower part of the body, the first lower limb assembly and the second lower limb assembly are arranged at intervals, and at least one of the first lower limb assembly and the second lower limb assembly is the above-mentioned foot.

[0018] The humanoid robot according to the third aspect of the utility model includes: a head; a torso, the torso is connected to the lower part of the head; an upper limb assembly, the upper limb assembly is connected to both sides of the torso; a first lower limb assembly and a second lower limb assembly, the first lower limb assembly and the second lower limb assembly are connected to the lower part of the torso, the first lower limb assembly and the second lower limb assembly are arranged side by side, and at least one of the first lower limb assembly and the second lower limb assembly is the above-mentioned foot.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] Figure 1 It is a structural schematic diagram of a foot including a sole and an axle seat according to an embodiment of the utility model;

[0022] Figure 2 It is a schematic diagram of the structure in which the calf connecting seat and the foot driving mechanism connecting seat are arranged on the sole of the foot according to an embodiment of the utility model;

[0023] Figure 3 It is a structural schematic diagram of a foot including a first mounting plate and a second mounting plate according to an embodiment of the utility model;

[0024] Figure 4 It is a structural schematic diagram of a foot including a first bearing and a second bearing according to an embodiment of the utility model;

[0025] Figure 5 It is a structural schematic diagram of a first mounting plate having a first mounting hole according to an embodiment of the utility model.

[0026] Reference numerals:

[0027] 100, foot;

[0028] 10. sole of foot; 11. first limiting part;

[0029] 20. axle seat; 21. seat plate; 211. second limiting portion;

[0030] 22, calf connecting seat; 221, bottom plate; 222, first mounting plate; 2221, first mounting hole;

[0031] 223, second mounting plate; 2231, second mounting hole; 2232, stop step;

[0032] 23. Foot drive mechanism connection seat; 231. Rotating shaft hole; 232. Weight reduction hole;

[0033] 30. First bearing; 40. Second bearing; 50. Fixing hole; 60. Stopper. DETAILED DESCRIPTION

[0034] The embodiments of the present utility model are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present utility model are described in detail below.

[0035] Reference below Figure 1-Figure 5 A foot 100 according to an embodiment of the present invention is described.

[0036] Reference Figure 1-Figure 3As shown, the foot 100 of the first aspect of the utility model embodiment comprises: a sole 10 and an axle seat 20, the axle seat 20 comprises a seat plate 21, a calf connecting seat 22 and a foot drive mechanism connecting seat 23, the seat plate 21 is installed on the sole 10, the calf connecting seat 22 is used to connect the calf, the foot drive mechanism connecting seat 23 is used to connect the foot 100 driving mechanism, and the seat plate 21, the calf connecting seat 22 and the foot drive mechanism connecting seat 23 are integrally formed.

[0037] Specifically, the traditional foot is provided with a supporting seat and a connecting seat, and the supporting seat and the connecting seat are arranged at intervals, which not only occupies a large amount of space in the foot, but also increases the number of parts of the foot, resulting in time-consuming problems in the installation process of the foot and reducing the installation efficiency of the foot. Moreover, the supporting seat and the connecting seat also have the problem of reduced strength and are prone to deformation.

[0038] Therefore, it is necessary to optimize the foot 100. The axle seat 20 in the foot 100 is mainly composed of a seat plate 21, a calf connecting seat 22 and a foot drive mechanism connecting seat 23. The seat plate 21 is installed on the sole 10, and the sole 10 can provide a mounting position for the seat plate 21. The setting of the seat plate 21 can not only provide a mounting position for the calf connecting seat 22, but also further increase the strength of the sole 10.

[0039] The calf connection seat 22 is used to connect the calf, and the calf connection seat 22 can provide a mounting position for the calf. The foot drive mechanism connection seat 23 is used to connect the foot 100 drive mechanism, and the foot drive mechanism connection seat 23 can provide a mounting position for the foot 100 drive mechanism. The foot drive mechanism connection seat 23 is arranged on the sole 10, so as to further improve the strength of the sole 10.

[0040] Furthermore, the one-piece molding design of the seat plate 21, the calf connecting seat 22 and the foot driving mechanism connecting seat 23 can not only reduce the number of parts of the foot 100, but also enhance the stability of the overall structure of the foot 100, and reduce the risk of failure caused by loose or damaged connections.

