Humanoid robot foot and humanoid robot

Abstract

The utility model relates to the technical field of humanoid robots, and discloses a humanoid robot foot and a humanoid robot. The utility model provides a humanoid robot foot which comprises a foot shell and an elastic foot bottom piece, the foot shell is fixedly connected with the elastic foot bottom piece, a plurality of deformable air cavities are formed in the elastic foot bottom piece, and the air cavities are connected with air pipe pieces which penetrate through the foot shell and are communicated with the outside. According to the humanoid robot foot, a sensor and other fragile parts are arranged at the position far away from the position where the fragile parts collide with the ground frequently, only the deformation air cavity is formed in the elastic foot bottom piece, and the humanoid robot foot is not prone to being damaged due to collision; the extrusion information is transmitted through the space change of the air pipe fitting and the air cavity, the response is fast, and the influence of the characteristics of the motor is avoided; the elastic sole piece and the air cavity are integrally designed, and replacement and maintenance are convenient and fast.

Description

Technical Field

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

[0002] At present, the foot of a humanoid robot mainly obtains ground contact feedback information through the torque feedback of the motor. The feedback response is slow and is greatly affected by the characteristics of the motor, and it is unable to quickly feedback the actual force state of the foot.

[0003] Furthermore, if the sensor is directly installed on the foot of the humanoid robot, although the force on the foot can be collected, the foot of the humanoid robot, as the end execution structure, needs to withstand frequent collisions with the ground, and the sensor and the corresponding detection circuit are relatively fragile, which can easily cause the sensor to be damaged or inaccurate, affecting the service life of the foot of the humanoid robot and force detection.

[0004] The information disclosed in this background art is only for understanding the background of the concept of the present invention and therefore it may include information that does not constitute prior art. Utility Model Content

[0005] In response to the above problem or one of the above problems, an object of the present utility model is to provide a humanoid robot foot and a humanoid robot, which transmit extrusion information through the spatial changes of the air cavity, have a fast response, are not affected by the characteristics of the motor itself, and make the overall structure simple and compact, and can be reliable and durable even in the case of frequent collisions.

[0006] In response to the above-mentioned problem or one of the above-mentioned problems, the second purpose of the present invention is to provide a humanoid robot foot and a humanoid robot, by setting a foot shell and an elastic sole part, and providing a plurality of deformable air cavities in the elastic sole part, the deformable air cavity is used to transmit the spatial change after the collision as an extrusion signal to the detection sensor, so that fragile components such as the sensor are set at a position away from frequent collisions with the ground; therefore, a deformable air cavity is set in the elastic sole part, and force detection of the foot end can be achieved without assembling a sensor on the sole of the foot, thereby effectively avoiding damage or misalignment of the sensor, and improving the service life of the foot end of the humanoid robot. The structure is simple, practical, easy to produce and manufacture, and has low production cost; and the air bag or air cavity in the foot cavity can act as a buffer structure when the sole of the robot foot contacts the ground, thereby reducing the noise of the humanoid robot walking, reducing the impact on the robot joints, and greatly improving the life of the entire machine.

[0007] In order to achieve one of the above purposes, the first technical solution of the present utility model is:

[0008] A humanoid robot foot comprises a foot shell and an elastic sole member, wherein the foot shell and the elastic sole member are fixedly connected, a plurality of deformable air cavities are provided in the elastic sole member, and the air cavities are connected to air pipe members that pass through the foot shell and communicate with the outside.

[0009] After continuous exploration and testing, the utility model provides a foot shell and an elastic sole part, and provides a plurality of deformable air cavities in the elastic sole part. The deformable air cavities are used to transmit the spatial changes after the collision as an extrusion signal to the detection sensor, so that fragile components such as the sensor are arranged at a position away from frequent collisions with the ground; therefore, the deformable air cavity is provided in the elastic sole part, and the force detection of the foot end can be realized without assembling a sensor on the sole of the foot, thereby effectively avoiding damage or misalignment of the sensor, and improving the service life of the foot end of the humanoid robot. The structure is simple and practical, easy to produce and manufacture, and the production cost is low.

[0010] Furthermore, the utility model transmits extrusion information through the spatial changes of the air pipe and the air cavity, has a fast response, and is not affected by the characteristics of the motor itself. At the same time, the elastic sole part and the air cavity are integrated into one design, which makes replacement and maintenance more convenient and quick, and makes the overall structure simple and compact, and can be reliable and durable even in the case of frequent impact.

[0011] At the same time, the utility model provides several air cavities in the robot's foot cavity. When the robot's foot sole contacts the ground, the air cavities can act as a buffer structure, reduce the noise of the humanoid robot walking, reduce the impact on the robot's joints, and greatly improve the life of the entire machine.

