Robot foot plate structure

Abstract

A robot foot plate structure comprises a narrow foot plate body, the narrow foot plate body is provided with a front foot plate part, a rear heel plate part and a foot arch part, the front foot plate part and the rear heel plate part are arranged on the two sides of the foot arch part respectively, ground contact ends are arranged at the two opposite ends of the front foot plate part and the rear heel plate part, and the foot arch part is arranged in a suspended mode. According to the utility model, the structure is simple, the overall lightweight design of the robot is facilitated, the foot bottom plate can be prevented from laterally and obliquely turning over to be in contact with the ground when the two legs of the robot are separated by a large margin, and a large impact load can be absorbed.

Description

Technical Field

[0001] The utility model belongs to the technical field of humanoid robots, and particularly relates to a robot foot plate structure. Background Art

[0002] Humanoid robots are a key research and development direction in the field of robots at present. Also known as humanoid robots, they are robots designed to imitate the appearance and behavior of humans. Therefore, in the design of the foot plate structure of humanoid robots, a wide foot plate design similar to that of humans is currently adopted. For example, the patent document with the publication number CN216834005U discloses a foot plate mechanism and a robot, including: a foot sole connecting piece, a foot plate housing, a foot plate, and a foot plate bottom rubber; one end of the foot sole connecting piece is connected to the ankle mechanism, and the other end of the foot sole connecting piece is connected to the foot plate housing; the foot plate is installed on the side of the foot plate housing facing away from the foot sole connecting piece, and the foot plate bottom rubber is installed on the side of the foot plate facing away from the foot plate housing. Its technical solution adopts a humanoid foot sole design with both the foot plate and the foot plate housing being relatively wide. Therefore, it is necessary to use the foot sole connecting piece to control the rotational connection between the foot sole and the calf, so as to achieve the function of similar ankle joint movement. Otherwise, when the robot's two legs make a large separation movement, the foot plate will tilt laterally and contact the ground, which will cause an uncontrollable change in the overall center of the foot, and the foot plate will bear the torque of the robot's weight, resulting in extremely easy damage to the foot plate and the connecting joints. However, the ankle joint has multiple degrees of freedom of movement. The above technical solution uses the foot sole connecting piece to control only the lateral rotational connection between the foot sole and the calf. If the robot is required to walk without similar deflection when taking steps, it is also necessary to add a joint module that rotates in the front-back direction. Excessive joint modules on the foot not only increase the weight of the foot, which is not conducive to the overall lightweight design of the robot, but also increase the difficulty of the robot's coordinated control learning.

[0003] Moreover, regarding the above solution, the foot plate bottom rubber can absorb the impact generated by the load on the robot foot plate structure when walking and touching the ground, but the foot plate bottom rubber can only absorb small bump loads and cannot absorb large impact loads. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the utility model provides a robot foot plate structure with a simple structure, which is beneficial to the overall lightweight design of the robot, can prevent the foot plate from tilting laterally and contacting the ground when the robot's two legs make a large separation movement, and can absorb large impact loads.

[0005] The specific technical solution is as follows:

[0006] A robot foot plate structure includes a narrow foot plate body. The narrow foot plate body has a front foot plate part, a rear heel plate part, and a sole center part. The front foot plate part and the rear heel plate part are respectively arranged on both sides of the sole center part. Touching ground end heads are arranged at two opposite ends of the front foot plate part and the rear heel plate part. The sole center part is suspended and does not contact the ground, that is, the front foot plate part and the rear heel plate part protrude downward relative to the sole center part.

[0007] Preferably, the narrow foot plate body presents an arch shape.

[0008] Preferably, the narrow foot plate body is in the shape of an arc arch or an inclined arch.

[0009] Preferably, the width of the narrow foot plate body is 10 mm - 50 mm.

[0010] Preferably, the length of the narrow foot plate body is 100 mm - 500 mm.

[0011] Preferably, the touching ground end head has a synaptic part. The synaptic part is arranged along the center line direction of the narrow side of the narrow foot plate body, and both sides of the synaptic part smoothly transition to the edge part of the narrow side of the narrow foot plate body.

[0012] Preferably, the synaptic part is a soft synaptic foot pad. The soft synaptic foot pad is evenly provided with pressing and shrinking holes. The touching ground end head also has a groove installation group part, and the synaptic part is installed on the groove installation group part through a screw structure.

[0013] Preferably, the soft synaptic foot pad is made of rubber or plastic.

[0014] Preferably, there is a frame-shaped connecting bridge part between the front foot plate part and the rear heel plate part and the sole center part. The frame-shaped connecting bridge part is connected and composed of a connecting bridge bottom film part and two top pulling piece structures.

[0015] Preferably, a strain gauge card slot is opened on the connecting bridge bottom film part for installing a strain gauge.

