Foot buffering mechanism

Abstract

The utility model relates to a foot buffering mechanism which comprises a sole structural part, an ankle assembly, a shin structural part, a first shank motor push rod and a second shank motor push rod, wherein the shin structural part, the first shank motor push rod and the second shank motor push rod are movably connected with the ankle assembly. The ankle assembly comprises an ankle structural part fixed to the upper end face of the sole structural part. The ankle structural member comprises a sensor adapter plate at the bottom and a saddle-shaped yoke frame fixed to the sensor adapter plate, a first protruding part on the front side of the saddle-shaped yoke frame is hinged to the tail end of the shank structural member, and a second protruding part and a third protruding part on the rear side of the saddle-shaped yoke frame are hinged to the tail end of a first shank motor push rod and the tail end of a second shank motor push rod respectively; the rotation of the plane where the sole structural part is located relative to the shin structural part is controlled through the relative stretching and retracting of the shank motor first push rod and the shank motor second push rod.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of robot technology, and specifically relates to a foot buffering mechanism. BACKGROUND

[0002] In robot design, the foot mechanism is crucial, as it not only supports the entire weight of the robot, but also directly affects the stability, movement ability, and efficiency of the robot. Therefore, the design of the foot mechanism is an important link in the design of humanoid robots. In most designs of humanoid robots, such as the patents with the patent application publication numbers CN 118529173A and CN 118182677A, the foot plate of the robot's foot mechanism is designed as a rigid body. This design makes the foot sole unable to bend, and the rigid foot plate lacks flexibility, which may result in poor adaptability of the robot on uneven ground. In addition, the rigid foot plate design limits the contact area between the foot plate and the ground, affecting the robot's grip performance. SUMMARY

[0003] To solve the above technical problems, the utility model technical scheme provides a foot buffering mechanism, which includes a foot sole structure, an ankle assembly, and a shin structure, a calf motor first push rod, and a calf motor second push rod connected to the ankle assembly;

[0004] The ankle assembly includes an ankle structure fixed to the upper end surface of the foot sole structure. The ankle structure includes a sensor adapter plate at the bottom and a saddle-shaped yoke fixed to the sensor adapter plate.

[0005] The front protruding part of the saddle-shaped yoke is provided with a first mounting hole, and the ankle first limiting shaft is arranged in the first mounting hole.

[0006] The rear protruding part of the saddle-shaped yoke is provided with a second limiting shaft and a first U-shaped groove and a second U-shaped groove are arranged along the axial direction of the second limiting shaft. The end of the calf motor first push rod is pivoted in the first U-shaped groove, and the end of the calf motor second push rod is pivoted in the second U-shaped groove. The axial direction of the ankle first limiting shaft is perpendicular to the axial direction of the ankle second limiting shaft.

[0007] As an improvement, the ankle assembly further includes a cross-shaped shaft sleeve composed of overlapping double-layer shaft sleeves arranged in the saddle part of the saddle-shaped yoke. The lower shaft sleeve in the cross-shaped shaft sleeve is provided with the ankle first limiting shaft. Deep groove ball bearings A are arranged on the inner walls of the mounting holes of the front and rear protruding parts of the saddle-shaped yoke. A sleeve A is arranged between the lower shaft sleeve and the front and rear protruding parts of the saddle-shaped yoke. A first limiting nut is arranged at the end of the first limiting shaft.

[0008] As an improvement, the ankle assembly further comprises a sensor, the bottom of the sensor is fixedly connected with the upper end surface of the instep structure, and the top of the sensor is fixedly connected with the sensor adapter plate; the sensor collects position information and motion information of the instep structure and the ankle assembly to realize adjustment of the pose of the ankle assembly.