[0041] Moreover, the one-piece design of the seat plate 21, the calf connection seat 22 and the foot drive mechanism connection seat 23 can effectively reduce the amount of material used and reduce the overall weight of the foot 100, thereby improving the flexibility of the foot 100. In addition, the one-piece design of the seat plate 21, the calf connection seat 22 and the foot drive mechanism connection seat 23 can also improve the strength of the foot 100, thereby preventing the foot 100 from being deformed due to long-term stress.

[0042] Thus, the foot 100 can reduce the number of parts, reduce the risk of failure due to loose or damaged connections, and reduce the overall weight of the foot 100, thereby improving the flexibility of the foot 100. In addition, the foot 100 has a high strength and is not easily deformed.

[0043] According to some embodiments of the present invention, Figure 2 As shown, the calf connecting seat 22 is located in front of the foot driving mechanism connecting seat 23, and the rear end of the calf connecting seat 22 is connected to the front end of the foot driving mechanism connecting seat 23.

[0044] In this way, the calf connection seat 22 is located in front of the foot drive mechanism connection seat 23, so that the movement range of the foot 100 is larger when the robot walks, thereby enhancing the flexibility of the foot 100. The rear end of the calf connection seat 22 is connected to the front end of the foot drive mechanism connection seat 23, which can improve the stability of the calf, thereby reducing the risk of the calf tipping.

[0045] According to some embodiments of the utility model, the calf connecting seat 22 includes: a base plate 221, a first mounting plate 222 and a second mounting plate 223, the base plate 221 is connected to the seat plate 21, the first mounting plate 222 is connected to the base plate 221, the second mounting plate 223 is connected to the base plate 221, and the second mounting plate 223 is spaced apart from the first mounting plate 222 in the front-to-back direction, and the first mounting plate 222 and the second mounting plate 223 are used to connect the calf.

[0046] The bottom plate 221 is connected to the seat plate 21, and the seat plate 21 can provide support to the bottom plate 221 and increase the contact area between the bottom plate 221 and the seat plate 21, thereby increasing the stability of the bottom plate 221. In addition, the first mounting plate 222 and the second mounting plate 223 are spaced apart in the front-rear direction of the bottom plate 221, so that a mounting space for the calf can be formed, thereby facilitating the mounting of the calf.

[0047] According to some embodiments of the present invention, Figure 4 and Figure 5 As shown, the first mounting plate 222 is provided with a first mounting hole 2221, and the first mounting hole 2221 is used to install the first bearing 30 connected to the calf. The second mounting plate 223 is provided with a second mounting hole 2231, and the second mounting hole 2231 is used to install the second bearing 40 connected to the calf. The central axis of the first mounting hole 2221 is collinear with the central axis of the second mounting hole 2231.

[0048] The first mounting plate 222 is provided with a first mounting hole 2221 , which can facilitate the installation of the first bearing 30 . The second mounting plate 223 is provided with a second mounting hole 2231 , which can facilitate the installation of the second bearing 40 .

[0049] In addition, the central axis of the first mounting hole 2221 is colinear with the central axis of the second mounting hole 2231, which can ensure the accuracy of alignment of the central axis of the first bearing 30 with the central axis of the second bearing 40, thereby reducing the error during installation of the first bearing 30 and the second bearing 40.

[0050] Furthermore, the central axis of the first mounting hole 2221 is colinear with the central axis of the second mounting hole 2231 , and the calf is mounted on the calf connecting seat 22 , thereby improving the accuracy of the calf movement.

[0051] According to some embodiments of the present invention, Figure 3 and Figure 4 As shown, a plurality of fixing holes 50 for fixing the stop member 60 are provided on one side of the first mounting plate 222 away from the second mounting plate 223, the plurality of fixing holes 50 are arranged around the first mounting hole 2221, and / or a stop step 2232 is provided on one end of the second mounting hole 2231 away from the first mounting plate 222, and the stop step 2232 is used to cooperate with the second bearing 40 for stopping.

[0052] A plurality of fixing holes 50 are provided on one side of the first mounting plate 222 away from the second mounting plate 223, and the plurality of fixing holes 50 are evenly spaced around the mounting holes. The stopper 60 is provided to cover the first mounting hole 2221, and the stopper 60 also has mounting holes corresponding to the plurality of fixing holes 50, and fasteners are sequentially passed through the mounting holes of the stopper 60 and the fixing holes 50, and the fasteners may be bolts, so that the connection between the stopper 60 and the first mounting plate 222 can be more firmly established.

