Robot foot with bionic arch structure

Abstract

A robot foot with a bionic foot arch structure comprises a vertically-arranged supporting rod and a supporting system at the lower end of the supporting rod, the supporting system comprises a first connecting piece fixed to the lower end of the supporting rod, the lower side of the supporting system is rotationally connected with a second connecting piece capable of swinging left and right, and the supporting system further comprises a supporting foot root and a supporting foot arch. Wherein the front portion of the supporting foot root is fixed to the second connecting piece, the middle of the supporting foot arch is rotationally connected with the second connecting piece, the rotating axis of the second connecting piece is perpendicular to the rotating axis of the second connecting piece, and telescopic driving mechanisms are arranged between the left side and the right side of the rear portion of the supporting foot arch and the supporting rod. The two telescopic driving mechanisms can drive the supporting arch to act, then the angle between the front portion of the supporting arch and the supporting foot root is adjusted, the supporting arch and the supporting foot root are driven to achieve inward and outward turning actions through independent actions of the two telescopic driving mechanisms, finally the overall angle change of the robot foot is achieved, and the robot foot can adapt to complex terrains. And the overall stability of the robot foot during use is ensured.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a robotic foot with a biomimetic arch structure. Background Technology

[0002] The design of a robot's feet is crucial for supporting its walking and maintaining stability. Currently, common robot foot designs typically employ a flat plate design. For example, application CN201920175595.2 discloses a foot device that uses electromagnets to attract and balance the robot's body. The foot plate adopts a plate-like structure. This design allows the robot's feet to provide a larger support area, enabling the robot to stand stably for extended periods. However, in complex terrain, the robot's standing and walking require constant adjustments through leg movements to maintain balance, which limits the practicality of flat plate foot designs. Utility Model Content

[0003] To address the technical problems existing in the background art, this utility model provides a robotic foot with a biomimetic arch structure.

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

[0005] A robotic foot with a biomimetic arch structure includes a vertically arranged support rod and a support system at its lower end, and the support system can complete the overall support work of the robotic foot.

[0006] As the core technical concept of this utility model, the support system includes a first connecting member fixed to the lower end of the support rod. A second connecting member capable of swinging left and right is rotatably connected to the lower side of the first connecting member. The support system also includes a supporting heel and a supporting arch. The front part of the supporting heel is fixed to the second connecting member, and the middle part of the supporting arch is rotatably connected to the second connecting member, with the rotation axis perpendicular to the rotation axis of the second connecting member. Telescopic drive mechanisms are provided on both the left and right sides of the rear of the supporting arch and the support rod. Based on the above structure, the synchronous movement of the two telescopic drive mechanisms can drive the supporting arch to move, thereby adjusting the angle between the front of the supporting arch and the supporting heel. The individual (asynchronous) movements of the two telescopic drive mechanisms can drive the supporting arch and supporting heel to achieve inward and outward rotation, ultimately realizing the overall angle change of the robot foot when standing or walking, thus enabling it to adapt to complex terrain, ensuring the overall stability of the robot foot during use, and reducing the possibility of the robot foot tipping over during operation.

[0007] As described above, a robotic foot with a biomimetic arch structure includes two opposing arch arms. The second connector is hinged between the middle of the two arch arms to ensure the stability of the arch support. One end of each of the two telescopic drive mechanisms is universally connected to the left and right sides of the support rod, and the other end is universally connected to the rear end of each of the two arch arms. Ultimately, the movement of the arch support can be smoothly driven by the action of the two telescopic drive mechanisms.

[0008] In a preferred embodiment, the bow arm includes a hinge ring hinged to the outside of the second connector, and a first support rod and a transmission rod inclined downwards to the front and rear sides of the bow arm, respectively. A reinforcing rib is provided between the first support rod and the transmission rod to ensure that the first support rod and the support heel are angled, thereby ensuring the stability of the robot's foot under the action of the first support rod and the support heel, and at the same time ensuring the connection strength between the first support rod and the transmission rod.

[0009] As a further preferred option, a fixing rod is also connected between the rear ends of the two bow arms to ensure that the two bow arms can move synchronously, thereby ensuring the stability of the overall structure of the support heel or during operation.

[0010] Furthermore, to further ensure the stability of the robot's feet during use, support pads are also provided on the outer front ends of the two arch arms.

[0011] Regarding the structure of the supporting foot, it includes a second support rod whose front end is fixed to the lower side of the second connector and whose rear end is inclined towards the lower rear side of the second connector. Support pads are also provided on both sides of the rear end of the second support rod. Under the action of the first support rod and the second support rod, together with the support pads on the outer side of the front end of the first support rod and the rear ends of the second support rod, the stability of the robot foot during use is further ensured.

