Foot damping structure of biped robot

Abstract

The foot damping structure of the biped robot comprises a sole body, a first cavity and a second cavity are formed in the sole body, the first cavity is located at the front sole position of the sole body, and the second cavity is located at the heel position of the sole body. Hydraulic oil is injected into the first cavity and the second cavity respectively, the first cavity is communicated with the second cavity, thin channels are formed in the side walls of the first expansion chamber and the second expansion chamber respectively, and the first expansion chamber and the second expansion chamber are communicated with the first cavity and the second cavity through the thin channels respectively. The buffer mechanism can be suitable for various terrain scenes, impact and vibration are greatly absorbed in the process that the robot achieves high-dynamic impact actions such as running and jumping of various lower limbs, the influence of the buffer mechanism on motion control and algorithms is reduced, the stability of the robot is improved, and the service life of the robot is prolonged. And meanwhile, the service life and reliability of robot parts and the whole machine are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, in particular to a foot shock-absorbing structure of a biped robot. Background Art

[0002] With the development of robotics and artificial intelligence, bipedal robots are increasingly being used to assist or replace humans in certain tasks. Unlike traditional industrial and collaborative robots, which are limited to specific scenarios, bipedal robots can perform complex leg and foot movements similar to humans, exhibiting anthropomorphic motion characteristics. They are suitable for a wide range of applications, including service, industrial, specialized operations, and military, enabling them to perform tasks in a wide range of scenarios.

[0003] When a bipedal robot walks, runs, or jumps, the soles of its feet and the ground experience different types of mechanical impacts. These mechanical impacts are transmitted upward through the soles of the feet, damaging core components such as bearings, bushings, connecting rods, joint actuators, and circuit boards. Over time, these impacts can cause fatigue failure of the robot's foot and leg-related parts. Currently, the more common design is to use soft cushioning materials on the soles of the feet to absorb impact, or to directly give the robot a shoe. However, using solid hard rubber materials is too hard and has no effective cushioning, while using materials that are too soft will affect motion control. Utility Model Content

[0004] In order to solve the above technical problems, the utility model proposes a foot shock-absorbing structure for a bipedal robot, which can be applied to various terrain scenarios, especially when the robot performs various lower limb movements such as running and jumping and other high-dynamic impact actions, it can greatly absorb shock and vibration, reduce the impact of the buffer mechanism on motion control and algorithms, and at the same time improve the life and reliability of robot parts and the entire machine.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A foot shock-absorbing structure for a bipedal robot includes a sole body, characterized in that: a first cavity and a second cavity are provided on the sole body, the first cavity is located at the forefoot position of the sole body, and the second cavity is located at the heel position of the sole body, the first cavity and the second cavity are respectively filled with hydraulic oil, the first cavity and the second cavity are connected, and further comprising a first expansion chamber and a second expansion chamber, the first expansion chamber and the second expansion chamber are respectively provided with fine channels on their side walls and are connected to the first cavity and the second cavity respectively through the fine channels, and a rebound member is respectively provided at the opening of the fine channel.

[0007] When the forefoot of the sole body touches the ground, the first cavity is subjected to instantaneous impact and is compressed, and the hydraulic oil in the first cavity flows into the second cavity. The volume of the hydraulic oil in the second cavity increases, and the second cavity expands accordingly. The impact energy of the forefoot is converted into heat generated by the viscosity of the hydraulic oil.

[0008] When the heel of the sole of the foot touches the ground, the second cavity is subjected to an instantaneous impact and is compressed. The hydraulic oil in the second cavity flows into the first cavity, and the volume of the hydraulic oil in the first cavity increases, causing the first cavity to expand. The impact energy of the heel is converted into heat generated by the viscosity of the hydraulic oil.

[0009] When the sole body touches the ground parallel to the ground, the first cavity and the second cavity are compressed at the same time, and the hydraulic oil therein is in a balanced state. At this time, the hydraulic oil in the first cavity and the second cavity squeezes the rebound part, and the hydraulic oil flows into the first expansion chamber and the second expansion chamber connected to the first cavity and the second cavity. When the impact of the sole body ends, the rebound part rebounds and pushes the hydraulic oil in the first expansion chamber and the second expansion chamber into the first cavity and the second cavity respectively.

