Bionic foot end and robot

Abstract

The utility model is suitable for the technical field of robots, and provides a bionic foot end and a robot, the bionic foot end comprises a front sole, a rear sole and an elastic component, the front sole is hinged to the rear sole, and the elastic component is matched with the front sole and the rear sole; under the action of the elastic force of the elastic component, the included angle between the bottom surface of the front sole and the bottom surface of the rear sole is smaller than 180 degrees. When the bionic foot end is supported on the ground, the elastic component is elastically deformed, and the included angle between the bottom surface of the front sole and the ground of the rear sole is changed, so that the front sole and the rear sole can better adapt to the terrain, and the front sole and the rear sole grip the ground more firmly; in addition, a certain buffering effect can be achieved on the ground touching force borne by the bionic foot end. When the bionic foot end is applied to the robot, balance and stability of the robot in the walking process can be kept, and the balance capacity of the robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and more specifically, to a bionic foot and a robot. Background Art

[0002] With the rise of research into humanoid robots, bipedal robots have attracted increasing attention due to their more human-like appearance. Unlike quadrupedal robots, bipedal robots have fewer supporting legs, and therefore require higher performance in leg balance. The point-type foot of quadrupedal robots is insufficient for the locomotion needs of bipedal robots. Although some bipedal robots on the market have feet that intentionally mimic human feet, the flexibility of current bipedal foot designs is far lower than that of humans, resulting in poor balance during walking. Utility Model Content

[0003] The purpose of the embodiments of the present application is to provide a bionic foot end and a robot, aiming to solve the technical problem of poor balance ability of bipedal robots in the prior art during walking.

[0004] To achieve the above-mentioned purpose, the technical solution adopted in this application is: to provide a bionic foot end, including a forefoot, a rear foot and an elastic component, the forefoot and the rear foot are hinged, and the elastic component cooperates with the forefoot and the rear foot; under the action of the elastic force of the elastic component, the angle between the bottom surface of the forefoot and the bottom surface of the rear foot is less than 180 degrees.

[0005] In one possible design, the bionic foot end also includes an ankle joint and a leg rod, the forefoot and the rear foot are both hinged to the ankle joint around a first axis, the ankle joint and the leg rod are hinged around a second axis, and the first axis and the second axis are set at an angle.

[0006] In one possible design, the bionic foot end also includes a side-swing elastic structure, which is located between the leg rod and the ankle joint, and the side-swing elastic structure is respectively connected to the leg rod and the ankle joint, and the side-swing elastic structure is used to undergo elastic deformation when the ankle joint swings around the second axis.

[0007] In one possible design, the side-swing elastic structure includes at least two side-swing elastic members spaced apart along a first direction, the first direction is set at an angle to the second axis, and the two ends of each side-swing elastic member are respectively connected to the leg rod and the ankle joint member.

[0008] In a possible design, the bionic foot end also includes a telescopic component, a first universal joint and a second universal joint. One end of the telescopic component is connected to the leg rod through the first universal joint, and the other end is connected to the rear foot through the second universal joint.

[0009] In one possible design, the telescopic assembly includes a pull rod, a guide rod and an elastic reset structure, one of the pull rod and the guide rod is connected to the leg rod through the first universal joint, and the other is connected to the rear foot through the second universal joint, the pull rod is slidably connected to the guide rod, and the elastic reset structure connects the pull rod and the guide rod, and the elastic reset structure can undergo elastic deformation when the pull rod slides relative to the guide rod.

[0010] In a possible design, the elastic reset structure includes an upper pressure elastic member and a lower pressure elastic member, the pull rod is connected to a slider, and the slider is slidably installed on the guide rod; in the sliding direction of the slider, the upper pressure elastic member is connected between the slider and one end of the guide rod, and the lower pressure elastic member is connected between the slider and the other end of the guide rod.

[0011] In a possible design, there are multiple guide rods, and the multiple guide rods are arranged at intervals along the second direction, and the second direction is set at an angle to the sliding direction of the slider; the slider is provided with multiple sliding holes at intervals along the second direction, and the multiple sliding holes are arranged in a one-to-one correspondence with the multiple guide rods, and each guide rod is inserted into the corresponding sliding hole.

[0012] In a possible design, an anti-slip pad is installed on the bottom surface of the forefoot and / or the bottom surface of the rear foot.

[0013] The present application also provides a robot, comprising a body structure and a bionic foot end provided by any of the above technical solutions, wherein the body structure is connected to the bionic foot end.