[0012] As described above, a robotic foot with a bionic arch structure is provided with a buffer retraction element between the front part of the supporting arch and the supporting foot root to prevent the supporting heel and supporting arch from being subjected to strong impact during use.

[0013] As described above, a robotic foot with a biomimetic arch structure is further provided with supporting toes on the front side of the supporting arch to ensure the stability of the robotic foot during use and to better simulate the human foot to complete different movements.

[0014] The beneficial effects of this utility model are as follows: This utility model is a robot foot with a bionic arch structure. Through the synchronous movement of two telescopic drive mechanisms, it can drive the supporting arch to move, thereby adjusting the angle between the front of the supporting arch and the supporting heel. Through the individual movement of the two telescopic drive mechanisms, it can drive the supporting arch and the supporting heel to achieve inward and outward movement, ultimately realizing the overall angle change of the robot foot. It can adapt to complex terrain, ensure the overall stability of the robot foot during use, and reduce the possibility of the robot foot tipping over during operation. Attached Figure Description

[0015] 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.

[0016] In the attached diagram:

[0017] Figure 1 This is a schematic diagram of the robot's foot structure in the embodiment;

[0018] Figure 2 This is a schematic diagram of the structure supporting the foot arch in the embodiment;

[0019] Figure 3 This is a schematic diagram of the structure supporting the heel in the embodiment;

[0020] The components represented by the various reference numerals in the diagram are:

[0021] 1. Support rod; 2. First connecting piece; 3. Second connecting piece; 4. Supporting arch; 41. Arch arm; 411. Hinge ring; 412. First support rod; 413. Transmission rod; 414. Reinforcing rib; 42. Fixing rod; 43. Supporting pad; 5. Supporting heel; 51. Fixing arc plate; 52. Second support rod; 6. Telescopic drive mechanism; 7. Supporting toes. Detailed Implementation

[0022] Exemplary embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings.

[0023] Example

[0024] This embodiment provides a robotic foot with a biomimetic arch structure. See [link / reference] Figure 1 It includes a vertically arranged support rod 1 and its lower end support system, and the support system can complete the overall support work of the robot foot. The structure of the robot foot (a kind of robot foot with a bionic arch structure mentioned above) will be described in detail below with reference to the accompanying drawings.

[0025] In this embodiment, as the core technical concept of this utility model, the support system includes a first connecting member 2 fixed to the lower end of the support rod 1. A second connecting member 3 capable of swinging left and right is rotatably connected to the lower side of the first connecting member 2. The support system also includes a supporting foot heel and a supporting arch 4. The front part of the supporting foot heel is fixed to the second connecting member 3, and the middle part of the supporting arch 4 is rotatably connected to the second connecting member 3, with the rotation axis perpendicular to the rotation axis of the second connecting member 3. Telescopic drive mechanisms 6 are provided on both the left and right sides of the rear part of the supporting arch 4 and the support rod 1. The telescopic drive mechanism 6 can be a telescopic cylinder or a telescopic electric cylinder. Based on the above structure, the synchronous movement of the two telescopic drive mechanisms 6 can drive the supporting arch 4 to move, thereby adjusting the angle between the front part of the supporting arch 4 and the rear part of the supporting foot heel. Through the individual (asynchronous) movement of the two telescopic drive mechanisms 6, the supporting arch 4 and the supporting foot heel can be driven to achieve inward and outward turning movements, ultimately realizing the overall angle change of the robot foot. This allows it to adapt to complex terrain, ensures the overall stability of the robot foot during use, and reduces the possibility of the robot foot tipping over during operation.

[0026] Regarding the structure supporting the arch of the foot 4, in combination with Figure 2 It includes two bow arms 41 arranged opposite each other. The second connecting piece 3 is hinged between the middle of the two bow arms 41 to ensure the support stability of the foot arch 4. One end of the two telescopic drive mechanisms 6 is universally connected to the left and right sides of the support rod 1, and the other end is universally connected to the rear end of the two bow arms 41. Finally, through the action of the two telescopic drive mechanisms 6, the movement of the foot arch 4 can be driven more smoothly.

[0027] Specifically, the bow arm 41 includes a hinge ring 411 hinged to the outside (left and right sides) of the second connector 3. The front and rear sides are respectively provided with a first support rod 412 and a transmission rod 413 inclined towards the lower front side and the lower rear side of the second connector 3. A reinforcing rib 414 is also provided between the first support rod 412 and the transmission rod 413 to ensure that the first support rod 412 can be set at an angle with the support heel 5, to ensure the stability of the robot foot under the action of the first support rod 412 and the support heel 5, and at the same time to ensure the connection strength between the first support rod 412 and the transmission rod 413.

