Robot foot structure with active foot pedaling half sole

Abstract

A robot foot structure with an active foot pedaling half sole comprises a vertically-arranged supporting leg and a supporting foot arranged at the lower end of the supporting leg, the supporting foot comprises a foot sole arranged at the lower end of the supporting leg, and toes are hinged to the front side of the foot sole; an elastic tensioning piece is further arranged between the toes and the sole, and the front sides of the toes tend to rotate downwards under the action of the elastic tensioning piece; a limiting piece capable of limiting the rotation angle of the toes is further arranged between the toes and the foot sole, the overall motion range of the supporting foot is improved by establishing a linkage structure of the toes and the foot sole, when the robot steps forwards, the toes can be bent in advance, and when the supporting foot is lifted, the toes can be pulled back through an elastic tensioning piece; furthermore, a stable supporting effect is provided for the robot before the toes step, a stepping effect is provided when the toes step, the stability of the robot during action is effectively enhanced, and the walking quality is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a robot foot structure with an active forefoot for pushing off the ground. Background Technology

[0002] The design of the foot structure is crucial for a robot to maintain stable standing or walking. Currently, to ensure the stability of the robot's standing and increase the contact area between the feet and the ground, the robot's foot structure usually adopts a flat plate design. For example, the application document with application number CN201820406294.1 in the patent database discloses a humanoid fire rescue robot with a foot structure. Its fire-specific foot plate mechanism adopts a plate-like structure, which can effectively ensure the stability of the robot's standing. However, when the robot walks, the plate-like foot structure cannot deform when walking or running, causing the robot's walking mode to be biased towards stepping rather than striding, resulting in poor gait stability and an inability to increase walking speed. Utility Model Content

[0003] To address the technical problems mentioned above, this utility model provides a robot foot structure with an active forefoot for pushing off the ground.

[0004] The technical solution of this utility model is as follows:

[0005] A robot foot structure with an active push-off foot includes vertically arranged legs and feet located at their lower ends, and the feet can perform the overall support function of the robot.

[0006] Specifically, the outrigger includes a foot ball located at the lower end of the outrigger leg. As the core technical concept of this invention, toes are hinged to the front side of the foot ball, and an elastic tensioning member is provided between the toes and the foot ball. The toes are designed to have a downward rotational tendency on their front side under the action of the elastic tensioning member. A limiting member is also provided between the toes and the foot ball to restrict the rotation angle of the toes. Based on the above structure, by establishing a linkage structure between the toes and the foot ball, the overall mobility of the outrigger is improved. When the robot steps forward, the toes can bend in advance, and when the outrigger is lifted, the elastic tensioning member can pull the toes back, thereby... The toes provide stable support for the robot before taking a step and provide a push-off effect during the step, effectively enhancing the robot's stability and improving walking quality. As another core concept of this utility model, the toes, the front sides of the sole, and the rear sides of the sole are all provided with downward-protruding support blocks. The robot's foot is stabilized by several support blocks to complete the overall support work. Compared with the flat sole contacting the ground, when the ground is uneven, since only the support blocks are in contact with the ground, the coordinated movement of the sole and toes further ensures the stability of the robot standing and walking.

[0007] As described above, the robot foot structure with an active push-off forefoot is designed to simplify the maintenance and replacement of the elastic tensioning component, while ensuring that the toes can be smoothly pulled back by the elastic tensioning component to achieve a push-off effect. The elastic tensioning component includes a tension spring or a pull rope located on the lower side of the support foot, with its two ends connected to the rear side of the foot and the front side of the toes, respectively.

[0008] Specifically, regarding the installation structure of the limiting component, the foot includes a limiting plate located on its upper part, the limiting plate having a strip-shaped limiting opening, and the limiting component including a limiting pull rod, one end of which is hinged to the front side of the toes, and the other end slidingly engaged with the limiting opening. On the one hand, the limiting pull rod can prevent the toes from bending excessively, ensuring that the front side of the toes and the front side of the foot can cooperate with each other to provide a stable support for the robot. On the other hand, it can prevent the toes from being excessively pulled back by the elastic tensioning component, ensuring that the foot can land stably and provide a stable support for the robot.

[0009] As described above, a robot foot structure with an active push-off forefoot specifically includes an arch section that is hinged to the lower end of the support leg. The toes are hinged to the front of the arch section. A telescopic drive unit is also provided between the support leg and the rear of the arch section. The movement of the telescopic drive unit can drive the arch section to rotate, thereby enabling the arch section to produce a corresponding flipping motion when the robot takes a step, ensuring the stability and coordination of the robot when walking.

[0010] To further explain the structure of the foot, the front side of the arch is inclined towards the front and lower side of the support leg, and the foot also includes a heel, the front side of which is fixed to the lower end of the support leg, and the rear side is inclined towards the rear and lower side of the support leg, so as to ensure that the robot can stand or walk stably with the cooperation of the front side of the arch and the rear side of the heel.