[0014] The beneficial effect of the bionic foot end provided by the present application is that: compared with the prior art, the bionic foot end provided by the present application, by arranging the forefoot and the rear sole that are hinged to each other, and by arranging the elastic component so that the bottom surface of the forefoot and the bottom surface of the rear sole are arranged at an angle less than 180 degrees, that is, the bottom surface of the forefoot and the bottom surface of the rear sole form an arch structure, which is similar to the arch of the human foot. When the bionic foot end is supported on a certain surface (ground or table, etc.), the bionic foot end is subjected to the ground contact force, the elastic component can undergo elastic deformation, and the angle between the bottom surface of the forefoot and the ground of the rear sole can change. In this way, on the one hand, the forefoot and the rear sole can better adapt to the terrain, making the forefoot and the rear sole grip the ground more firmly, and on the other hand, a certain buffering effect can be played on the ground contact force received by the bionic foot end. When the bionic foot end is applied to a robot, it is conducive to maintaining the balance and stability of the robot during walking, thereby effectively improving the robot's balance ability.

[0015] The beneficial effects of the robot provided by the present application are: compared with the existing technology, the robot provided by the present application, because it includes the bionic foot provided by any of the above technical solutions, has at least all the above beneficial effects, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 This is a schematic structural diagram of a bionic foot in an initial state provided by an embodiment of the present application;

[0018] Figure 2 This is a schematic diagram of the structure of a bionic foot provided by an embodiment of the present application when supported on a certain surface;

[0019] Figure 3 yes Figure 2 A partial enlarged schematic diagram of point A in the middle;

[0020] Figure 4 yes Figure 1 A partial enlarged schematic diagram of point B in the middle;

[0021] Figure 5 This is a schematic structural diagram of a bionic foot provided by an embodiment of the present application when the rear sole of the foot contacts the ground first;

[0022] Figure 6This is a structural diagram of a bionic foot provided by an embodiment of the present application when the forefoot contacts the ground first.

[0023] The reference numerals used in the above drawings are as follows:

[0024] 100, forefoot; 110, first limiting surface; 200, rear foot; 210, second limiting surface; 300, torsion spring; 310, first torsion arm; 320, second torsion arm; 400, ankle joint; 500, leg rod; 510, second connecting member; 520, first connecting member; 521, connecting part; 522, third hinge part; 600, side swing elastic structure; 610, side swing elastic member; 700, telescopic assembly; 710, pull rod; 720, guide rod; 730, elastic reset structure; 731, upper pressure elastic member; 732, lower pressure elastic member; 740, slider; 811, first universal joint; 812, second universal joint; 820, anti-slip pad. DETAILED DESCRIPTION

[0025] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0026] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0027] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the structure or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this application.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0029] In order to illustrate the technical solution described in this application, the following is a detailed description with reference to specific drawings and embodiments.

[0030] Example 1

[0031] See also Figure 1 and Figure 2 This embodiment provides a bionic foot, comprising a forefoot 100, a rearfoot 200, and an elastic component. The forefoot 100 and rearfoot 200 are hingedly connected, and the elastic component cooperates with the forefoot 100 and rearfoot 200. Under the elastic force of the elastic component, the angle between the bottom surface of the forefoot 100 and the bottom surface of the rearfoot 200 is less than 180 degrees. The bionic foot provided in this embodiment can be applied to robots, including but not limited to bipedal robots and quadruped robots.

[0032] The forefoot 100 and the rearfoot 200 can be understood as structures of the bionic foot end that are used to support a certain surface, which surface can be the ground or the surface of a stage. For ease of description, the following text will use the forefoot 100 and the rearfoot 200 as an example of being supported on the ground. The surface of the forefoot 100 that is used to contact the ground is the bottom surface of the forefoot 100, and the side of the forefoot 100 that is opposite to its bottom surface is the top surface of the forefoot 100. Similarly, the surface of the rearfoot 200 that is used to contact the ground is the bottom surface of the rearfoot 200, and the side of the rearfoot 200 that is opposite to its bottom surface is the top surface of the rearfoot 200. Optionally, the forefoot 100 and the rearfoot 200 can be plate-like structures, block-like structures, or other irregularly shaped structures, which are not limited to the above.

[0033] The elastic component is a structure that can undergo elastic deformation, such as a spring, a torsion spring 300 or a rubber column. When the elastic component is a spring, the elastic component can be connected between the forefoot 100 and the rearfoot 200, and the elastic force (this elastic force can be a pulling force or a thrust) of the elastic component to the forefoot 100 and the rearfoot 200 is less than 180 degrees so that the angle between the forefoot 100 and the rearfoot 200 is less than 180 degrees. When the bionic foot end is supported on the ground, the forefoot 100 and the rearfoot 200 are subjected to the reaction force from the ground (the force that the ground acts on the forefoot 100 and the rearfoot 200 is referred to as the ground contact force in the following text), so that the forefoot 100 and the rearfoot 200 are relatively rotated, and the angle between the bottom surface of the forefoot 100 and the bottom surface of the rearfoot 200 changes.