[0010] In the above structure: the utility model proposes a foot shock absorption structure of a biped robot, including a sole body. During installation, the sole body and the foot surface body are fixed to each other, and then connected and fixed to the robot through the foot surface body. The sole body is provided with a first cavity and a second cavity. The first cavity is located at the forefoot position of the sole body, and the second cavity is located at the heel position of the sole body. Hydraulic oil is injected into the first cavity and the second cavity respectively. The first cavity and the second cavity are connected to facilitate the mutual circulation of the hydraulic oil in the two cavities.

[0011] A first expansion chamber and a second expansion chamber are also provided, and the first expansion chamber and the second expansion chamber are adjacent to the first cavity and the second cavity respectively. Fine channels are respectively provided on the side walls of the first expansion chamber and the second expansion chamber, and the first cavity and the second cavity are respectively connected through the fine channels. Rebound parts are respectively provided at the openings of the fine channels, and the rebound parts have a certain elastic rebound force.

[0012] When using:

[0013] When the robot is walking:

[0014] When the forefoot of the sole body touches the ground, the first cavity is subjected to instantaneous impact and is compressed. The hydraulic oil in the first cavity flows into the second cavity, and the volume of the hydraulic oil in the second cavity increases, causing the second cavity to expand. The impact energy of the forefoot is converted into heat generated by the viscosity of the hydraulic oil, and no excess energy is conducted upward.

[0015] When the heel of the sole of the foot touches the ground, the second cavity is subjected to an instantaneous impact and is compressed. The hydraulic oil in the second cavity flows into the first cavity, and the volume of the hydraulic oil in the first cavity increases, causing the first cavity to expand. The impact energy of the heel is converted into heat generated by the viscosity of the hydraulic oil, and no excess energy is conducted upward.

[0016] When the robot is standing:

[0017] When the sole body touches the ground parallel to the ground, the first cavity and the second cavity are compressed at the same time, and the hydraulic oil therein is in a balanced state. At this time, the hydraulic oil in the first cavity and the second cavity squeezes the rebound part, and the hydraulic oil flows into the first expansion chamber and the second expansion chamber connected to the first cavity and the second cavity. When the impact of the sole body ends, the rebound part rebounds and pushes the hydraulic oil in the first expansion chamber and the second expansion chamber into the first cavity and the second cavity respectively.

[0018] Furthermore: the first expansion chamber and the second expansion chamber are both located between the first cavity and the second cavity, and the first expansion chamber and the second expansion chamber are connected to the first cavity and the second cavity respectively through fine channels on the side walls.

[0019] Further: the rebound member is a deformable bracket, which is respectively installed in the first expansion chamber and the second expansion chamber. The two ends of the deformable bracket in the first expansion chamber and the second expansion chamber are respectively fixed on the inner walls thereof, and the end faces of the deformable bracket are against the fine channel openings on the side walls of the first expansion chamber and the second expansion chamber.

[0020] In the above structure, the first expansion chamber and the second expansion chamber are both arranged between the first cavity and the second cavity, wherein the first expansion chamber is adjacent to the first cavity, and the second expansion chamber is adjacent to the second cavity, so that a fine channel can be opened between the two to make them communicate with each other. The first expansion chamber and the second expansion chamber are respectively provided with two and relatively fixed. The elastic member installed at the opening of the fine channel is a deformable bracket. The two ends of the deformable bracket are respectively fixed to the inner wall of each expansion chamber, which can prevent the hydraulic oil from flowing into the other side of the deformable bracket when entering the expansion chamber. The end surface of the deformable bracket abuts the opening of the fine channel, blocking the opening of the fine channel. When the robot is standing, that is, when the sole body touches the ground parallel to the ground, the first cavity and the second cavity are compressed at the same time, and the hydraulic oil therein is in a balanced state. At this time, the hydraulic oil in the first cavity and the second cavity squeezes the rebound member, and the hydraulic oil flows into the first expansion chamber and the second expansion chamber connected to the first cavity and the second cavity. When the impact of the sole body ends, the rebound member rebounds and pushes the hydraulic oil in the first expansion chamber and the second expansion chamber into the first cavity and the second cavity respectively.