[0009] As an improvement, on the left and right sides of the second limiting shaft, a second limiting nut, a sleeve B and a cross shaft sleeve are symmetrically arranged; the second limiting nut, the sleeve B and the cross shaft sleeve are coaxially arranged on the second limiting shaft, two deep groove ball bearings B are arranged on the inner end surface of the bolt head close to the second limiting shaft, the end surface of the deep groove ball bearing B is in contact with the inner end surface of the second limiting shaft, the bearing inner ring cylindrical surface of the deep groove ball bearing B is matched with the second limiting shaft, the bearing outer ring cylindrical surface is matched with the hole wall surface of the shin structure, one end surface of the sleeve B is in contact with the deep groove ball bearing B, and the other end surface is in contact with the cross shaft sleeve.

[0010] As an improvement, the sleeve A or the sleeve B specifically comprises but is not limited to a shaft sleeve, a gasket, a check ring and a ring-shaped positioning structure of a shaft shoulder; a plurality of sleeve A or sleeve B is sleeved on the first limiting shaft and the second limiting shaft within the allowable length.

[0011] As an improvement, the instep structure is provided with a foot bottom cover, the foot bottom cover is fixedly connected with the foot bottom structure, the foot bottom cover has a cavity, a hole is formed in the top of the cavity, the ankle assembly passes through the foot bottom cover from the hole and is connected with the shin structure and the calf motor first push rod.

[0012] As an improvement, the instep connecting assembly comprises a front torsional spring mounting plate, a torsional spring, a torsional spring shaft and a rear torsional spring mounting plate; the front torsional spring mounting plate is fixedly connected with the front instep structure, a groove is arranged on the bottom of the front torsional spring mounting plate, the torsional spring is pressed between the front torsional spring mounting plate and the front instep structure, two bosses are arranged on the side edge of the front torsional spring mounting plate, two mounting holes are coaxially arranged on each boss, the axis of the mounting hole is coaxial with the axis of the rear torsional spring mounting plate and the torsional spring and the torsional spring shaft is coaxially arranged; the rear torsional spring mounting plate is fixedly connected with the foot bottom structure.

[0013] As an improvement, the bottom surface of the foot bottom structure is provided with a foot bottom flexible member, and the bottom surface of the front instep structure is provided with a front instep flexible member.

[0014] As an improvement, the bottom surface of the front instep flexible member and the foot bottom flexible member is provided with a plurality of grooves.

[0015] As an improvement, the foot bottom flexible member and the front instep flexible member are integrally formed.

[0016] The technical effects of the utility model mainly embody in the following aspects:

[0017] The ankle assembly and the hinge between the shank structure and the left and right motor push rods form three vertical flexible movement fulcrums, and the foot mechanism bottom can swing left and right and up and down; meanwhile, a sensor is arranged in the foot mechanism to collect force, torque, speed and other parameters, and the data collected by the sensor is transmitted back to the processor of the robot, so that the position information and movement information of the foot mechanism can be known, and fine adjustment of the pose of the foot mechanism can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 Axial side view of the foot cushion mechanism of some embodiments;

[0019] Figure 2 Axial side view of the foot cushion mechanism of some embodiments;

[0020] Figure 3 Axial side view of the ankle assembly of the foot cushion mechanism of some embodiments;

[0021] Figure 4 Axial side view of the internal structure of the foot cushion mechanism of some embodiments;

[0022] Figure 5 Axial side view of the instep connecting assembly;

[0023] Figure 6 Sectional view of the ankle assembly;

[0024] Figure 7 Foot downward rotation of the foot cushion mechanism;

[0025] Figure 8 Foot upward rotation of the foot cushion mechanism;

[0026] Figure 9 Top view of the foot bottom structure. DETAILED DESCRIPTION

[0027] The following embodiments further illustrate the content of the present application, but should not be understood as limiting the present application. Any modification or replacement of the method, steps or conditions of the present application without departing from the spirit and essence of the present application shall fall within the scope of the present application.