[0034] Optionally, the angle between the bottom surface of the forefoot 100 and the bottom surface of the rear foot 200 can be 120°, 130°, 163°, or 175°, etc. When the bionic foot is supported on the ground, the angle between the bottom surface of the forefoot 100 and the bottom surface of the rear foot 200 will increase, so that the forefoot 100 and the rear foot 200 can better fit the ground, thereby improving the grip of the forefoot 100 and the rear foot 200, thereby improving the balance ability of the robot to which the bionic foot is applied.

[0035] Compared with the related art, the bionic foot provided in the embodiment of the present application is provided with a forefoot 100 and a rearfoot 200 that are hinged to each other, and an elastic component is provided so that the bottom surface of the forefoot 100 and the bottom surface of the rearfoot 200 are arranged at an angle less than 180 degrees, that is, the bottom surface of the forefoot 100 and the bottom surface of the rearfoot 200 form an arch structure, which is similar to the arch of the human foot. When the bionic foot is supported on a certain surface (such as the ground or a table), the bionic foot is subjected to the ground contact force, and the elastic component can be elastically deformed, and the angle between the bottom surface of the forefoot 100 and the ground of the rearfoot 200 can change. In this way, on the one hand, the forefoot 100 and the rearfoot 200 can better adapt to the terrain, making the forefoot 100 and the rearfoot 200 grip the ground more firmly, and on the other hand, it can play a certain buffering role against the ground contact force received by the bionic foot. When the bionic foot is applied to a robot, it helps to maintain the balance and stability of the robot while walking, thereby effectively improving the robot's balance ability.

[0036] In some embodiments, see Figure 3 and Figure 4 A first limiting surface 110 is provided on the side of the forefoot 100 near the rearfoot 200, and a second limiting surface 210 is provided on the side of the rearfoot 200 near the forefoot 100. In the initial state, under the action of the first torsion arm 310 on the forefoot 100 and the action of the second torsion arm 320 on the rearfoot 200, the first limiting surface 110 and the second limiting surface 210 are in contact, so that the bottom surface of the forefoot 100 and the bottom surface of the rearfoot 200 are arranged at an angle less than 180 degrees. After the forefoot 100 and the rearfoot 200 touch the ground, the forefoot 100 and the rearfoot 200 rotate relative to each other, and the first limiting surface 110 and the second limiting surface 210 separate.

[0037] In some optional embodiments, the elastic component includes a torsion spring 300, which is installed at the hinge of the forefoot 100 and the rearfoot 200. The torsion spring 300 includes a first torsion arm 310 and a second torsion arm 320. The first torsion arm 310 contacts the top surface of the forefoot 100, and the second torsion arm 320 contacts the top surface of the rearfoot 200. In the initial state, under the thrust of the first torsion arm 310 on the forefoot 100 and the thrust of the second torsion arm 320 on the rearfoot 200, the bottom surface of the forefoot 100 and the bottom surface of the rearfoot 200 are set at an angle less than 180 degrees. By contacting the first torsion arm 310 of the torsion spring 300 against the top surface of the forefoot 100 and the second torsion arm 320 against the top surface of the rear foot 200, the bottom surface of the forefoot 100 and the bottom surface of the rear foot 200 are arranged at an angle less than 180 degrees under the action of the first torsion arm 310 and the second torsion arm 320.

[0038] The torsion spring 300 is primarily wound from a metal wire (e.g., spring steel) and has a spiral body and ends extending from opposite sides of the body, one of which is a first torsion arm 310 of the torsion spring 300, and the other is a second torsion arm 320 of the torsion spring 300. It is worth noting that in the embodiments of the present application, the initial state specifically refers to the state when the bionic foot end is not supported on the ground. When the bionic foot end is supported on the ground, the forefoot 100 and the rear sole 200 are subjected to ground contact forces, causing the forefoot 100 and the rear sole 200 to rotate relative to each other, and the angle between the bottom surface of the forefoot 100 and the bottom surface of the rear sole 200 changes. At the same time, the torsion spring 300 undergoes elastic deformation. Specifically, the first torsion arm 310 and the second torsion arm 320 of the torsion spring 300 undergo elastic deformation relative to the body of the torsion spring 300 as the forefoot 100 and the rear sole 200 rotate relative to each other, causing the first torsion arm 310 and the second torsion arm 320 to store energy. When the forefoot 100 and the rearfoot 200 are separated from the ground, the first torque arm 310 and the second torque arm 320 release energy and restore the state before the elastic deformation. During the process of the first torque arm 310 and the second torque arm 320 restoring the elastic deformation, the first torque arm 310 and the second torque arm 320 respectively push the forefoot 100 and the rearfoot 200 to rotate relative to each other, so that the angle between the bottom surface of the forefoot 100 and the bottom surface of the rearfoot 200 is restored to the size of the initial state.