[0021] Further: it also includes a first fixed seat, which is fixed between the first cavity and the second cavity, and an oil channel is formed between the outer wall of the first fixed seat and the first expansion chamber, the second expansion chamber and the inner wall of the sole body, and the first cavity and the second cavity are connected through the oil channel.

[0022] In the above structure: the oil passage is formed between the outer wall of the first fixed seat and the inner wall of the first expansion chamber, the second expansion chamber and the sole body. The oil passage can realize the connection between the first cavity and the second cavity, facilitating the circulation of hydraulic oil in the two cavities.

[0023] Furthermore: it also includes a second fixing seat and a foot surface main body, the second fixing seat is fixed in the first cavity and the second cavity respectively, the first fixing seat and the second fixing seat are respectively provided with screw holes, the middle part of the foot surface main body is fixed to the first fixing seat by screws, and the two ends of the foot surface main body are fixed to the second fixing seat by screws.

[0024] In the above structure: a circle of sealing ring is provided on the edge of the inner wall of the sole body, and a layer of sealing gasket is also provided on the end surface where the foot surface body is connected to the sole body. After the foot surface body and the sole body are fixedly connected by screws, the foot surface body can block the first cavity, the second cavity, the first expansion chamber and the second expansion chamber to prevent the hydraulic oil therein from flowing out, and the foot surface body can be connected and fixed to the leg of the robot. The connection and fixation of the foot surface body and the sole body are realized by the first fixing seat and the second fixing seat, wherein the first fixing seat is located between the first cavity and the second cavity, and the second fixing seat is located in the first cavity and the second cavity respectively. Therefore, after the foot surface body is fixed on the first fixing seat and the second fixing seat, the connection and fixation of the foot surface body and the sole body can be realized.

[0025] Furthermore: two second fixing seats are respectively provided in the first cavity and the second cavity, and the two second fixing seats in the first cavity and the two second fixing seats in the second cavity are symmetrically fixed.

[0026] In the above structure, by providing a plurality of second fixing seats, the connection between the sole body and the sole body is more stable and firm.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] 1. The utility model has a simple structure, is easy to implement, can be modularized, and has low cost.

[0029] 2. The utility model utilizes a damping adaptive structure, which can effectively absorb impact energy and is beneficial to motion control.

[0030] 3. The utility model has a wide range of application scenarios and can be expanded to other industrial and civilian scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the installation of the utility model;

[0032] Figure 2 It is a schematic diagram of the structure of the utility model;

[0033] Figure 3 It is a schematic diagram of the bottom structure of the utility model.

[0034] Reference numerals:

[0035] 1. Sole body; 11. First cavity; 12. Second cavity; 13. Oil channel; 14. Fine channel; 15. First expansion chamber; 16. Deformable bracket; 17. Second expansion chamber; 18. First fixed seat; 19. Second fixed seat. DETAILED DESCRIPTION

[0036] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0037] like Figure 1-3 As shown, the utility model proposes a foot shock absorption structure of a biped robot, including a sole body 1, wherein the sole body 1 is provided with a first cavity 11 and a second cavity 12, wherein the first cavity 11 is located at the forefoot position of the sole body 1, and the second cavity 12 is located at the heel position of the sole body 1, and the first cavity 11 and the second cavity 12 are respectively filled with hydraulic oil, and the first cavity 11 and the second cavity 12 are connected. The utility model also includes a first expansion chamber 15 and a second expansion chamber 17, and the side walls of the first expansion chamber 15 and the second expansion chamber 17 are respectively provided with fine channels 14 and are connected to the first cavity 11 and the second cavity 12 through the fine channels 14, and the mouths of the fine channels 14 are respectively provided with rebound members.

[0038] When the forefoot of the sole body 1 touches the ground, the first cavity 11 is subjected to an instantaneous impact and is compressed. The hydraulic oil in the first cavity 11 flows into the second cavity 12. The volume of the hydraulic oil in the second cavity 12 increases, and the second cavity 12 expands accordingly. The impact energy of the forefoot is converted into heat generated by the viscosity of the hydraulic oil.

[0039] When the heel of the sole body 1 touches the ground, the second cavity 12 is subjected to an instantaneous impact and is compressed. The hydraulic oil in the second cavity 12 flows into the first cavity 11, and the volume of the hydraulic oil in the first cavity 11 increases, causing the first cavity 11 to expand. The impact energy of the heel is converted into heat generated by the viscosity of the hydraulic oil.