[0053] Furthermore, the plurality of fixing holes 50 are evenly spaced around the first mounting hole 2221 , so that the force between the stopper 60 and the first mounting plate 222 can be more even.

[0054] Also, if Figure 5 As shown, a stop step 2232 is provided at one end of the second mounting hole 2231 away from the first mounting plate 222. The stop step 2232 is stepped and can stop the second bearing 40, thereby limiting the position of the second bearing 40 and preventing the second bearing 40 from shifting.

[0055] According to some embodiments of the present invention, Figure 3 and Figure 5 As shown, the foot drive mechanism connection seat 23 is provided with a shaft hole 231, and the shaft hole 231 extends in the left-right direction.

[0056] The foot drive mechanism connection seat 23 is provided with a shaft hole 231, which is convenient for the shaft to be inserted. The foot 100 drive mechanism is connected to the shaft, so that the movement of the foot 100 drive mechanism can be realized.

[0057] In addition, the shaft hole 231 extends in the left-right direction, so that the contact area between the shaft hole 231 and the shaft can be increased, thereby reducing the force between the foot 100 driving mechanism and the shaft, and also improving the strength between the foot 100 driving mechanism and the shaft.

[0058] According to some embodiments of the present invention, Figure 2 and Figure 4 As shown, the sole 10 is provided with a first limiting portion 11 extending along the front-back direction, and the seat plate 21 is provided with a second limiting portion 211. The first limiting portion 11 cooperates with the second limiting portion 211 in the left-right direction.

[0059] Among them, the first limiting portion 11 of the sole 10 extends along the length direction of the sole 10, and a second limiting portion 211 is provided in the middle of the seat plate 21. The first limiting portion 11 of the sole 10 and the second limiting portion 211 of the seat plate 21 are limited and matched, which can limit the movement of the sole 10 and the seat plate 21 in the left and right directions. The left and right directions are perpendicular to the front and back directions of the foot 100, so that the sole 10 and the seat plate 21 can be matched more stably.

[0060] According to the specific embodiment of the utility model, Figure 2 As shown, the first limiting portion 11 is constructed as a limiting strip protruding upward from the sole 10, and the second limiting portion 211 is constructed as a limiting groove recessed upward from the bottom of the seat plate 21, and the seat plate 21 is slidably matched with the limiting strip through the limiting groove.

[0061] Specifically, the first limiting portion 11 is configured as a limiting strip protruding upward, so that it can not only facilitate cooperation with the second limiting portion 211 of the seat plate 21 , but also improve the strength of the sole 10 .

[0062] The second limiting portion 211 is configured as a limiting groove, and the limiting groove cooperates with the limiting strip to enable the seat plate 21 to slide on the sole 10, thereby adjusting the position of the calf.

[0063] According to some embodiments of the present invention, Figure 3 As shown, the foot drive mechanism connection base 23 is provided with a weight reduction hole 232. Thus, the design of the weight reduction hole 232 can effectively reduce the overall weight of the foot drive mechanism connection base 23, and can make the foot drive mechanism connection base 23 lighter.

[0064] Moreover, the foot drive mechanism connecting seat 23 is provided with a weight-reducing hole 232, which can also reduce the energy consumption of the drive system, thereby improving the overall energy efficiency and extending the service life.

[0065] The robot according to the embodiment of the second aspect of the utility model comprises: the foot 100 of the above embodiment.

[0066] A bipedal robot according to an embodiment of the third aspect of the present invention includes: a body, a first lower limb assembly and a second lower limb assembly, the first lower limb assembly and the second lower limb assembly are connected to the lower part of the body, the first lower limb assembly and the second lower limb assembly are arranged at intervals, and at least one of the first lower limb assembly and the second lower limb assembly is the foot 100 of the above embodiment.

[0067] Among them, the bipedal robot is mainly composed of a body, a first lower limb assembly and a second lower limb assembly, and at least one of the first lower limb assembly and the second lower limb assembly is the foot 100 of the above-mentioned embodiment. In this way, the radial dimensions of the first lower limb assembly and the second lower limb assembly of the bipedal robot can be smaller, and the radial dimensions of the first lower limb assembly and the second lower limb assembly can also be larger.