[0039] In one possible design, Figure 1As shown, the bionic foot end also includes an ankle joint part 400 and a leg rod 500, and the forefoot 100 and the rear foot 200 are both hinged to the ankle joint part 400 around a first axis, and the ankle joint part 400 and the leg rod 500 are hinged around a second axis, and the first axis and the second axis are set at an angle. Optionally, the first axis and the second axis can be set at any angle. For example, the angle between the first axis and the second axis can be 60°, 73° or 90°, etc. For ease of description, the following text will be explained with the example of the first axis and the second axis being at an angle of 90°. In the initial state, the extension direction of the first axis is the horizontal direction, and the extension direction of the second axis can be any direction perpendicular to the extension direction of the first axis. In an embodiment of the present application, the extension direction of the first axis and the extension direction of the second axis are both set at an angle to the extension direction of the leg rod 500. In an embodiment of the present application, the first axis serves as the pitch axis (pitch axis) of the bionic foot end, and the second axis serves as the roll axis (roll axis) of the bionic foot end.

[0040] In this setting, by setting the ankle joint 400, the forefoot 100 and the rear foot 200 and the leg rod 500 not only have the freedom to rotate around the first axis, but also have the freedom to rotate around the second axis, which effectively improves the flexibility of the bionic foot end, thereby helping the bionic foot end to better adapt to different terrains and improve the balance ability of the robot to which it is applied.

[0041] Optionally, see Figure 1 and Figure 2 The ankle joint can be hinged to the forefoot 100 and the rearfoot 200 via pins. For example, the ankle joint 400 is hinged to the forefoot 100 and the rearfoot 200 via a first pin. The ankle joint 400 is provided with a first through hole, and the axis of the first through hole coincides with the first axis. A first hinge portion is provided on the side of the forefoot 100 near the rearfoot 200, and a second hinge portion is provided on the side of the rearfoot 200 near the forefoot 100. Both the first hinge portion and the second hinge portion are provided with through holes extending along the first axis. The first hinge portion and the second hinge portion are spaced apart along the first axis, and the through holes on the first hinge portion and the second hinge portion also coincide with the first axis. A first pin is provided through the through hole on the first hinge portion, the first through hole, and the through hole on the second hinge portion, so that both the forefoot 100 and the rearfoot 200 are hingedly connected to the ankle joint 400 about the first axis. Because the ankle joint 400 is connected to the leg rod 500, rotation of the forefoot 100 and the rearfoot 200 relative to the ankle joint 400 means that the forefoot 100 and the rearfoot 200 rotate about the leg rod 500. Optionally, the main body of the torsion spring 300 is wound around the first pin.

[0042] Optionally, the ankle joint 400 and the leg rod 500 may be hinged via a pin. Specifically, the ankle joint 400 and the leg rod 500 are hinged via a second pin. For example, the ankle joint 400 and the leg rod 500 may be directly hinged. Alternatively, refer to Figure 1 and Figure 2 The bottom of the leg rod 500 is connected to a first connecting member 520, and the first connecting member 520 and the leg rod 500 can be connected by welding, screwing, clamping or any other means. The first connecting member 520 is provided with two third hinge parts 522 protruding to the side away from the leg rod 500, and the two third hinge parts 522 are spaced apart along the extension direction of the second axis. The ankle joint 400 is provided with a second through hole along the extension direction of the second axis. The structure of the ankle joint 400 provided with the second through hole is located between the two third hinge parts 522. The two third hinge parts 522 are respectively provided with through holes along the extension direction of the second axis. The axis of the second through hole and the axis of the through hole of each third hinge part 522 coincide with the second axis. The second pin is sequentially passed through the through hole on one of the third hinge parts 522, the second through hole and the through hole on the other third hinge part 522.

[0043] In one possible design, Figure 1 As shown, the bionic foot further includes a side-swing elastic structure 600, which is located between the leg rod 500 and the ankle joint 400, and is connected to the leg rod 500 and the ankle joint 400 respectively. The side-swing elastic structure 600 is configured to elastically deform when the ankle joint 400 swings about the second axis. Specifically, the side-swing elastic structure 600 is configured to elastically deform when the ankle joint 400 swings about the second axis relative to the leg rod 500. In this arrangement, by providing a side-swing elastic structure 600, when the ankle joint 400 swings around the second axis, the side-swing elastic structure 600 undergoes elastic deformation and stores energy. At this time, the side-swing elastic structure 600 exerts an elastic force on the ankle joint 400 to reset the ankle joint 400. In this way, on the one hand, the angle of rotation of the ankle joint 400 relative to the leg rod 500 can be limited to prevent excessive relative movement between the ankle joint 400 and the leg rod 500. On the other hand, the ankle joint 400 can be reset in time, which is beneficial to maintaining the balance of the robot to which it is applied. Optionally, the side-swing elastic structure 600 may include a spring, a rubber part, or other structure with elastic deformation capability.