[0012] As an optimal technical measure, the air cavity includes a toe airbag arranged at the front end of the elastic sole member and a heel airbag arranged at the rear end of the elastic sole member, the toe airbag is connected to the toe air tube passing through the foot shell, and the heel airbag is connected to the heel air tube passing through the foot shell.

[0013] The toe airbag and the toe air tube are fixed and their internal cavities are connected. The space compression information is transmitted to the sensor on the upper part of the humanoid robot through the toe air tube; the heel airbag and the heel air tube are fixed and their internal cavities are connected. The space compression information is transmitted to the sensor on the upper part of the humanoid robot through the heel air tube; the above can obtain the space compression and contact information of the robot foot end.

[0014] Alternatively, the elastic sole member contains a plurality of air bags.

[0015] As an optimal technical measure, the trachea component includes a front trachea and a rear trachea. The front trachea is distributed in the front of the elastic sole component to form a front air cavity, and the rear trachea is distributed in the rear of the elastic sole component to form a rear air cavity.

[0016] The front air cavity and the front air tube are fixed and connected internally, transmitting spatial compression information to the sensor on the upper part of the humanoid robot through the front air tube. The rear air cavity and the rear air tube are fixed and connected internally, transmitting spatial compression information to the sensor on the upper part of the humanoid robot through the rear air tube. This can obtain spatial compression and contact information at the robot's foot. In addition, the front air cavity is formed by the front air tube winding inside the elastic sole, which increases the difference in compression between different parts and helps to obtain more feedback information.

[0017] Alternatively, the elastic sole member has a plurality of air tube members inside.

[0018] As a preferred technical measure, a supporting pad is provided between the foot shell and the elastic sole member to provide support.

[0019] As a preferred technical measure, an air pressure sensor is fixed to the end of the air pipe to check the air pressure at the sole of the foot.

[0020] In order to achieve one of the above purposes, the second technical solution of the utility model is:

[0021] A humanoid robot foot comprises a foot shell having a bionic human foot shape and an elastic sole member for contacting the ground;

[0022] The elastic sole member is assembled on the lower end of the foot shell to form a bionic human foot having a front foot portion and a rear foot portion;

[0023] The elastic sole member is provided with a plurality of deformable air cavities inside;

[0024] The air cavity is arranged at the front foot part and / or the rear foot part. When the air cavity is deformed, the air pressure inside the air cavity also changes accordingly.

[0025] After continuous exploration and testing, the utility model provides a foot shell and an elastic sole part, and provides a plurality of deformable air cavities in the elastic sole part. The deformable air cavities are used to transmit the air pressure change after the collision as an extrusion signal to the detection sensor, so that fragile components such as the sensor are arranged at a position away from frequent collisions with the ground; therefore, the deformable air cavity is provided in the elastic sole part, and the force detection of the foot end can be realized without assembling a sensor on the sole of the foot, thereby effectively avoiding damage or misalignment of the sensor, and improving the service life of the foot end of the humanoid robot. The structure is simple and practical, easy to produce and manufacture, and the production cost is low.

[0026] At the same time, the utility model provides several air cavities in the robot's foot cavity. When the robot's foot sole contacts the ground, the air cavities can act as a buffer structure, reduce the noise of the humanoid robot walking, reduce the impact on the robot's joints, and greatly improve the life of the entire machine.

[0027] As a preferred technical measure, the foot shell is provided with at least two protrusions;

[0028] An assembly space for assembling the leg structure is formed between the two raised portions, wherein the upper end of the assembly space is open and communicated with the air cavity through an air pipe member;

[0029] The outer surface of the raised portion is a smoothly transitioned arc-shaped surface, and at least one cavity is defined inside the raised portion.

[0030] As a preferred technical measure,

[0031] The air cavity is a cavity or a long tube or an air bag integrally formed with the elastic sole member, or an air tube structure using a spirally arranged tube;

[0032] Or / and, the air pipe component is a gas flow cavity or a long strip tube, which can extend to the detection end of the air pressure sensor.

[0033] As a preferred technical measure,

[0034] The elastic sole member is a sheet-like structure, a plate-like structure or a mesh-like structure, and is made of elastic material;

[0035] Or / and, the elastic sole member is a bionic sole structure with flat ends and a concave center area.

[0036] As a preferred technical measure,

[0037] The elastic material is rubber, soft plastic, silicone, wire mesh or spring;

[0038] Or / and, the air cavity and the elastic sole member are integrally formed or separately provided;

[0039] Or / and, the foot shell is made of metal material, wood material, plastic or composite material.