[0040] When the sole body 1 touches the ground parallel to the ground, the first cavity 11 and the second cavity 12 are compressed at the same time, and the hydraulic oil therein is in a balanced state. At this time, the hydraulic oil in the first cavity 11 and the second cavity 12 squeezes the rebound part, and the hydraulic oil flows into the first expansion chamber 15 and the second expansion chamber 17 connected to the first cavity 11 and the second cavity 12. When the impact of the sole body 1 ends, the rebound part rebounds and pushes the hydraulic oil in the first expansion chamber 15 and the second expansion chamber 17 into the first cavity 11 and the second cavity 12 respectively.

[0041] The utility model proposes a foot shock absorption structure of a biped robot, including a sole body 1. During installation, the sole body 1 and the foot surface body are fixed to each other, and then connected and fixed to the robot through the foot surface body. The sole body 1 is provided with a first cavity 11 and a second cavity 12. The first cavity 11 is located at the forefoot position of the sole body 1, and the second cavity 12 is located at the heel position of the sole body 1. Hydraulic oil is injected into the first cavity 11 and the second cavity 12 respectively. The first cavity 11 and the second cavity 12 are connected to facilitate the mutual circulation of the hydraulic oil in the two.

[0042] A first expansion chamber 15 and a second expansion chamber 17 are also provided. The first expansion chamber 15 and the second expansion chamber 17 are adjacent to the first cavity 11 and the second cavity 12 respectively. Fine channels 14 are respectively provided on the side walls of the first expansion chamber 15 and the second expansion chamber 17, and the first cavity 11 and the second cavity 12 are respectively connected through the fine channels 14. Rebound parts are respectively provided at the mouths of the fine channels 14, and the rebound parts have a certain elastic rebound force.

[0043] When using:

[0044] When the robot is walking:

[0045] When the forefoot of the sole body 1 touches the ground, the first cavity 11 is subjected to an instantaneous impact and is compressed. The hydraulic oil in the first cavity 11 flows into the second cavity 12, and the volume of the hydraulic oil in the second cavity 12 increases, causing the second cavity 12 to expand. The impact energy of the forefoot is converted into heat generated by the viscosity of the hydraulic oil, and no excess energy is conducted upward.

[0046] When the heel of the sole body 1 touches the ground, the second cavity 12 is subjected to an instantaneous impact and is compressed. The hydraulic oil in the second cavity 12 flows into the first cavity 11, and the volume of the hydraulic oil in the first cavity 11 increases, causing the first cavity 11 to expand. The impact energy of the heel is converted into heat generated by the viscosity of the hydraulic oil, and no excess energy is conducted upward.

[0047] When the robot is standing:

[0048] When the sole body 1 touches the ground parallel to the ground, the first cavity 11 and the second cavity 12 are compressed at the same time, and the hydraulic oil therein is in a balanced state. At this time, the hydraulic oil in the first cavity 11 and the second cavity 12 squeezes the rebound part, and the hydraulic oil flows into the first expansion chamber 15 and the second expansion chamber 17 connected to the first cavity 11 and the second cavity 12. When the impact of the sole body 1 ends, the rebound part rebounds and pushes the hydraulic oil in the first expansion chamber 15 and the second expansion chamber 17 into the first cavity 11 and the second cavity 12 respectively.

[0049] In this embodiment, the first expansion chamber 15 and the second expansion chamber 17 are both located between the first cavity 11 and the second cavity 12. The first expansion chamber 15 and the second expansion chamber 17 are connected to the first cavity 11 and the second cavity 12 respectively through the thin channel 14 in the side wall. The resilient member is a deformable bracket 16, which is installed in the first expansion chamber 15 and the second expansion chamber 17 respectively. The two ends of the deformable bracket 16 in the first expansion chamber 15 and the second expansion chamber 17 are respectively fixed to the inner walls thereof, and the end surface of the deformable bracket 16 abuts the opening of the thin channel 14 in the side wall of the first expansion chamber 15 and the second expansion chamber 17.