[0044] In one example, the roll elastic structure 600 includes at least two roll elastic members 610 spaced apart along a first direction, the first direction being arranged at an angle to the second axis. The ends of each roll elastic member 610 are connected to the leg rod 500 and the ankle joint 400, respectively. The first direction can be arranged at any angle to the second axis. Optionally, the angle between the first direction and the second axis can be 45°, 63°, 71°, or 90°. In one example, the first direction and the first axis extend in the same direction.

[0045] Optionally, the side-swing elastic member 610 may be a spring, a rubber column or other structure with elastic deformation capability. The number of side-swing elastic members 610 may be two, three or even more. For ease of description, the following text will take the example of two side-swing elastic members 610. Optionally, the two side-swing elastic members 610 may be located on the same side of the second axis in the first direction, or the two side-swing elastic members 610 may also be located on opposite sides of the second axis in the first direction. Optionally, a mounting portion extending along the first direction may be provided below the leg rod 500 to facilitate the installation of the side-swing elastic member 610. Alternatively, as Figure 1 As shown, when the first connecting member 520 is connected to the lower portion of the leg rod 500, the first connecting member 520 is provided with two connecting portions 521 spaced apart along the first direction. The two connecting portions 521 are located on opposite sides of the two third hinge portions 522 in the first direction. The two connecting portions 521 are provided in a one-to-one correspondence with the two side swing elastic members 610, and each side swing elastic member 610 is connected to a corresponding connecting portion 521.

[0046] In this arrangement, when the two side-swing elastic members 610 are located on the same side of the second axis in the first direction, when the ankle joint 400 rotates about the second axis relative to the leg rod 500, the two side-swing elastic members 610 can simultaneously extend or contract. The two side-swing elastic members 610 simultaneously exert a pulling force or a pushing force on the ankle joint 400, which helps improve the smoothness of the relative motion between the ankle joint 400 and the leg rod 500, thereby helping improve the balance ability of the robot to which the bionic foot is applied. When the two side-swing elastic members 610 are located on opposite sides of the second axis in the first direction, when the ankle joint 400 rotates about the second axis relative to the leg rod 500, one side-swing elastic member 610 is extended and exerts a pulling force on the ankle joint 400, while the other side-swing elastic member 610 is compressed and exerts a pushing force on the ankle joint 400. Because the two side-swing elastic members 610 are located on opposite sides of the second axis in the first direction, the forces exerted by the two side-swing elastic members 610 on the ankle joint 400 are both forces that drive the ankle joint 400 to rotate in the same direction around the second axis. For example, when the ankle joint 400 rotates clockwise around the second axis, the forces exerted by the two side-swing elastic members 610 on the ankle joint 400 are both forces that drive the ankle joint 400 to rotate counterclockwise around the second axis. This can also achieve the same beneficial effects as when the two side-swing elastic members 610 are located on the same side of the second axis in the first direction. In addition, because the two side-swing elastic members 610 are located on opposite sides of the second axis in the first direction, it is beneficial to improve the support stability of the side-swing elastic structure 600 on the leg rod 500, thereby improving the balance ability of the robot.

[0047] In one possible design, Figure 1 and Figure 2As shown, the bionic foot also includes a telescopic assembly 700, a first universal joint 811, and a second universal joint 812. One end of the telescopic assembly 700 is connected to the leg rod 500 via the first universal joint 811, and the other end is connected to the rear sole 200 via the second universal joint 812. The telescopic assembly 700 is equivalent to the Achilles tendon in the human leg that connects the calf and heel. The telescopic assembly 700 can store and release energy according to the different stress conditions of the rear sole 200 and the forefoot 100. Specifically, when the rear sole 200 or the forefoot 100 is subjected to the ground contact force, the rear sole 200 and the forefoot 100 both rotate about the first axis relative to the leg rod 500, causing the angle between the rear sole 200 and the leg rod 500 to change. When the angle between the rear sole 200 and the leg rod 500 increases, the telescopic assembly 700 extends to store energy and the elastic component undergoes elastic deformation to store energy. When the rear sole 200 and the forefoot 100 separate from the ground, so that the contact force on the rear sole 200 and the forefoot 100 is zero, the telescopic assembly 700 and the elastic component simultaneously release energy and drive the rear sole 200 and the forefoot 100 to gradually return to their initial positions. Similarly, when the angle between the rear sole 200 and the leg rod 500 decreases, the telescopic assembly 700 contracts to store energy and the elastic component undergoes elastic deformation to store energy. When the rear sole 200 and the forefoot 100 separate from the ground, so that the contact force on the rear sole 200 and the forefoot 100 is zero, the telescopic assembly 700 and the elastic component simultaneously release energy and drive the rear sole 200 and the forefoot 100 to gradually return to their initial positions. Optionally, the telescopic assembly 700 may include a spring, a cylinder, or other structures with telescopic capabilities.

