Foot skeleton, foot structure, mechanical leg and foot type robot
By designing deformable arms and force detection modules on the foot skeleton of a legged robot, the force path is optimized, solving the problems of complex structure and low space utilization of existing legged robots, and achieving higher integration and force detection accuracy.
Patent Information
- Application Number
- CN202420944223.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-30
- Publication Date
- 2026-01-23
- Estimated Expiration
- 2034-04-30
AI Technical Summary
Existing legged robots suffer from problems such as complex structure, low space utilization, large size, heavy weight, high cost, and low integration, especially in terms of the installation and detection of force sensors.
Design a foot skeleton comprising a deformable arm and a force detection module. By setting the force detection module on the deformable arm, the force path on the sole of the foot is changed. The force transmission is optimized by using deformable holes and groove structures, thereby improving the sensing accuracy of the force detection module. The system is detachable by using a force equalizing plate and fasteners.
It simplifies the structural complexity, improves the integration and space utilization of the foot structure, reduces the structural volume and weight, and enhances the accuracy and reliability of force detection.
Smart Images
Figure CN223821827U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present disclosure relates to the technical field of robots, and in particular to a foot skeleton, a foot structure, a mechanical leg and a foot robot. BACKGROUND
[0002] The foot robot detects the motion state and the force condition of the foot to provide necessary reference information for subsequent motion control. Generally, the foot robot often installs a force sensor on the foot of the robot, but there are generally problems such as complex structure, low space utilization, large volume, large weight, high cost and low integration. CONTENT
[0003] The present disclosure provides a foot skeleton, a foot structure, a mechanical leg and a foot robot to solve at least part of the problems in the related art.
[0004] In a first aspect, the present disclosure provides a foot skeleton, which is provided with at least one deformation arm arranged along at least one of a length direction and a width direction of the foot skeleton.
[0005] The side of the deformation arm is provided with a deformation hole, the axial direction of the deformation hole extends along the width direction of the foot skeleton, and the cross section of the deformation hole in the direction perpendicular to the axial direction of the deformation hole is annular. At least one deformation arm is provided with at least one force detection module. The foot skeleton is further provided with at least one mounting portion for connecting external components.
[0006] Optionally, the foot skeleton is provided with a plurality of groove bodies arranged along at least one of the length direction and the width direction of the foot skeleton, and the plurality of deformation arms are formed by the groove bodies.
[0007] Optionally, the foot skeleton is provided with a first groove body at each end along the length direction, and a plurality of first deformation arms are formed by the first groove bodies at each end along the length direction.
[0008] The foot skeleton is provided with a second groove body at each end along the width direction, and a plurality of second deformation arms are formed by the second groove bodies at each end along the width direction.
[0009] Optionally, the first groove body is in the shape of a long slit, two first groove bodies are provided at each end along the length direction of the foot skeleton, and the two first groove bodies on the same side of the foot skeleton are arranged at intervals along the width direction of the foot skeleton. Two first deformation arms and a main body portion between the two first deformation arms are formed by the two first groove bodies on the same side at each end along the length direction of the foot skeleton.
[0010] Optionally, two first grooves located on the same side of the foot skeleton along the length direction are symmetrically arranged along the length direction of the foot skeleton; two first grooves located on the same side of the foot skeleton along the width direction are symmetrically arranged along the width direction of the foot skeleton.
[0011] Optionally, two first deformation arms located on the same side of the foot skeleton along the length direction are symmetrically arranged along the length direction of the foot skeleton; two first deformation arms located on the same side of the foot skeleton along the width direction are symmetrically arranged along the width direction of the foot skeleton.
[0012] Optionally, the first grooves are rectangular, and one first groove is arranged at each end of the foot skeleton along the length direction, and the two ends of the foot skeleton along the length direction are separated by the first grooves to form two first deformation arms.
[0013] Optionally, a weight-reducing groove is arranged adjacent to the first groove of the foot skeleton, the weight-reducing groove is rectangular and communicates with the first groove, and the length of the weight-reducing groove along the width direction of the foot skeleton is less than the length of the first groove.
[0014] Optionally, a notch and two second grooves communicating with the notch are arranged at each end of the foot skeleton along the width direction, two second grooves located on the same side of the foot skeleton are arranged at intervals along the length direction of the foot skeleton, and the two ends of the foot skeleton along the width direction are separated by the two second grooves located on the same side to form two second deformation arms.