[0040] In order to achieve one of the above purposes, the third technical solution of the utility model is:

[0041] A humanoid robot comprising a humanoid robot foot, leg structure and sensors;

[0042] The humanoid robot foot is assembled with the leg structure;

[0043] The sensor is a deformation detection sensor or an air pressure detector, which is installed on the leg or the leg structure.

[0044] Compared with the prior art, the beneficial effects of the present invention are:

[0045] The utility model provides a humanoid robot foot in which fragile components such as sensors can be placed in a position away from frequent collisions with the ground, and a deformation air cavity is provided only in the elastic sole part, which is not easily damaged by collisions; extrusion information is transmitted through the spatial changes of the air tube part and the air cavity, and the response is fast and is not affected by the characteristics of the motor itself; the elastic sole part and the air cavity are integrated into the design, and replacement and maintenance are convenient and quick.

[0046] The utility model provides a humanoid robot in which fragile components such as sensors are arranged at the foot end away from frequent collisions with the ground, and only a deformation air cavity is provided in the elastic sole part, which is not easily damaged by collisions; extrusion information is transmitted through the spatial changes of the air tube part and the air cavity, and the response is fast and is not affected by the characteristics of the motor itself; the elastic sole part and the air cavity are integrated into the design, and replacement and maintenance are convenient and quick.

[0047] Furthermore, after continuous exploration and testing, the present invention provides a foot shell and an elastic sole part, and provides a plurality of deformable air cavities in the elastic sole part. The deformable air cavities are used to transmit the spatial changes after the collision as an extrusion signal to the detection sensor, so that fragile components such as the sensor are set away from the position where they frequently collide with the ground; therefore, the deformable air cavity is provided in the elastic sole part, and the force detection of the foot end can be realized without assembling the sensor on the sole of the foot, thereby effectively avoiding damage or misalignment of the sensor, and improving the service life of the foot end of the humanoid robot. The structure is simple and practical, easy to produce and manufacture, and the production cost is low.

[0048] Furthermore, the present invention provides a plurality of air cavities or air bags in the robot's foot cavity. When the sole of the robot's foot contacts the ground, the air cavities can act as a buffer structure, reducing the noise of the humanoid robot walking, reducing the impact on the robot's joints, and greatly improving the life of the entire machine.

[0049] The present invention will be described in further detail below with reference to the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a schematic diagram of the overall structure of a humanoid robot foot embodiment 1 provided by the present utility model;

[0051] Figure 2 This is a full cross-sectional view of a first embodiment of a humanoid robot foot provided by the present utility model;

[0052] Figure 3 This is an exploded view of a first embodiment of a humanoid robot foot provided by the present utility model;

[0053] Figure 4 This is a schematic diagram of the overall structure of a second embodiment of a humanoid robot foot provided by the present utility model;

[0054] Figure 5 This is a full cross-sectional view of a second embodiment of a humanoid robot foot provided by the present utility model;

[0055] Figure 6 This is an exploded view of a second embodiment of a humanoid robot foot provided by the present utility model;

[0056] Figure 7 This is a cross-sectional view of the ZZ section of the second embodiment of a humanoid robot foot provided by the present invention.

[0057] In the figure: 1. Foot shell; 2. Elastic sole component; 31. Toe airbag; 32. Heel airbag; 33. Front air cavity; 34. Rear air cavity; 4. Air tube component; 41. Toe air tube; 42. Heel air tube; 43. Front air tube; 44. Rear air tube; 5. Support pad. DETAILED DESCRIPTION

[0058] Below, the present invention is further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0059] It should be noted that when two elements are "fixedly coupled," the two elements may be directly coupled or there may be an intervening element. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements. The terms "inner," "outer," "upper," "lower," and similar expressions used herein are for illustrative purposes only.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the art of the present invention. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0061] like Figure 1 、 Figure 2 、 Figure 3 As shown, the first specific embodiment of the humanoid robot foot of the present utility model:

[0062] A humanoid robot foot comprises a foot shell 1 and an elastic sole member 2, wherein the foot shell 1 and the elastic sole member 2 are fixedly connected, and a plurality of deformable air cavities are provided in the elastic sole member 2, and the air cavities are connected to an air pipe member 4 that passes through the foot shell 1 and communicates with the outside.

[0063] The utility model provides a humanoid robot foot, in which fragile components such as sensors are arranged at a position away from frequent collisions with the ground, and a deformation air cavity is provided only in the elastic sole part 2, which is not easily damaged by collisions; extrusion information is transmitted through the spatial changes of the air tube part 4 and the air cavity, and the response is fast and is not affected by the characteristics of the motor itself; the elastic sole part 2 can be integrated with the air cavity, and replacement and maintenance are convenient and quick.