[0048] In this configuration, the telescopic assembly 700 provides support between the leg rod 500 and the rear foot 200. Furthermore, the telescopic assembly 700 can be extended and retracted to adjust the angle between the leg rod 500 and the rear foot 200. This allows the bionic foot to adapt to different terrains and movement requirements, improving the robot's gait stability and further enhancing its balance.

[0049] In one possible design, see Figure 1 and Figure 2The telescopic assembly 700 includes a pull rod 710, a guide rod 720, and an elastic reset structure 730. One of the pull rod 710 and the guide rod 720 is connected to the leg rod 500 via a first universal joint 811, and the other is connected to the rear sole 200 via a second universal joint 812. The pull rod 710 is slidably connected to the guide rod 720. The elastic reset structure 730 connects the pull rod 710 and the guide rod 720. The elastic reset structure 730 can be elastically deformed when the pull rod 710 slides relative to the guide rod 720. Optionally, the elastic reset structure 730 can be specifically connected to an end of the pull rod 710 away from the rear sole 200 and an end of the guide rod 720 away from the leg rod 500, or the elastic reset structure 730 can be connected to an end of the pull rod 710 away from the rear sole 200 and an end of the guide rod 720 close to the leg rod 500. In this arrangement, when at least one of the forefoot 100 and the rearfoot 200 touches the ground, the rearfoot 200 rotates around the first axis relative to the leg rod 500, the pull rod 710 slides relative to the guide rod 720, and the elastic reset structure 730 undergoes elastic deformation and stores energy. After both the forefoot 100 and the rearfoot 200 leave the ground, the elastic reset structure 730 automatically releases energy to drive the pull rod 710 to slide relative to the guide rod 720 toward the position in the initial state. This arrangement makes the movement process of the bionic foot end closer to the movement process of the human foot during walking, thereby improving the robot's balance ability during walking. Optionally, the elastic reset structure 730 may include a spring, a rubber column or other structure with elastic deformation capability.

[0050] In a specific example, the pull rod 710 is connected to the rear sole 200 through the second universal joint 812, and the guide rod 720 is connected to the leg rod 500 through the first universal joint 811. Specifically, the second connecting member 510 is installed on the foot rod 500, and the guide rod 720 is specifically connected to the second connecting member 510 through the first universal joint 811. Optionally, the second connecting member 510 is detachably connected to the leg rod 500. The second connecting member 510 is provided with a mounting hole, and the inner wall of the mounting hole is provided with a notch along the axial direction of the mounting hole, and the notch extends from the inner wall of the mounting hole to the side away from the mounting hole to the outer surface of the second connecting member 510. The structures on the opposite sides of the notch in the second connecting member 510 are called tensioning sections, and the notch is located between the two tensioning sections. The two tensioning sections are respectively provided with through holes, and the through holes on the two tensioning sections are coaxially arranged so that the bolts can pass through the through holes on the two tensioning sections and be connected to the nuts. By adjusting the position of the nut on the bolt, the distance between the two tensioning sections can be adjusted, thereby adjusting the size of the mounting hole to adjust the tightness between the second connecting member 510 and the leg rod 500. In this way, the second connecting member 510 can be connected to the leg rod 500 by tightening the nut, and the installation position of the second connecting member 510 on the leg rod 500 can be adjusted by loosening the nut.

[0051] In one possible design, see Figure 1 and Figure 2 The elastic reset structure 730 includes an upward-pressing elastic member 731 and a downward-pressing elastic member 732. The pull rod 710 is connected to a slider 740, which is slidably mounted on the guide rod 720. In the sliding direction of the slider 740, the upward-pressing elastic member 731 is connected between one end of the slider 740 and the guide rod 720, and the downward-pressing elastic member 732 is connected between the other end of the slider 740 and the guide rod 720. Specifically, the upward-pressing elastic member 731 is located on the side of the slider 740 that is closer to the leg rod 500 in the sliding direction, and the downward-pressing elastic member 732 is located on the side of the slider 740 that is closer to the rear foot 200 in the sliding direction. Optionally, the pull rod 710 and the slider 740 can be connected by welding, screwing, clamping, or any other method. Alternatively, the pull rod 710 and the slider 740 can be connected to form an integral structure through an integrated production process. For example, the pull rod 710 and the slider 740 can be connected to form an integral structure through casting. Optionally, the upward-pressing elastic member 731 and the downward-pressing elastic member 732 may be springs, rubber columns, or other structures with elastic deformation capabilities.