[0015] Optionally, both ends of the deformation hole along the axial direction penetrate the side walls of the deformation arm along the width direction; or
[0016] At least one of the two ends of the deformation hole along the axial direction penetrates the side wall of the deformation arm along the width direction; or
[0017] Neither of the two ends of the deformation hole along the axial direction penetrates the side walls of the deformation arm along the width direction.
[0018] Optionally, the force detection module is arranged at the maximum strain position of the deformation arm; and / or
[0019] The force detection module comprises a stress sheet; and / or
[0020] The deformation hole is in a racetrack shape.
[0021] In a second aspect, the disclosure provides a foot structure, comprising a force equalizing plate and at least one foot skeleton as described in the first aspect, and the foot skeleton is connected to the force equalizing plate.
[0022] Optionally, a plurality of fasteners are further included, the fasteners passing through the first deformation arms and detachably connecting with the uniform force plate; portions of the foot skeleton and the uniform force plate corresponding to the fasteners abut each other, and the remaining portions have gaps therebetween; or
[0023] The uniform force plate and the foot skeleton are integrally formed, and portions of the foot skeleton and the uniform force plate corresponding to the force detection module abut each other, and the remaining portions have gaps therebetween.
[0024] Optionally, the uniform force plate is an integrally formed structure, and the uniform force plate includes a forefoot corresponding to a front end of the foot skeleton, a hindfoot corresponding to a rear end of the foot skeleton, and an arch connecting between the forefoot and the hindfoot, and the forefoot, the hindfoot, and the arch are integrally formed; or
[0025] The uniform force plate includes a forefoot and a hindfoot which are separately formed, the forefoot is connected with the foot skeleton corresponding to the front end of the foot skeleton, and the hindfoot is connected with the foot skeleton corresponding to the rear end of the foot skeleton.
[0026] Optionally, a hollow part is formed in the middle of the arch, and a reinforcing rib is arranged in the hollow part; and / or
[0027] The foot skeleton is provided with a plurality of the deformation arms at intervals in a circumferential direction of the forefoot corresponding to a region of the forefoot; and / or
[0028] The foot skeleton is provided with a plurality of the deformation arms at intervals in a circumferential direction of the hindfoot corresponding to a region of the hindfoot.
[0029] Optionally, a rubber pad is further included and arranged on a side of the uniform force plate opposite to the foot skeleton.
[0030] Optionally, the uniform force plate is an integrally formed structure, and the uniform force plate includes a forefoot corresponding to a front end of the foot skeleton, a hindfoot corresponding to a rear end of the foot skeleton, and an arch connecting between the forefoot and the hindfoot, and the forefoot, the hindfoot, and the arch are integrally formed; the forefoot and the hindfoot are both provided with the rubber pad; or
[0031] The uniform force plate includes a forefoot and a hindfoot which are separately formed, the forefoot is connected with the foot skeleton corresponding to the front end of the foot skeleton, and the hindfoot is connected with the foot skeleton corresponding to the rear end of the foot skeleton; the forefoot and the hindfoot are both provided with the rubber pad.
[0032] In a third aspect, the embodiments of the present disclosure provide a mechanical leg, including a leg structure and the foot structure as described in the second aspect, and the foot structure is connected to the leg structure.
[0033] In a fourth aspect, the embodiments of the present disclosure provide a legged robot, comprising at least one mechanical leg as described in the third aspect.
[0034] The technical solutions provided by the embodiments of the present disclosure can have the following beneficial effects:
[0035] The foot skeleton of the present disclosure sets the force detection module at the position of the at least one deformation arm, thereby changing the force path of the foot bottom. The external force received by the foot bottom can be transmitted to the position of each force detection module, so as to improve the sensing accuracy of the force detection module. The structure difficulty is simplified, the integration and space utilization of the foot structure are improved, and the structure volume and weight are reduced.
[0036] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS
[0037] The accompanying drawings, which are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.
[0038] Figure 1 is a perspective view of a foot structure of an exemplary embodiment of the present disclosure.
[0039] Figure 2 is a front view of Figure 1 .
[0040] Figure 3 is a top view of Figure 1 .
[0041] Figure 4 is a side view of Figure 1 .
[0042] Figure 5 is a perspective view of a foot skeleton of an exemplary embodiment of the present disclosure.
[0043] Figure 6 is a front view of Figure 5 .
[0044] Figure 7 is a top view of Figure 5 .