[0064] In this embodiment, the squeeze signal may be an air pressure signal, a deformation signal, or an occlusion signal. The sensor may be an air pressure detector, a deformation detection sensor, a distance measurement sensor, or an infrared sensor, and is preferably installed on the leg structure, but may also be installed on the foot shell.

[0065] In this embodiment, the air cavity includes a toe airbag 31 located at the front end of the elastic sole member 2 and a heel airbag 32 located at the rear end of the elastic sole member 2. The toe airbag 31 is connected to a toe air tube 41 that passes through the foot shell 1, and the heel airbag 32 is connected to a heel air tube 42 that passes through the foot shell 1. The toe airbag 31 and the toe air tube 41 are fixed and their internal cavities are connected. Spatial compression information is transmitted to a sensor on the upper part of the humanoid robot via the toe air tube 41. The heel airbag 32 and the heel air tube 42 are fixed and their internal cavities are connected. Spatial compression information is transmitted to a sensor on the upper part of the humanoid robot via the heel airbag 31. This allows spatial compression and contact information to be acquired at the end of the robot's foot.

[0066] like Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 As shown, the second specific embodiment of the humanoid robot foot of the present utility model:

[0067] A humanoid robot foot comprises a foot shell 1 and an elastic sole member 2, wherein the foot shell 1 and the elastic sole member 2 are fixedly connected, and a plurality of deformable air cavities are provided in the elastic sole member 2, and the air cavities are connected to an air pipe member 4 that passes through the foot shell 1 and communicates with the outside.

[0068] The tracheal member 4 includes a front tracheal tube 43 and a rear tracheal tube 44. The front tracheal tube 43 is arranged in a circuitous manner within the front portion of the elastic sole member 2 to form the front air cavity 33, while the rear tracheal tube 44 is arranged in a circuitous manner within the rear portion of the elastic sole member 2 to form the rear air cavity 34. The front air cavity 33 and the front tracheal tube 43 are fixed and their internal cavities are interconnected. The front tracheal tube 43 transmits spatial compression information to a sensor on the upper portion of the humanoid robot. The rear tracheal tube 44 is fixed and their internal cavities are interconnected. The rear air cavity 34 transmits spatial compression information to a sensor on the upper portion of the humanoid robot. This allows spatial compression and contact information to be obtained at the robot's foot. Furthermore, the front air cavity 33, formed by the front tracheal tube 43 circling within the elastic sole member 2, increases the variability of compression between different parts of the foot, facilitating the acquisition of more feedback information.

[0069] In this embodiment, a supporting pad 5 is provided between the foot shell 1 and the elastic sole member 2 to provide support.

[0070] The third specific embodiment of the humanoid robot foot of the present utility model:

[0071] A humanoid robot foot comprises a foot shell 1 having a bionic human foot shape and an elastic sole member 2 for contacting the ground;

[0072] The foot shell 1 is a partially raised shell, the lower end of which is assembled with the elastic sole member 2 to form a bionic human foot with a front foot part and a rear foot part;

[0073] A plurality of deformable air cavities are provided inside or above the elastic sole member 2;

[0074] The air cavity is arranged at the front foot part and / or the rear foot part. When the air cavity is deformed, the air pressure inside the air cavity also changes accordingly.

[0075] In this embodiment, the foot shell 1 is provided with at least two raised portions;

[0076] An assembly space for assembling the leg structure is formed between the two raised portions, the upper end of the assembly space is open and communicated with the air cavity through the air pipe member 4;

[0077] The outer surface of the raised portion is a smoothly transitioned arc-shaped surface, and at least one cavity is defined inside the raised portion.

[0078] In this embodiment, the air cavity is a cavity or a long tube or an air bag integrally formed with the elastic sole member 2 or an air tube structure using a spirally arranged tube;

[0079] The air pipe member 4 is a gas flow cavity or a long strip tube, which can extend to the detection end of the air pressure sensor.

[0080] In this embodiment, the elastic sole member 2 is a sheet-like structure, a plate-like structure, or a mesh-like structure, and is made of elastic material; the elastic sole member 2 is a bionic sole structure with flat ends and a concave center area.

[0081] In this embodiment, the elastic material is rubber or silicone; the air cavity and the elastic sole member 2 are integrally formed or separately provided; and the foot shell 1 is made of metal material.

[0082] The first specific embodiment of the humanoid robot of the present utility model:

[0083] A humanoid robot comprises the first humanoid robot foot described above.