[0052] In the initial state, the upward elastic member 731 can exert a certain pulling force on the slider 740, and the downward elastic member 732 can exert a certain pushing force on the slider 740, so that the slider 740 can be relatively stably maintained in the current position, thereby playing a certain supporting role between the leg rod 500 and the rear foot 200 to maintain the balance of the robot when standing.

[0053] During the robot's walking process, if the rear sole 200 contacts the ground first, Figure 5 As shown, the angle between the rear sole 200 and the leg rod 500 becomes smaller, and the slider 740 moves upward relative to the guide rod 720. During the upward movement of the slider 740 relative to the guide rod 720, the upper pressure elastic member 731 is compressed and stores energy, and the lower pressure elastic member 732 is stretched and stores energy. The entire telescopic assembly 700 contracts and stores energy to increase the supporting force of the telescopic assembly 700 on the leg rod 500, so that the leg rod 500 can be stably supported, thereby improving the balance ability of the robot during walking. If the forefoot 100 contacts the ground first, as shown in FIG. Figure 6As shown, the angle between the forefoot 100 and the leg rod 500 becomes smaller, the angle between the rear foot 200 and the leg rod 500 changes, and the slider 740 moves downward relative to the guide rod 720. In the process of the slider 740 moving downward relative to the guide rod 720, the upper pressure elastic member 731 is stretched and energy is stored, and the lower pressure elastic member 732 is compressed and energy is stored. The entire telescopic assembly 700 is stretched and energy is stored. This can increase the pulling force of the telescopic assembly 700 on the leg rod 500 to limit the maximum angle between the leg rod 500 and the rear foot 200, prevent the relative rotation between the leg rod 500 and the rear foot 200 from being too large, causing the robot to lose balance, thereby improving the robot's balance ability during walking. As can be seen above, during the robot's walking process, whether the rear sole 200 or the forefoot 100 contacts the ground first, the telescopic assembly 700 automatically expands and contracts as the angle between the rear sole 200 and the leg rod 500 changes, storing energy to maintain the robot's balance during walking. When the bionic foot separates from the ground, the downward-pressing elastic member 732 and the upward-pressing elastic member 731 release energy, driving the slider 740 to reset, preparing the bionic foot for the next contact with the ground, and thus preparing the robot for the next step of walking.

[0054] In one possible design, Figure 1 and Figure 2 As shown, there are multiple guide rods 720, each spaced apart along the second direction, with the second direction forming an angle with the sliding direction of the slider 740. The slider 740 has multiple sliding holes spaced apart along the second direction, each corresponding to each of the guide rods 720. Each guide rod 720 is inserted into a corresponding sliding hole. In this arrangement, by providing multiple sliding holes spaced apart along the second direction on the slider 740 and providing a one-to-one correspondence between the multiple guide rods 720 and the multiple sliding holes, the telescopic assembly 700 is subjected to a more uniform force, thereby improving the support provided by the telescopic assembly 700 on the leg rods 500 and thereby enhancing the robot's balancing ability.

[0055] Optionally, the elastic reset structure 730 may include a plurality of upward-pressing elastic members 731 and a plurality of downward-pressing elastic members 732, wherein the plurality of upward-pressing elastic members 731 are disposed in a one-to-one correspondence with the plurality of guide rods 720, and the plurality of downward-pressing elastic members 732 are also disposed in a one-to-one correspondence with the plurality of guide rods 720, each upward-pressing elastic member 731 being connected to an end of the corresponding guide rod 720 close to the leg rod 500, and each downward-pressing elastic member 732 being connected to an end of the corresponding guide rod 720 close to the rear sole 200. Optionally, each downward-pressing elastic member 732 and each upward-pressing elastic member 731 are springs, each upward-pressing elastic member 731 and each downward-pressing elastic member 732 are sleeved on the corresponding guide rod 720, and the upward-pressing elastic member 731 is located on the side of the slider 740 close to the leg rod 500, and the downward-pressing elastic member 732 is located on the side of the slider 740 close to the rear sole 200.