[0068] A humanoid robot according to an embodiment of the fourth aspect of the present invention includes: a head, a torso, an upper limb assembly, a first lower limb assembly and a second lower limb assembly, the torso is connected to the lower part of the head, the upper limb assembly is connected to both sides of the torso, the first lower limb assembly and the second lower limb assembly are connected to the lower part of the torso, the first lower limb assembly and the second lower limb assembly are arranged side by side, and at least one of the first lower limb assembly and the second lower limb assembly is the foot 100 of the above embodiment.

[0069] Among them, the humanoid robot is mainly composed of a head, a torso, an upper limb assembly, a first lower limb assembly and a second lower limb assembly. The torso is connected below the head, the upper limb assembly is connected to both sides of the torso, and the first lower limb assembly and the second lower limb assembly are connected to the lower part of the torso, thereby forming a humanoid robot.

[0070] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0071] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example.

[0072] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A foot, characterized in that: include: soles of feet; The axle seat includes a seat plate, a calf connecting seat and a foot drive mechanism connecting seat, the seat plate is installed on the sole of the foot, the calf connecting seat is used to connect the calf, and the foot drive mechanism connecting seat is used to connect the foot drive mechanism, and the seat plate, the calf connecting seat and the foot drive mechanism connecting seat are integrally formed.

2. The foot according to claim 1, characterized in that The calf connection seat is located in front of the foot drive mechanism connection seat, and the rear end of the calf connection seat is connected to the front end of the foot drive mechanism connection seat.

3. The foot according to claim 1, characterized in that The calf connecting seat comprises: A bottom plate connected to the seat plate; a first mounting plate, the first mounting plate being connected to the bottom plate; A second mounting plate is connected to the bottom plate and is spaced apart from the first mounting plate in a front-to-rear direction. The first mounting plate and the second mounting plate are used to connect the calf.

4. The foot according to claim 3, characterized in that The first mounting plate is provided with a first mounting hole, and the first mounting hole is used to install a first bearing connected to the calf; The second mounting plate is provided with a second mounting hole, and the second mounting hole is used to mount a second bearing connected to the calf, and the central axis of the first mounting hole is colinear with the central axis of the second mounting hole.

5. The foot according to claim 4, characterized in that A plurality of fixing holes for fixing are arranged on a side of the first mounting plate away from the second mounting plate, and the plurality of fixing holes are arranged around the first mounting hole; and / or A stop step is provided at one end of the second mounting hole away from the first mounting plate, and the stop step is used to cooperate with the second bearing stop.

6. The foot according to claim 1, characterized in that The foot drive mechanism connecting seat is provided with a rotating shaft hole, and the rotating shaft hole extends in the left-right direction.

7. The foot according to claim 1, characterized in that The sole is provided with a first limiting portion extending in the front-rear direction, and the seat plate is provided with a second limiting portion, and the first limiting portion and the second limiting portion cooperate in limiting position in the left-right direction.

8. The foot according to claim 7, characterized in that The first limiting portion is configured as a limiting strip protruding upward from the sole of the foot, and the second limiting portion is configured as a limiting groove recessed upward from the bottom of the seat plate, and the seat plate is slidably matched with the limiting strip through the limiting groove.

9. A robot, characterized in that: include: The foot according to any one of claims 1 to 8.

10. A bipedal robot, characterized in that: include: body; A first lower limb assembly and a second lower limb assembly, wherein the first lower limb assembly and the second lower limb assembly are connected to the lower part of the fuselage, the first lower limb assembly and the second lower limb assembly are spaced apart, and at least one of the first lower limb assembly and the second lower limb assembly is the foot described in any one of claims 1-8.

11. A humanoid robot, characterized in that: include: head; a torso connected to a lower portion of the head; An upper limb assembly, the upper limb assembly being connected to both sides of the trunk; A first lower limb assembly and a second lower limb assembly, wherein the first lower limb assembly and the second lower limb assembly are connected to the lower part of the trunk, the first lower limb assembly and the second lower limb assembly are arranged side by side, and at least one of the first lower limb assembly and the second lower limb assembly is the foot described in any one of claims 1-8.

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