[0028] As Figures 1-5The embodiment shown, the foot cushioning mechanism includes the instep structure 2, the ankle assembly 4, and the tibial structure 5, the calf motor first push rod 6, the calf motor second push rod 7 which are movably connected with the ankle assembly 4; the ankle assembly 4 includes the ankle structure 43 which is fixed on the upper end surface of the instep structure 2; the ankle structure 43 includes the sensor adapter plate 42 at the bottom and the saddle-shaped yoke which is fixed on the sensor adapter plate 42; the front protruding part and the rear protruding part of the saddle-shaped yoke are each provided with an installation hole, and the ankle first limiting shaft 44 is threaded through the two installation holes; the second limiting shaft 46 is threaded through the rear protruding part of the saddle-shaped yoke and is provided with the first U-shaped groove 461 and the second U-shaped groove 462 along the axial direction thereof, the end of the calf motor first push rod 6 is pivoted in the first U-shaped groove, and the end of the calf motor second push rod 7 is pivoted in the second U-shaped groove; the axial direction of the ankle first limiting shaft 44 is perpendicular to the axial direction of the ankle second limiting shaft 46.

[0029] The three flexible movement fulcrums are formed at the hinged positions of the ankle assembly, the tibial structure, the calf motor first push rod and the calf motor second push rod, and the structure of the cross shaft sleeve, the second limiting shaft, the calf motor first push rod and the calf motor second push rod can realize the left and right swing and the up and down swing (the front and rear, the left and right are shown in the axonometric view of Figures 1-5 ).

[0030] As shown in the embodiment of Figure 2 , the ankle assembly 4 further includes the sensor 41, the bottom of the sensor 41 is fixedly connected with the upper end surface of the instep structure 2, and the top of the sensor 41 is fixedly connected with the sensor adapter plate 42; the sensor 41 collects the position information and the motion information of the instep structure and the ankle assembly to realize the adjustment of the pose of the ankle assembly.

[0031] As shown in the embodiment of Figure 4 , the sensor 41 and the sensor adapter plate 42 are fixedly connected through bolts, and the fixed connection mode of other embodiments can be selected from screw connection, glue joint and other fixed connection modes.

[0032] As shown in the embodiment of Figure 2 , the instep structure 2 is provided with the foot bottom covering member 22, the foot bottom covering member 22 is fixedly connected with the foot bottom structure 2, the foot bottom covering member 22 has a cavity, a hole is formed at the top of the foot bottom covering member 22, the ankle assembly 4 passes through the foot bottom covering member 22 from the hole and is connected with the tibial structure 5 and the calf motor first push rod 6.

[0033] The structure is as shown in the embodiment of Figure 3 , Figure 4 , Figure 6In the embodiment, the ankle assembly 4 further comprises a cross-shaped sleeve 47 composed of overlapping double sleeves in the saddle of the saddle-shaped yoke, a lower sleeve 47A in the cross-shaped sleeve 47 is provided with the first limiting shaft 44 of the ankle, the inner wall of the mounting hole of the front and rear protruding parts of the saddle-shaped yoke is provided with a deep groove ball bearing A441, a sleeve A443 is arranged between the lower sleeve 47A and the front and rear protruding parts of the saddle-shaped yoke, and the end of the first limiting shaft 44 is sleeved with a first limiting nut 442.

[0034] In the embodiment, the structure is as shown in Figure 3 、 Figure 4 、 Figure 6 In the embodiment, the second limiting shaft 45 is sleeved on the cross-shaped sleeve 47, the upper sleeve 47B of the cross-shaped sleeve 47 is provided with the second limiting shaft 45, the second limiting shaft 45 is symmetrically provided with a second limiting nut 452 and a sleeve B453 on the left and right sides, two deep groove ball bearings B451 are arranged on the inner end face of the bolt head close to the second limiting shaft 45, the end face of the deep groove ball bearing B451 is in contact with the inner end face of the second limiting shaft 45, the bearing inner ring cylindrical surface of the deep groove ball bearing B451 is matched with the second limiting shaft 45, the bearing outer ring cylindrical surface is matched with the hole circular wall surface of the tibial structure 5, one end face of the sleeve B453 is in contact with the deep groove ball bearing B451, and the other end face is in contact with the cross-shaped sleeve 47. The cross-shaped sleeve 47 is provided with two holes, and the axes of the two holes are perpendicular to each other in space.