[0056] In some embodiments, the second direction can be arranged parallel to the first direction or at an angle to the first direction. Optionally, the second direction is arranged parallel to the first direction. In this way, when the rear sole 200 rotates relative to the leg rod 500 about the first axis, the elastic deformation degree of the multiple upward pressing elastic members 731 is the same, and the elastic deformation degree of the multiple downward pressing elastic members 732 is the same, which is conducive to improving the support stability of the telescopic assembly 700 on the leg rod 500.

[0057] In one possible design, an anti-slip pad 820 is installed on the bottom surface of the forefoot 100; alternatively, an anti-slip pad 820 is installed on the bottom surface of the rearfoot 200; or alternatively, an anti-slip pad 820 is installed on the bottom surface of the forefoot 100 and the bottom surface of the rearfoot 200. In this embodiment, the anti-slip pad 820 increases the friction between the bionic foot and the ground, thereby improving the grip of the bionic foot and improving the balance ability of the robot to which it is applied. Optionally, the anti-slip pad 820 can be a flexible structure such as rubber or plastic. Optionally, the bottom surface of the anti-slip pad 820 is provided with anti-slip grooves to further increase the friction between the anti-slip pad 820 and the ground.

[0058] Example 2

[0059] This embodiment provides a robot, comprising a body structure and a bionic foot terminal provided by any of the above embodiments, wherein the body structure is connected to the bionic foot terminal. Since the robot provided by this embodiment of the application includes the bionic foot terminal provided by any of the above embodiments, it has at least all of the above-mentioned beneficial effects, which will not be repeated here.

[0060] Optionally, the body structure includes a leg structure, and the bionic foot end is specifically connected to the leg structure. Specifically, the leg structure is a rod-shaped structure, and the leg structure is specifically connected to the leg rod 500 in the bionic foot end.

[0061] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A bionic foot, characterized in that: The shoe comprises a forefoot, a rear sole and an elastic component, wherein the forefoot and the rear sole are hinged, and the elastic component cooperates with the forefoot and the rear sole; under the elastic force of the elastic component, the angle between the bottom surface of the forefoot and the bottom surface of the rear sole is less than 180 degrees.

2. The bionic foot as claimed in claim 1, characterized in that: The bionic foot end also includes an ankle joint and a leg rod. The forefoot and the rear foot are both hinged to the ankle joint around a first axis. The ankle joint and the leg rod are hinged around a second axis. The first axis and the second axis are set at an angle.

3. The bionic foot as claimed in claim 2, characterized in that: The bionic foot end also includes a side-swing elastic structure, which is located between the leg rod and the ankle joint, and the side-swing elastic structure is connected to the leg rod and the ankle joint respectively. The side-swing elastic structure is used to generate elastic deformation when the ankle joint swings around the second axis.

4. The bionic foot as claimed in claim 3, characterized in that: The side-swing elastic structure includes at least two side-swing elastic members spaced apart along a first direction, the first direction is set at an angle to the second axis, and both ends of each side-swing elastic member are respectively connected to the leg rod and the ankle joint member.

5. The bionic foot as claimed in claim 2, characterized in that: The bionic foot end also includes a telescopic component, a first universal joint and a second universal joint. One end of the telescopic component is connected to the leg rod through the first universal joint, and the other end is connected to the rear sole through the second universal joint.

6. The bionic foot as claimed in claim 5, characterized in that: The telescopic assembly includes a pull rod, a guide rod and an elastic reset structure. One of the pull rod and the guide rod is connected to the leg rod through the first universal joint, and the other is connected to the rear foot through the second universal joint. The pull rod is slidably connected to the guide rod, and the elastic reset structure connects the pull rod and the guide rod. The elastic reset structure can undergo elastic deformation when the pull rod slides relative to the guide rod.

7. The bionic foot as claimed in claim 6, characterized in that: The elastic reset structure includes an upper pressure elastic part and a lower pressure elastic part. The pull rod is connected to a slider, and the slider is slidably installed on the guide rod. In the sliding direction of the slider, the upper pressure elastic part is connected between the slider and one end of the guide rod, and the lower pressure elastic part is connected between the slider and the other end of the guide rod.

8. The bionic foot as claimed in claim 7, characterized in that: There are multiple guide rods, and the multiple guide rods are arranged at intervals along the second direction, and the second direction is arranged at an angle to the sliding direction of the slider; the slider is provided with multiple sliding holes at intervals along the second direction, and the multiple sliding holes are arranged in a one-to-one correspondence with the multiple guide rods, and each guide rod is inserted into the corresponding sliding hole.

9. The bionic foot according to any one of claims 1 to 8, characterized in that: The bottom surface of the forefoot and / or the bottom surface of the rear foot are installed with anti-slip pads.

10. A robot, characterized in that: The bionic foot comprises a body structure and a bionic foot as claimed in any one of claims 1 to 9, wherein the body structure is connected to the bionic foot.

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