[0011] As described above, in order to ensure the tension of the tension spring or rope and further ensure the pushing effect of the toes, the two ends of the tension spring or rope are connected to the front side of the toes and the heel, respectively.

[0012] The beneficial effects of this utility model are as follows: This utility model is a robot foot structure with an active push-off foot forefoot. By establishing a linkage structure between the toes and the forefoot, the overall mobility of the support foot is improved. When the robot takes a step forward, the toes can bend in advance, and when the support foot is lifted, the toes can be pulled back by an elastic tensioner. Thus, the toes provide a stable support effect for the robot before taking a step and provide a push-off effect when taking a step, which effectively enhances the stability of the robot during movement and improves the quality of walking. Attached Figure Description

[0013] The advantages and solutions of this application will become clear to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this invention.

[0014] In the attached diagram:

[0015] Figure 1 This is a schematic diagram of the robot's foot structure in the embodiment;

[0016] Figure 2 for Figure 1 Side view;

[0017] The components represented by the various reference numerals in the diagram are:

[0018] 1. Support leg; 11. Connecting rod; 12. Connector; 2. Support foot; 21. Foot; 211. Arch; 212. Heel; 22. Toe; 23. Limiting rod; 3. Telescopic drive unit. Detailed Implementation

[0019] Exemplary embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings.

[0020] Example

[0021] This embodiment provides a robot foot structure with an active push-off forefoot, see [link / reference]. Figure 1The robot includes a vertically arranged support leg 1 and a support foot 2 located at its lower end. The support foot 2 can support the entire robot. The design of the robot foot structure (a robot foot structure with an active push-off foot as described above) will be described in detail below with reference to the attached drawings.

[0022] In this embodiment, specifically regarding the connection structure between the support leg 2 and the support leg 1, the support leg 1 includes a vertically arranged connecting rod 11, the lower end of which is hinged to a connecting member 12 capable of swinging left and right. The middle part of the support leg 2 is connected to the lower side of the connecting member 12. The robot foot structure also includes a telescopic drive unit 3, which includes two sets of telescopic drive units 3 located on the left and right sides of the support leg 1. The telescopic drive unit 3 is a telescopic cylinder, a telescopic electric cylinder, or a telescopic hydraulic cylinder. One end of each of the two telescopic drive units 3 is universally connected to the left and right sides of the rear of the support leg 2, and the other end is universally connected to the left and right sides of the middle part of the connecting rod 11. Through the action of the two telescopic drive cylinders, the support leg 2 can be driven to flip left and right, thereby enabling it to adapt to complex terrain and maintain the stability of the robot when standing or walking.

[0023] In this embodiment, combined with Figure 2 The support leg 2 includes a foot 21 mounted on the lower end connector 12 of the support leg 1. As the core technical concept of this utility model, the front side of the foot 21 is hinged to a toe 22. The rotation axis of the toe 22 is horizontal and perpendicular to the rotation axis of the connector 12. An elastic tensioning member (not shown) is also provided between the toe 22 and the foot 21. The toe 22 is configured to have a downward rotation tendency on its front side under the action of the elastic tensioning member. A limiting member that can limit the rotation angle of the toe 22 is also provided between the toe 22 and the foot 21. Based on the above structure, by establishing a linkage structure between the toe 22 and the foot 21, the overall mobility of the support leg 2 is improved. When the robot takes a step forward, the toe 22 can be bent in advance, and when the support leg 2 is lifted, the elastic tensioning member can pull the toe 22 back. Thus, the toe 22 provides a stable support effect for the robot before taking a step and provides a push-off effect when taking a step, effectively enhancing the stability of the robot during movement and improving the walking quality.

[0024] Firstly, regarding the structure of the foot 21, it includes a bow 211 that is hinged to the lower end connector 12 of the support leg 1. The rotation axis of the bow 211 is parallel to the rotation axis of the toes 22, and the toes 22 are hinged to the front side of the bow 211. The telescopic drive unit 3 is hinged between the support leg 1 and the rear side of the bow 211. Through the synchronous action of the two sets of telescopic drive units 3, the bow 211 can be driven to rotate, thereby enabling the bow 211 to produce a corresponding flipping action when the robot takes a step, ensuring the stability and coordination of the robot when walking.

[0025] Specifically, the bow 211 includes two bow arms that are spaced apart and arranged opposite each other. The middle parts of the two bow arms are respectively hinged to the left and right sides of the connector 12. A first fixing rod is connected between the front ends of the two bow arms, and a second fixing rod is connected between the rear ends. The two ends of the second fixing rod extend to the outside of the two bow arms and are respectively universally connected to two sets of telescopic drive units 3.

[0026] Furthermore, the front side of the bow portion 211 is inclined towards the front and lower side of the support leg 1, that is, the part in front of the hinged connection position of the bow arm and the connector 12 is inclined towards the front and lower side of the connector 12. The foot 21 also includes a heel portion 212, the front side of which is fixed to the lower side of the lower end connector 12 of the support leg 1, and the rear side is inclined towards the rear and lower side of the connector 12 of the support leg 1. Specifically, the heel portion 212 includes a first support rod, the front end of which is fixed to the lower side of the connector 12, and the rear end of which is inclined towards the rear and lower side of the connector 12, so as to ensure that the robot can stably complete the standing or walking work with the cooperation of the front side of the bow portion 211 and the rear side of the heel portion 212.