[0035] In the embodiment, the structure is as shown in Figure 3 、 Figure 4 、 Figure 6 On the basis of the structure of the embodiment, other optional embodiments include but are not limited to a sleeve A443 or the sleeve B453, a gasket, a check ring, and a ring-shaped positioning structure of a shaft shoulder, and a plurality of the sleeve 443 or the sleeve 453 is sleeved on the first limiting shaft 44 and the second limiting shaft 45 within the length allowed.

[0036] In the embodiment, the structure is as shown in Figure 4 、 Figure 5 The palm connecting assembly 3 includes a front torsional spring mounting plate 31, a torsional spring 32, a torsional spring shaft 33, and a rear torsional spring mounting plate 34. The front torsional spring mounting plate 31 is fixedly connected with the front palm structure 1, and the bottom of the front torsional spring mounting plate 31 is provided with a groove. The torsional spring 32 is pressed between the front torsional spring mounting plate 31 and the front palm structure 1. Two bosses are arranged on the side edge of the front torsional spring mounting plate 31, and two mounting holes are coaxially arranged on each boss. The axis of the mounting hole is coaxial with the axis of the rear torsional spring mounting plate 34, the torsional spring 32, and the torsional spring shaft 33. The rear torsional spring mounting plate 34 is fixedly connected with the sole structure 2.

[0037] The following embodiments further illustrate the technical solutions of the present application in combination with the motion state of the foot mechanism.

[0038] 1 Embodiment of foot cushion mechanism to realize the resilience of forefoot

[0039] As shown in Figure 1 , when the foot mechanism is not in motion and is static in a plane or space, the torsion spring 32 has elasticity, keeping the bottom surfaces of the front torsion spring mounting plate 31 and the rear torsion spring mounting plate 32 coplanar, and further keeping the bottom surfaces of the forefoot structural member 1 and the foot bottom structural member 2 coplanar.

[0040] When the robot is in motion and the foot mechanism lands, the foot mechanism usually cannot make the forefoot structural member 1 and the foot bottom structural member 2 contact the ground at the same time, but the forefoot structural member 1 contacts the ground first, and the torsion spring 32 elastically deforms and rotates relative to the torsion spring shaft 33. When the foot mechanism further lands and the forefoot structural member 1 is subjected to force from the shank structural member 5, the bottom surface of the forefoot structural member 1 will contact the ground coplanarly, and the forefoot flexible member 11 contacts the ground under the action of gravity, increasing the friction during the motion of the robot. At the same time, under the elastic deformation of the torsion spring 32, the front torsion spring mounting plate 31 has a tendency to restore to the direction coplanar with the rear torsion spring mounting plate 34, and further the bottom surfaces of the forefoot structural member 1 and the foot bottom structural member 2 have a tendency to restore to the direction coplanar, thereby increasing the contact area of the foot mechanism with the ground and improving the gripping force and stability.

[0041] When the foot mechanism is lifted, the forefoot structural member 1 and the foot bottom structural member 2 completely leave the ground. At this time, under the action of the elastic deformation of the torsion spring 32, the front torsion spring mounting plate 31 rotates to the direction coplanar with the rear torsion spring mounting plate 34, and further the forefoot structural member 1 rotates to the direction coplanar with the bottom surface of the foot bottom structural member 2, until the forefoot structural member 1 and the foot bottom structural member 2 are coplanar.

[0042] 2 Embodiment of up-and-down pitching of the foot mechanism

[0043] When the calf motor first push rod 6 and the calf motor second push rod 7 are simultaneously and at the same speed extended, the calf motor first push rod 6 and the calf motor second push rod 7 rotate around the ankle third limiting shaft 46, and the ankle structural member 4 rotates downward around the ankle second limiting shaft 45 after being subjected to force from the calf motor first push rod 6 and the calf motor second push rod 7, thereby driving the entire foot mechanism to rotate upward around the ankle second limiting shaft 45, realizing the upward rotating posture of the foot mechanism as shown in Figure 7 .