[0028] As a preferred embodiment, a fixing rod 42 is also connected between the rear ends of the two bow arms 41. The two ends of the fixing rod 42 extend to both sides of the bow arms 41 and are universally connected to the telescopic drive mechanism 6. Under the action of the two telescopic drive mechanisms 6, the two bow arms 41 can move synchronously, thereby ensuring the stability of the overall structure of the support heel 5 or during operation.

[0029] As a further preferred option, to further ensure the stability of the robot's feet during use, support pads 43 are also provided on the outer front end of the two arch arms 41.

[0030] Combination Figure 3 Regarding the structure of the supporting foot, it includes a second support rod 52 whose front end is fixed to the lower side of the second connecting member 3 and whose rear end is inclined towards the lower rear side of the second connecting member 3. The front end of the second support rod 52 is provided with a fixing arc plate 51. The lower side of the second connecting member 3 is snapped into and fixed in the opening of the fixing arc plate 51. Support pads 43 are also provided on both sides of the rear end of the second support rod 52. Under the action of the first support rod 412 and the second support rod 52, in conjunction with the setting of the support pads 43 on the outer side of the front end of the first support rod 412 and the rear sides of the second support rod 52, the stability of the robot foot during use is further guaranteed.

[0031] In this embodiment, to prevent the supporting heel 5 and supporting arch 4 from being subjected to strong impact during use of the robot foot, and to prevent the telescopic drive mechanism 6 from being subjected to strong impact, a buffer retraction member (not shown) is provided between the front part of the supporting arch 4 and the supporting heel. The buffer retraction member can be a tension spring or an elastic rod.

[0032] In this embodiment, to further ensure the stability of the robot foot during use and to better simulate different movements of the human foot, the front side of the supporting arch 4 is also provided with supporting toes 7.

[0033] Specifically, the toe support 7 includes a third support rod whose rear end is hinged to the front side of the arch support 4 and whose rotation axis is parallel to the rotation axis of the arch support 4. Support pads 43 are also provided on both sides of the front end of the third support rod.

Claims

1. A robotic foot with a biomimetic arch structure, characterized in that, Includes a vertically installed support rod (1) and its lower support system; The support system includes a first connector (2) fixed to the lower end of the support rod (1), and a second connector (3) that can swing left and right is rotatably connected to the lower side of the first connector (2). The support system also includes a support heel and a support arch (4), wherein the front part of the support heel is fixed to the second connector (3), and the middle part of the support arch (4) is rotatably connected to the second connector (3), and the axis of rotation is perpendicular to the axis of rotation of the second connector (3); Telescopic drive mechanisms (6) are provided on both the left and right sides of the rear part of the supporting arch (4) and between the support rod (1).

2. A robotic foot with a biomimetic arch structure according to claim 1, characterized in that, The supporting arch (4) includes two arch arms (41) arranged opposite each other, and the second connecting member (3) is hinged between the middle of the two arch arms (41); One end of each of the two telescopic drive mechanisms (6) is universally connected to the left and right sides of the support rod (1), and the other end is universally connected to the rear end of each of the two bow arms (41).

3. A robotic foot with a biomimetic arch structure according to claim 2, characterized in that, The bow arm (41) includes a hinge ring (411) hinged to the outside of the second connector (3), and a first support rod (412) and a transmission rod (413) inclined to the lower front side and the lower rear side of the second connector (3), respectively. A reinforcing rib (414) is also provided between the first support rod (412) and the transmission rod (413).

4. A robotic foot with a biomimetic arch structure according to claim 2, characterized in that, A fixing rod (42) is also connected between the rear ends of the two bow arms (41).

5. A robotic foot with a biomimetic arch structure according to claim 4, characterized in that, Support pads (43) are also provided on the outer front end of the two bow arms (41).

6. A robotic foot with a biomimetic arch structure according to claim 5, characterized in that, The support foot includes a second support rod (52) whose front end is fixed to the lower side of the second connector (3) and whose rear end is inclined to point to the lower rear side of the second connector (3). Support pads (43) are also provided on both sides of the rear end of the second support rod (52).

7. A robotic foot with a biomimetic arch structure according to any one of claims 1-6, characterized in that, A buffer retraction element is also provided between the front part of the supporting arch (4) and the supporting heel.

8. A robotic foot with a biomimetic arch structure according to any one of claims 1-6, characterized in that, The front side of the supporting arch (4) is also provided with supporting toes (7).

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