[0084] The utility model provides a humanoid robot, in which fragile components such as sensors are arranged at the foot end away from frequent collisions with the ground, and a deformation air cavity is provided only in the elastic sole part 2, which is not easily damaged by collisions; extrusion information is transmitted through the spatial changes of the air tube part 4 and the air cavity, and the response is fast and is not affected by the characteristics of the motor itself; the elastic sole part 2 and the air cavity are integrated into a design, and replacement and maintenance are convenient and quick.

[0085] The second specific embodiment of the humanoid robot of the present utility model:

[0086] A humanoid robot comprising a humanoid robot foot, leg structure and sensors;

[0087] The humanoid robot foot is assembled with a leg structure; the sensor is a deformation detection sensor or an air pressure detector, which is installed on the leg structure.

[0088] In the present application, the fixed connection method can be screw connection, riveting, plug connection, or connection through a third component, and those skilled in the art can choose according to actual conditions.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field can still modify or replace the specific implementation methods of the present invention. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A humanoid robot foot, characterized in that: The invention comprises a foot shell (1) and an elastic foot sole member (2), wherein the foot shell (1) and the elastic foot sole member (2) are fixedly connected, and a plurality of deformable air cavities are provided in the elastic foot sole member (2), and the air cavities are connected to an air pipe member (4) that passes through the foot shell (1) and communicates with the outside.

2. A humanoid robot foot as claimed in claim 1, characterized in that: The air cavity comprises a toe airbag (31) provided at the front end of the elastic sole member (2) and a heel airbag (32) provided at the rear end of the elastic sole member (2); the toe airbag (31) is connected to a toe air tube (41) passing through the foot shell (1); and the heel airbag (32) is connected to a heel air tube (42) passing through the foot shell (1); Alternatively, the elastic sole member (2) contains a plurality of air bags.

3. The humanoid robot foot according to claim 1, wherein: The tracheal member (4) comprises a front trachea (43) and a rear trachea (44); the front trachea (43) is distributed in a zigzag manner in the front portion of the elastic sole member (2) to form a front air cavity (33); and the rear trachea (44) is distributed in a zigzag manner in the rear portion of the elastic sole member (2) to form a rear air cavity (34); Alternatively, the elastic sole member (2) contains a plurality of air tube members (4).

4. A humanoid robot foot as claimed in claim 2 or 3, characterized in that: An air pressure sensor is fixed to the end of the air pipe member (4) for checking the air pressure at the sole of the foot.

5. A humanoid robot foot as claimed in claim 2 or 3, characterized in that: A supporting pad (5) is provided between the foot shell (1) and the elastic sole member (2) for supporting the foot.

6. A humanoid robot foot, characterized in that: It comprises a foot shell (1) having a bionic human foot shape and an elastic sole member (2) for contacting the ground; The foot shell (1) has its lower end assembled with the elastic sole member (2) to form a bionic human foot having a front foot portion and a rear foot portion; The elastic sole member (2) is provided with a plurality of deformable air cavities inside; The air cavity is arranged at the front foot part and / or the rear foot part. When the air cavity is deformed, the air pressure inside the air cavity also changes accordingly.

7. A humanoid robot foot as claimed in claim 6, characterized in that: The foot shell (1) is provided with at least two raised portions; An assembly space for assembling the leg structure is formed between the two raised portions, the upper end of the assembly space is open and communicates with the air cavity through an air pipe member (4); The outer surface of the raised portion is a smoothly transitioned arc-shaped surface, and at least one cavity is defined inside the raised portion.

8. The humanoid robot foot according to claim 7, characterized in that: The air cavity is a cavity or a long tube or an air bag integrally formed with the elastic sole member (2), or a tracheal structure using a spirally arranged tube; Or / and, the air pipe member (4) is a gas flow cavity or a long strip tube, which can extend to the detection end of the air pressure sensor; Or / and, the elastic sole member (2) is a sheet-like structure, a plate-like structure or a mesh-like structure, and is made of elastic material; Or / and, the elastic sole member (2) is a bionic sole structure with flat ends and a concave center area.

9. The humanoid robot foot according to claim 8, characterized in that: The elastic material is rubber, soft plastic, silicone, wire mesh or spring; Or / and, the air cavity and the elastic sole member (2) are integrally formed or separately provided; Or / and, the foot shell (1) is made of metal material, wood material, plastic or composite material.

10. A humanoid robot, characterized in that: Comprising a humanoid robot foot, a leg structure and a sensor as described in any one of claims 1 to 9; the humanoid robot foot and the leg structure are assembled together; The sensor is a deformation detection sensor or an air pressure detector, which is installed on the leg or the leg structure.

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