[0044] When the calf motor first push rod 6 and the calf motor second push rod 7 are retracted at the same speed, the calf motor first push rod 6 and the calf motor second push rod 7 rotate around the ankle third limiting shaft 46, and the ankle structure 43 rotates rightwards around the ankle first limiting shaft 44 under the action of different forces from the calf motor first push rod 6 and the calf motor second push rod 7, thereby driving the whole foot mechanism to rotate rightwards around the ankle first limiting shaft 44, realizing the right swing posture of the foot mechanism. Figure 8

[0045] 3. Left and right swing embodiment of the foot mechanism

[0046] When the calf motor first push rod 6 and the calf motor second push rod 7 are retracted at the same speed, the calf motor first push rod 6 and the calf motor second push rod 7 rotate around the ankle third limiting shaft 46, and the ankle structure 43 rotates rightwards around the ankle first limiting shaft 44 under the action of different forces from the calf motor first push rod 6 and the calf motor second push rod 7, thereby driving the whole foot mechanism to rotate rightwards around the ankle first limiting shaft 44, realizing the right swing posture of the foot mechanism.

[0047] When the calf motor first push rod 6 and the calf motor second push rod 7 are retracted at the same speed, the calf motor first push rod 6 and the calf motor second push rod 7 rotate around the ankle third limiting shaft 46, and the ankle structure 43 rotates rightwards around the ankle first limiting shaft 44 under the action of different forces from the calf motor first push rod 6 and the calf motor second push rod 7, thereby driving the whole foot mechanism to rotate rightwards around the ankle first limiting shaft 44, realizing the right swing posture of the foot mechanism.

[0048] On the basis of the above embodiments, the bottom surface of the sole structure 2 of some embodiments is a horizontal surface, Figure 9 The bottom of the sole structure 2 is provided with a sole flexible member 21, and the bottom of the forefoot structure 1 is provided with a forefoot flexible member 11. The bottom surfaces of the forefoot flexible member 11 and the sole flexible member 21 are provided with a plurality of grooves. The forefoot flexible member 11 and the sole flexible member 21 are integrally formed.

[0049] ​In the description of the utility model, need understanding is, the term "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and so on indicate the orientation or positional relation based on the orientation or positional relation shown in the drawing, just for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the indicated device or element must have a particular orientation, construct and operate in a particular orientation, therefore can not be understood as the limitation of the utility model. In addition, the term "first", "second" and so on are only for the purpose of description, and can not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" and so on can explicitly or implicitly include one or more features. In the description of the utility model, unless otherwise specified, the meaning of "a plurality of" is two or more. Although the utility model has been described in detail above with general description, specific implementation and test, some modifications or improvements can be made on the basis of the utility model, which is obvious to those skilled in the art. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the utility model, all belong to the scope of protection required by the utility model.

Claims

1. A foot cushioning mechanism, characterized by, The foot cushioning mechanism comprises a sole structure (2), an ankle assembly (4), a shank structure (5) movably connected with the ankle assembly (4), a calf motor first push rod (6), and a calf motor second push rod (7); The ankle assembly (4) comprises an ankle structure (43) fixed on the upper end surface of the sole structure (2); the ankle structure (43) comprises a sensor adapter plate (42) at the bottom and a saddle-shaped yoke fixed on the sensor adapter plate (42); The front protruding part and the rear protruding part of the saddle-shaped yoke are each provided with a mounting hole, and the ankle first limiting shaft (44) is arranged in the two mounting holes; The rear protruding part of the saddle-shaped yoke is provided with the third limiting shaft (46) and is axially provided with a first U-shaped groove (461) and a second U-shaped groove (462), the end of the calf motor first push rod (6) is pivotally connected to the first U-shaped groove (461), and the end of the calf motor second push rod (7) is pivotally connected to the second U-shaped groove (462); the axial direction of the ankle first limiting shaft (44) is perpendicular to the axial direction of the third limiting shaft (46).