[0045] Figure 8 is a side view of Figure 5 .
[0046] Figure 9 is a perspective view of a foot structure of another exemplary embodiment of the present disclosure.
[0047] Figure 10 is a front view of Figure 9is an exploded schematic view of the foot structure of
[0048] Figure 11 is a perspective schematic view of the foot structure of another example embodiment of the present disclosure.
[0049] Figure 12 is a perspective view of Figure 11 is an exploded schematic view of the foot structure of
[0050] Figure 13 is a perspective view of Figure 11 is a front view of
[0051] Figure 14 is an enlarged schematic view of A in Figure 13
[0052] is a perspective schematic view of the foot structure of another example embodiment of the present disclosure. Figure 15
[0053] is an exploded schematic view of the foot structure of Figure 16 Figure 15 is a front view of
[0054] Figure 17 Figure 15 is an enlarged schematic view of B in
[0055] Figure 18 is a perspective view of Figure 17
[0056] Figure 19 is a perspective schematic view of the foot structure of another example embodiment of the present disclosure. DETAILED DESCRIPTION
[0057] In order to better understand the technical solutions of the present disclosure, the foot skeleton, the foot structure, the mechanical leg and the foot-type robot of the present disclosure are described in detail below in combination with the drawings. The features in the following embodiments and implementation manners can be combined with each other without conflict.
[0058] Referring to Figures 1 to 8 As shown, the embodiment of the present disclosure proposes a foot structure which can be applied to a biped robot or other types of foot robots, and is used for detecting the stress condition of the robot foot bottom. The foot structure can include a force equalizing plate 10, a foot skeleton 20 and a plurality of force detection modules 30. The foot skeleton 20 is connected with the force equalizing plate 10. The foot skeleton 20 is provided with at least one deformation arm 50, 52, the at least one deformation arm 50, 52 is arranged along at least one of the length direction X and the width direction Y of the foot skeleton 20, and the side of the deformation arm 50, 52 is provided with a deformation hole 60. The at least one deformation arm 50, 52 is provided with at least one force detection module 30. Optionally, in the embodiment, the force detection module 30 can correspond to the number of deformation arms 50, 52, and is arranged in one-to-one correspondence with the plurality of deformation arms 50, 52. It can be understood that each deformation arm 50, 52 can be provided with one or more force detection modules 30, or no force detection module. Further, the number of force detection modules 30 arranged on each deformation arm 50, 52 provided with the force detection module 30 can be the same or different, and the present disclosure does not limit this.
[0059] Optionally, in the example shown in Figure 1 and Figure 2 , the left end of the foot skeleton 20 along the length direction X can refer to the rear end, and the right end of the foot skeleton 20 along the length direction X can refer to the front end. The front end and the rear end are respectively provided with at least one deformation arm 50, 52 and force detection module 30, so as to ensure that the stress condition of the entire foot structure front and rear end can be detected, and the detection accuracy is improved.
[0060] It can be understood that the deformation hole 60 can determine the strain capacity of the deformation arm 50, 52, the larger the deformation hole 60, the greater the strain degree (i.e. the deformation degree) of the deformation arm 50, 52 under the same force. The external force received by the foot bottom can be transmitted to the position of each force detection module 30 through the force equalizing plate 10, thereby causing the deformation arm 50, 52 to deform, and the force detection module 30 and the deformation arm 50, 52 are deformed synchronously. Thus, the strain degree of the deformation arm 50, 52 can be reflected and obtained by detecting the strain degree of the force detection module 30, so as to obtain the force condition of the entire foot structure. Alternatively, the force detection module 30 can include a stress sheet or other form of force sensor. The stress sheet can be understood as a small-size FPC (flexible circuit board) in which longitudinal and transverse copper wires are arranged. The stress sheet and the deformation arm 50, 52 are in close contact, and when the foot structure is subjected to an external force, the deformation arm 50, 52 and the stress sheet can deform synchronously. The copper wires of the stress sheet are stretched and pressed under the action of the external force, causing the voltage resistance to change. Thus, by detecting the change of the voltage value, the force condition at the deformation arm can be obtained by calibrating and combining the algorithm, so as to reflect and obtain the deformation degree of the deformation arm, thereby obtaining the force condition of the foot bottom of the entire foot structure.