[0050] The first expansion chamber 15 and the second expansion chamber 17 are both arranged between the first cavity 11 and the second cavity 12, wherein the first expansion chamber 15 is adjacent to the first cavity 11, and the second expansion chamber 17 is adjacent to the second cavity 12, so as to facilitate the opening of a fine channel 14 between the two so as to make them communicate with each other. The first expansion chamber 15 and the second expansion chamber 17 are respectively provided with two and relatively fixed. The elastic member installed at the mouth of the fine channel 14 is a deformable bracket 16. The two ends of the deformable bracket 16 are respectively fixed on the inner wall of each expansion chamber, which can prevent the hydraulic oil from flowing into the other side of the deformable bracket 16 when entering the expansion chamber. The end face rests against the mouth of the thin channel 14, blocking the mouth of the thin channel 14. When the robot is standing, that is, when the sole body 1 touches the ground parallel to the ground, the first cavity 11 and the second cavity 12 are compressed at the same time, and the hydraulic oil therein is in a balanced state. At this time, the hydraulic oil in the first cavity 11 and the second cavity 12 squeezes the rebound part, and the hydraulic oil flows into the first expansion chamber 15 and the second expansion chamber 17 connected to the first cavity 11 and the second cavity 12. When the impact of the sole body 1 ends, the rebound part rebounds and pushes the hydraulic oil in the first expansion chamber 15 and the second expansion chamber 17 into the first cavity 11 and the second cavity 12 respectively.

[0051] In this embodiment, a first fixing seat 18 is further included. The first fixing seat 18 is fixed between the first cavity 11 and the second cavity 12. An oil passage 13 is formed between the outer wall of the first fixing seat 18 and the first expansion chamber 15, the second expansion chamber 17, and the inner wall of the sole body 1. The first cavity 11 and the second cavity 12 are connected through the oil passage 13. The oil passage 13 is formed between the outer wall of the first fixing seat 18 and the first expansion chamber 15, the second expansion chamber 17, and the inner wall of the sole body 1. The oil passage 13 enables communication between the first cavity 11 and the second cavity 12, facilitating the circulation of hydraulic oil in the two cavities.

[0052] In this embodiment: it also includes a second fixing seat 19 and a foot surface main body, the second fixing seat 19 is fixed in the first cavity 11 and the second cavity 12 respectively, the first fixing seat 18 and the second fixing seat 19 are respectively provided with screw holes, the middle part of the foot surface main body is fixed to the first fixing seat 18 by screws, and the two ends of the foot surface main body are fixed to the second fixing seat 19 by screws. A sealing ring is provided on the edge of the inner wall of the sole body 1, and a sealing gasket is also provided on the end surface where the sole body is connected to the sole body 1. After the sole body and the sole body 1 are fixedly connected by screws, the sole body can block the first cavity 11, the second cavity 12, the first expansion chamber 15 and the second expansion chamber 17 to prevent the hydraulic oil therein from flowing out, and the sole body can be connected and fixed to the leg of the robot through the sole body. The connection and fixation of the sole body and the sole body 1 are realized by the first fixing seat 18 and the second fixing seat 19, wherein the first fixing seat 18 is located between the first cavity 11 and the second cavity 12, and the second fixing seat 19 is respectively located in the first cavity 11 and the second cavity 12. Therefore, after the sole body is fixed on the first fixing seat 18 and the second fixing seat 19, the connection and fixation of the sole body and the sole body 1 can be realized.

[0053] In this embodiment, two second fixing seats 19 are provided in each of the first cavity 11 and the second cavity 12. The two second fixing seats 19 in the first cavity 11 and the two second fixing seats 19 in the second cavity 12 are symmetrically fixed. The provision of multiple second fixing seats 19 makes the connection between the sole body 1 and the sole body 1 more stable and secure.

[0054] 1. The utility model has a simple structure, is easy to implement, can be modularized, and has low cost.

[0055] 2. The utility model utilizes a damping adaptive structure, which can effectively absorb impact energy and is beneficial to motion control.

[0056] 3. The utility model has a wide range of application scenarios and can be expanded to other industrial and civilian scenarios.

[0057] The above description is merely a preferred embodiment of the present invention and does not constitute any other limitation to the present invention. Any modification or equivalent variation based on the technical essence of the present invention shall still fall within the scope of protection claimed by the present invention.