[0016] The beneficial effects of the present utility model are as follows: Touching ground ends are provided at two opposite ends of the front foot plate part and the rear heel plate part, and the sole part is suspended. This structure is shaped like a human hollow foot plate. Its touching ground ends are more likely to be in full contact with the ground, with a large actual contact area, and will not be restricted by the ground environment or greatly affected by it in terms of the actual contact area. The sole part is suspended, giving it a certain elastic space, so it can absorb a large impact load and has stronger durability. It uses a narrow foot plate body with a relatively narrow width, which can prevent the foot plate from tilting laterally and contacting the ground when the robot's two legs make large-scale separation movements. Therefore, there is no need to design a complex ankle joint structure, which is conducive to the overall lightweight design of the robot. The touching ground ends are provided with synaptic parts, which are more convenient for increasing the actual contact area with the ground in a complex environment. Moreover, the synaptic parts are soft synaptic foot pads, which can not only absorb a large impact load, but also filter out most of the small bump loads, making the robot walk more smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 FIG. is a three-dimensional structural schematic diagram of the whole of the present utility model from the side.

[0018] Figure 2 FIG. is a three-dimensional structural schematic diagram of the whole of the present utility model from the front side.

[0019] Figure 3 FIG. is a three-dimensional structural schematic diagram of the whole of the present utility model when flipped.

[0020] Figure 4 FIG. is a structural schematic diagram of the groove installation group part in the present utility model.

[0021] DESCRIPTION OF THE REFERENCE NUMERALS: Narrow foot plate body 1; Front foot plate part 2; Rear heel plate part 3; Sole part 4; Touching ground end 5; Frame-shaped connecting bridge part 6; Calf rotation connecting part 7;

[0022] Synaptic part 51; Tightening and shrinking hole 52; Groove installation group part 53; Connecting bridge bottom film part 61; Top pulling sheet structure 62; Strain gauge card slot 63. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The following elaborates on the preferred embodiments of the present utility model in conjunction with the drawings, so that the advantages and features of the present utility model can be more easily understood by those skilled in the art, thereby making the protection scope of the present utility model more clearly defined.

[0024] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0025] In the description of the present utility model, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a direct connection or a connection through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. Embodiment

[0026] As Figure 1 、 Figure 2 、 Figure 3 and Figure 4 shown: A robot foot sole structure is provided with a narrow foot sole body 1. The narrow foot sole body 1 has a front foot plate part 2, a rear heel plate part 3 and a foot center part 4. The front foot plate part 2 and the rear heel plate part 3 are respectively arranged on both sides of the foot center part 4. The front foot plate part 2, the rear heel plate part 3 and the foot center part 4 are integrally formed to constitute the narrow foot sole body 1. The width of the narrow foot sole body 1 is 10 mm - 50 mm, and the length of the narrow foot sole body 1 is 100 mm - 500 mm. Here, the width and length of the narrow foot sole body 1 refer to the length and width directions of an ordinary foot, and the length and width refer to the average values in the entire length and width directions. The length and width directions of the narrow foot sole body 1 are generally linear. The commonly used width of the narrow foot sole body 1 is 30 mm, and the length is 265 mm, which is more coordinated for a humanoid robot with a height of 170 cm.

[0027] Touch-down ends 5 are provided at two opposite ends of the front foot plate part 2 and the rear heel plate part 3. The instep part 4 is suspended and generally does not contact the ground. That is, the front foot plate part 2 and the rear heel plate part 3 protrude downward relative to the instep part 4. Such a structure is shaped like a human hollow foot plate. Although generally only the touch-down ends 5 at both ends contact the ground and the touch-down area is small, the touch-down ends 5 are more likely to be in full contact with the ground, and the actual contact area is large. It will not be restricted by the ground environment or greatly affected by its actual contact area, which is more convenient for meeting the expected stability of robot programming control. The instep part 4 is suspended, giving it a certain elastic space, so it can absorb a large impact load and has stronger durability; it is not like the structure with a flat foot plate. Although it seems to have a large contact area with the ground, as long as the ground is uneven or there are protrusions, the actual contact area will be greatly reduced, and the contact surface not matching the preset will also affect the stability of the robot's walking and standing. Moreover, the narrow foot plate body 1 can be in an arched shape, and various smooth arched shapes such as an arc arched shape or an inclined arched shape are acceptable for the narrow foot plate body 1.

[0028] It adopts a narrow foot plate body 1 with a relatively narrow width, which can prevent the foot plate from tilting laterally and contacting the ground when the robot's two legs make a large separation movement. Therefore, there is no need to design a complex ankle joint structure, which is beneficial to the overall lightweight design of the robot. A calf rotation connection part 7 is also provided on the upper side of the instep part 4 to realize the overall forward and backward rotation of the narrow foot plate body 1. A soft foot sleeve shell can also be sleeved on the narrow foot plate body 1 to make its foot more humanoid-shaped, and the soft foot sleeve shell is not stressed.