[0027] Regarding the structure of the toe 22, it includes a second support rod, the rear end of which is hinged to a second fixed rod between the two arch arms, and the front end of which points towards the front of the foot 21.

[0028] Regarding the installation structure of the limiting component, the foot 21 includes a limiting plate located on its upper part. Two limiting plates are arranged opposite each other on the upper front side of the two bow arms, and a strip-shaped limiting opening is opened on the plate along the length direction of the bow arm. The limiting component includes a limiting pull rod 23. A second mounting rod perpendicular to the front side of the second support rod of the toe 22 is horizontally arranged. One end of the limiting pull rod 23 is hinged to the second mounting rod located on the front side of the toe 22, and the other end is located between the two limiting plates. Both sides are slidably engaged with the limiting opening. On the one hand, the limiting pull rod 23 can prevent the toe 22 from bending excessively, ensuring that the front side of the toe 22 and the front side of the foot 21 can cooperate with each other to provide a stable support for the robot. On the other hand, it can prevent the toe 22 from being pulled back excessively by the elastic tensioning member, ensuring that the foot 2 can land stably and provide a stable support for the robot.

[0029] Finally, regarding the structure of the elastic tensioning component, in order to simplify the maintenance and replacement of the elastic tensioning component, and to ensure that the toes 22 can be smoothly pulled back by the elastic tensioning component, so as to achieve a push-off effect through the toes 22, the elastic tensioning component includes a tension spring or a pull rope located on the underside of the support foot 2, with its two ends connected to the rear side of the foot 21 and the front side of the toes 22, respectively.

[0030] Specifically, in order to ensure the tension of the tension spring or the pull rope and further ensure the pushing effect of the toes 22, the two ends of the tension spring or the pull rope are connected to the front side of the toes 22 and the heel 212 respectively. That is, one end of the tension spring or the pull rope is fixed to the second mounting rod, and the other end passes around the lower front side of the bow 211 and is fixed to the rear end of the first support rod.

[0031] In this embodiment, as another core concept of the present invention, the toes, the front sides of the sole, and the rear sides of the sole are all provided with downwardly protruding support blocks. Specifically, the rear end of the first support rod is horizontally provided with a first mounting rod perpendicular to it, and the support pad is provided on the lower sides of the first mounting rod, the second fixing rod, and the second mounting rod. The robot foot can complete the overall support work through several support blocks. Compared with the flat foot sole contacting the ground, when the ground is uneven, since only the support blocks are in contact with the ground, combined with the coordinated movements of the sole and toes, the stability of the robot during walking or standing is further ensured.

Claims

1. A robot foot structure with an active forefoot for pushing off the ground, characterized in that, It includes vertically arranged support legs (1) and support feet (2) located at their lower ends; The support leg (2) includes a foot (21) located at the lower end of the support leg (1), and the front side of the foot (21) is hinged to the toes (22); An elastic tensioning member is also provided between the toes (22) and the sole (21), and the toes (22) are configured to have a downward rotation tendency on the front side under the action of the elastic tensioning member; A limiting member is also provided between the toes (22) and the sole (21) to restrict the rotation angle of the toes (22); The toes (22), the front sides of the sole (21), and the rear sides of the sole (21) are all provided with downward protruding support blocks.

2. The robot foot structure with an active push-off forefoot as described in claim 1, characterized in that, The elastic tensioning element includes a tension spring or a tension rope located on the underside of the foot (2), with its two ends connected to the rear side of the foot (21) and the front side of the toes (22), respectively.

3. The robot foot structure with an active push-off forefoot as described in claim 2, characterized in that, The foot (21) includes a limiting plate located on its upper part, and the limiting plate has a strip-shaped limiting opening; The limiting component includes a limiting pull rod (23), one end of which is hinged to the front side of the toe (22), and the other end is slidably engaged with the limiting port.

4. A robot foot structure with an active push-off forefoot as described in claim 2, characterized in that, The foot (21) includes an arch (211) that is hinged to the lower end of the support leg (1) in the middle, and the toes (22) are hinged to the front side of the arch (211); A telescopic drive unit (3) is also provided between the outrigger (1) and the rear side of the bow (211).

5. A robot foot structure with an active push-off forefoot as described in claim 4, characterized in that, The front side of the bow (211) is inclined towards the front and lower side of the outrigger (1); The foot (21) also includes a heel (212), the front of which is fixed to the lower end of the support leg (1), and the rear side is inclined to point to the rear and lower side of the support leg (1).

6. A robot foot structure with an active push-off forefoot as described in claim 5, characterized in that, The two ends of the tension spring or rope are connected to the front side of the toes (22) and the heel (212), respectively.

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