Claims

1. A foot shock-absorbing structure for a bipedal robot, comprising a foot sole body (1), characterized in that: The sole body (1) is provided with a first cavity (11) and a second cavity (12), the first cavity (11) is located at the forefoot position of the sole body (1), and the second cavity (12) is located at the heel position of the sole body (1), the first cavity (11) and the second cavity (12) are respectively filled with hydraulic oil, the first cavity (11) and the second cavity (12) are connected, and further include a first expansion chamber (15) and a second expansion chamber (17), the side walls of the first expansion chamber (15) and the second expansion chamber (17) are respectively provided with fine channels (14) and are connected to the first cavity (11) and the second cavity (12) through the fine channels (14), and the openings of the fine channels (14) are respectively provided with rebound members. When the forefoot of the sole body (1) touches the ground, the first cavity (11) is subjected to instantaneous impact and is compressed, the hydraulic oil in the first cavity (11) flows into the second cavity (12), the volume of the hydraulic oil in the second cavity (12) increases, and the second cavity (12) expands accordingly, and the impact energy of the forefoot is converted into heat generated by the viscosity of the hydraulic oil; When the heel of the sole body (1) touches the ground, the second cavity (12) is subjected to instantaneous impact and is compressed, and the hydraulic oil in the second cavity (12) flows into the first cavity (11), the volume of the hydraulic oil in the first cavity (11) increases, and the first cavity (11) expands accordingly, and the impact energy of the heel is converted into heat generated by the viscosity of the hydraulic oil; When the sole body (1) touches the ground parallel to the ground, the first cavity (11) and the second cavity (12) are compressed at the same time, and the hydraulic oil therein is in a balanced state. At this time, the hydraulic oil in the first cavity (11) and the second cavity (12) squeezes the rebound member, and the hydraulic oil flows into the first expansion chamber (15) and the second expansion chamber (17) connected to the first cavity (11) and the second cavity (12). When the impact of the sole body (1) ends, the rebound member rebounds and pushes the hydraulic oil in the first expansion chamber (15) and the second expansion chamber (17) into the first cavity (11) and the second cavity (12) respectively.

2. The bipedal robot foot shock absorption structure according to claim 1, characterized in that: The first expansion chamber (15) and the second expansion chamber (17) are both located between the first cavity (11) and the second cavity (12), and the first expansion chamber (15) and the second expansion chamber (17) are respectively connected to the first cavity (11) and the second cavity (12) through the fine channel (14) on the side wall.

3. The foot shock absorption structure of a bipedal robot according to claim 1, characterized in that: The resilient member is a deformable bracket (16), which is respectively installed in the first expansion chamber (15) and the second expansion chamber (17). The two ends of the deformable bracket (16) in the first expansion chamber (15) and the second expansion chamber (17) are respectively fixed on the inner walls thereof, and the end faces of the deformable bracket (16) are against the openings of the fine channels (14) on the side walls of the first expansion chamber (15) and the second expansion chamber (17).

4. The foot shock absorption structure of a bipedal robot according to claim 1, characterized in that: The invention also includes a first fixing seat (18), which is fixed between the first cavity (11) and the second cavity (12). An oil passage (13) is formed between the outer wall of the first fixing seat (18) and the first expansion chamber (15), the second expansion chamber (17) and the inner wall of the sole body (1). The first cavity (11) and the second cavity (12) are connected through the oil passage (13).

5. The foot shock absorption structure of a bipedal robot according to claim 4, characterized in that: It also includes a second fixing seat (19) and a foot surface body, wherein the second fixing seat (19) is fixed in the first cavity (11) and the second cavity (12), respectively, and screw holes are respectively provided on the first fixing seat (18) and the second fixing seat (19), and the middle part of the foot surface body is fixed to the first fixing seat (18) by screws, and the two ends of the foot surface body are fixed to the second fixing seat (19) by screws.

6. The bipedal robot foot shock absorption structure according to claim 5, characterized in that: Two second fixing seats (19) are respectively provided in the first cavity (11) and the second cavity (12), and the two second fixing seats (19) in the first cavity (11) and the two second fixing seats (19) in the second cavity (12) are respectively fixed symmetrically.

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