[0029] Among them, the touch-down end 5 has a synaptic part 51, which is arranged along the center line direction of the narrow side of the narrow foot plate body 1, and both sides of the synaptic part 51 smoothly transition to the edge part of the narrow side of the narrow foot plate body 1.

[0030] The synaptic part 51 is a soft synaptic foot pad, which is made of rubber material or plastic material, and the soft synaptic foot pad is evenly provided with compression shrinkage holes 52. The touch-down end 5 also has a groove installation group part 53, and the synaptic part 51 is installed on the groove installation group part 53 through a screw structure, which is convenient for absorbing a large impact load while the soft synaptic foot pad can filter out most of the small bump loads.

[0031] There is a frame-shaped connecting bridge part 6 between the front foot plate part 2 and the rear heel plate part 3 and the instep part 4. The frame-shaped connecting bridge part 6 is composed of a connecting bridge bottom film part 61 and two top pulling piece structures 62. The two top pulling piece structures 62 are respectively arranged on both sides above the connecting bridge bottom film part 61. That is, both ends of the connecting bridge bottom film part 61 and the two top pulling piece structures 62 are respectively connected to the instep part 4 and the front foot plate part 2 or the rear heel plate part 3 to form a frame shape, which is more conducive to lightweight design, and the connection strength and stability are sufficient, and the frame-shaped connecting bridge part 6 is more likely to deform to generate buffer elasticity.

[0032] A strain gauge slot 63 is provided on the bottom part 61 of the connecting bridge for installing a strain gauge. Since the deformation of the frame-shaped connecting bridge part 6 is relatively larger, installing the strain gauge at the bottom part 61 of the connecting bridge can more accurately detect the touchdown state of the corresponding touchdown end 5. Moreover, the two top pulling sheet structures 62 can protect the strain gauge without affecting the disassembly, replacement, installation and heat dissipation of the strain gauge. After installing the strain gauge, the touchdown states of the front foot plate part 2 and the rear heel plate part 3 can be detected respectively. If it is detected that the corresponding touchdown ends 5 of the front foot plate part 2 and the rear heel plate part 3 do not touch the ground or the touchdown force is insufficient, the robot should adjust its motion posture in time. If it remains in the state of not touching the ground or having insufficient touchdown force for a long time, it is necessary to feedback to the operator to modify the robot program or structure.

[0033] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A robot foot plate structure, characterized in that: It includes a narrow foot plate body (1), the narrow foot plate body (1) has a front foot plate part (2), a rear heel plate part (3) and a foot heart part (4), the front foot plate part (2) and the rear heel plate part (3) are respectively arranged on both sides of the foot heart part (4), and grounding end heads (5) are arranged at two opposite ends of the front foot plate part (2) and the rear heel plate part (3), and the foot heart part (4) is suspended.

2. The robot foot plate structure according to claim 1, characterized in that: The narrow foot plate body (1) presents an arch shape.

3. The robot foot sole structure according to claim 2, characterized in that: The narrow foot plate body (1) is in an arc arch shape or an inclined arch shape.

4. The robot foot plate structure according to any one of claims 1-3, characterized in that: The width of the narrow foot plate body (1) is 10 mm - 50 mm.

5. The robot foot plate structure according to claim 4, wherein: The length of the narrow foot plate body (1) is 100 mm - 500 mm.

6. The robot foot plate structure according to any one of claims 1-3 or 5, characterized in that: The grounding end head (5) has a synaptic part (51), the synaptic part (51) is arranged along the center line direction of the narrow side of the narrow foot plate body (1), and both sides of the synaptic part (51) smoothly transition to the edge part of the narrow side of the narrow foot plate body (1).

7. The robot foot plate structure according to claim 6, wherein: The synaptic part (51) is a soft synaptic foot pad, the soft synaptic foot pad is evenly provided with pressing and shrinking holes (52), the grounding end head (5) also has a groove installation group part (53), and the synaptic part (51) is installed on the groove installation group part (53) through a screw structure.

8. The robot foot plate structure according to claim 7, wherein: The soft synaptic foot pad is made of rubber material or plastic material.

9. The robot foot sole structure according to any one of claims 1-3, 5, 7 or 8, characterized in that: There is a frame-shaped connecting bridge part (6) between the front foot plate part (2) and the rear heel plate part (3) and the foot heart part (4), and the frame-shaped connecting bridge part (6) is composed of a connecting bridge bottom film part (61) and two top pulling sheet structures (62) connected.

10. The robot foot plate structure according to claim 9, characterized in that: A strain gauge card slot (63) is opened on the connecting bridge bottom film part (61) for installing a strain gauge.

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