2. The foot cushioning mechanism of claim 1, wherein, The ankle assembly (4) further comprises a cross-shaped shaft sleeve (47) composed of overlapping double-layer shaft sleeves arranged in the saddle part of the saddle-shaped yoke, the lower shaft sleeve (47A) in the cross-shaped shaft sleeve (47) is provided with the ankle first limiting shaft (44), the inner wall of the mounting hole of the front and rear protruding parts of the saddle-shaped yoke is provided with a deep groove ball bearing A (441), a sleeve A (443) is arranged between the lower shaft sleeve (47A) and the front and rear protruding parts of the saddle-shaped yoke, and the end of the first limiting shaft (44) is provided with a first limiting nut (442).

3. The foot cushioning mechanism of claim 2, wherein, The ankle assembly (4) further comprises a sensor (41), the bottom of the sensor (41) is fixedly connected with the upper end surface of the sole structure (2), and the top of the sensor (41) is fixedly connected with the sensor adapter plate (42); the sensor (41) collects position information and motion information of the sole structure (2) and the ankle assembly (4) to adjust the pose of the ankle assembly (4).

4. The foot cushioning mechanism of claim 3, wherein, The upper shaft sleeve (47B) in the cross-shaped shaft sleeve (47) is provided with the second limiting shaft (45), the second limiting shaft (45) is symmetrically provided with a second limiting nut (452) and a sleeve B (453) on the left and right sides, two deep groove ball bearings B (451) are arranged on the inner end surface of the bolt head close to the second limiting shaft (45), the end surface of the deep groove ball bearing B (451) is in contact with the inner end surface of the second limiting shaft (45), the bearing inner ring cylindrical surface of the deep groove ball bearing B (451) is matched with the second limiting shaft (45), the bearing outer ring cylindrical surface is matched with the hole wall surface of the shank structure (5), one end surface of the sleeve B (453) is in contact with the deep groove ball bearing B (451), and the other end surface is in contact with the cross-shaped shaft sleeve (47).

5. The foot cushioning mechanism of claim 4, wherein, The sleeve A (443) or the sleeve B (453) specifically includes but is not limited to a bushing, a washer, a retainer, a ring-like positioning structure of a shaft shoulder; a plurality of the sleeve A (443) or the sleeve B (453) are sleeved under the length allowance of the first limiting shaft (44) and the second limiting shaft (45).

6. The foot cushioning mechanism of claim 5, wherein, The instep structure (2) is provided with a foot bottom cover (22) fixedly connected with the instep structure (2), the foot bottom cover (22) has a cavity, a hole is formed in the top of the foot bottom cover (22), the ankle assembly (4) passes through the foot bottom cover (22) from the hole and is connected with the shank structure (5) and the calf motor first push rod (6).

7. The foot cushioning mechanism of claim 6, wherein, The instep connecting assembly (3) includes a front torsional spring mounting plate (31), a torsional spring (32), a torsional spring shaft (33) and a rear torsional spring mounting plate (34); the front torsional spring mounting plate (31) is fixedly connected with the front instep structure (1), the bottom of the front torsional spring mounting plate (31) is provided with a groove, the torsional spring (32) is pressed between the front torsional spring mounting plate (31) and the front instep structure (1), two bosses are arranged on the side edge of the front torsional spring mounting plate (31), two mounting holes are coaxially arranged on each boss, the axis of the mounting hole is coaxial with the axis of the rear torsional spring mounting plate (34) and the torsional spring (32) and the torsional spring shaft (33); the rear torsional spring mounting plate (34) is fixedly connected with the instep structure (2).

8. The foot cushioning mechanism of claim 7, wherein, The bottom surface of the instep structure (2) is provided with a foot bottom flexible member (21), and the bottom surface of the front instep structure (1) is provided with a front instep flexible member (11).

9. A foot cushioning mechanism according to claim 8, wherein, The bottom surface of the front instep flexible member (11) and the foot bottom flexible member (21) is provided with a plurality of grooves.

10. The foot cushioning mechanism of claim 9, wherein, The foot bottom flexible member (21) and the front instep flexible member (11) are integrally formed.

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