[0061] From the above technical solutions, the foot structure of the present disclosure sets the force detection module 30 at the position of at least one deformation arm 50, 52, thereby changing the force path of the foot bottom. The external force received by the foot bottom can be transmitted to the position of each force detection module 30 through the force equalizing plate 10. The strain degree at the deformation arm 50, 52 is detected by the force detection module 30, and the force at the deformation arm is obtained by calibrating and combining the algorithm, thereby obtaining the force condition of the foot bottom. The sensing accuracy of the force detection module 30 is improved, the structural difficulty is simplified, the integration and space utilization of the foot structure are improved, and the structural volume and weight are reduced.
[0062] In some optional embodiments, the foot skeleton 20 is provided with a plurality of grooves 40, 42 arranged along at least one of the length direction X and the width direction Y of the foot skeleton 20. The foot skeleton 20 is divided into a plurality of deformation arms 50, 52 by the grooves. Alternatively, at least one groove is provided at each end of the foot skeleton 20 along the length direction X, and the groove extends inward from the end edge of the foot skeleton 20 along the length direction X. At least one deformation arm is formed at each end of the foot skeleton 20 along the length direction X by the groove, and at least one deformation hole 60 is provided at the side of the deformation arm.
[0063] In some optional embodiments, the foot skeleton 20 has first grooves 40 at both ends along the length direction X, and the two ends of the foot skeleton 20 along the length direction X are separated by the first grooves 40 to form a plurality of first deformable arms 50. In other examples, the foot skeleton 20 has second grooves 42 at both ends along the width direction Y, and the two ends of the foot skeleton 20 along the width direction Y are separated by the second grooves 42 to form a plurality of second deformable arms 52.
[0064] For example, see Figures 1 to 8 In the example shown, the foot skeleton 20 has first grooves 40 at both ends along the length direction X. Figure 9 and Figure 10 In the example shown, the foot skeleton 20 has a first groove 40 at both ends along the length direction X, and a second groove 42 at both ends along the width direction Y.
[0065] In some optional embodiments, the grooving method of the first groove 40 may include the following two:
[0066] (1) As Figure 1 As shown, the first groove 40 is elongated slit-shaped. Two first grooves 40 are respectively formed at both ends of the foot frame 20 along its length direction X. The two first grooves 40 located on the same side of the foot frame 20 are spaced apart along the width direction Y of the foot frame 20. The two ends of the foot frame 20 along its length direction X are separated by the two first grooves 40 on the same side, forming two first deformable arms 50 and a main body 51 located between the two first deformable arms 50. That is, the foot frame 20 has four first deformable arms 50.
[0067] Understandably, the first deformable arm 50 can deform under external force. The synchronous deformation of the force detection module 30 and the first deformable arm 50 reflects and obtains the stress condition of the entire foot structure. The main body 51, unaffected by external force, deforms, thus improving the structural strength of the foot skeleton 20 and the overall foot structure. Optionally, the four first deformable arms 50 and the force detection module 30 are distributed at the four corners of the foot skeleton 20. In this way, the resultant force measured by the four force detection modules 30 at the four corners expresses the stress condition of the sole of the entire foot structure, improving detection accuracy. It should be noted that the number of the first groove 40 and the first deformable arm 50 can be set according to actual conditions, and this disclosure does not impose any limitations on this.
[0068] (2) Figure 5As shown, the first groove 40 is rectangular, and the foot skeleton 20 has a first groove 40 at each end along the length direction X. The two ends of the foot skeleton 20 along the length direction X are separated by the first groove 40 to form two first deformable arms 50. That is, the foot skeleton 20 has four first deformable arms 50.
[0069] Understandably, the first deformable arm 50 can deform under external force. The synchronous deformation of the force detection module 30 and the first deformable arm 50 reflects and obtains the stress condition of the entire foot structure, thereby improving the structural strength of the foot skeleton 20 and the overall foot structure. Optionally, the four first deformable arms 50 and the force detection module 30 are distributed at the four corners of the foot skeleton 20. Thus, the resultant force measured by the four force detection modules 30 located at the four corners expresses the stress condition of the sole of the entire foot structure, improving the accuracy of the detection. It should be noted that the number of the first groove 40 and the first deformable arm 50 can be set according to actual conditions, and this disclosure does not impose any limitations on this. Understandably, Figures 5 to 8 The example shown is compared to Figures 1 to 4 The example shown is equivalent to... Figures 1 to 4 In the example shown, removing the main body 51 can achieve the effect of weight reduction.
[0070] Furthermore, a weight-reducing groove 41 is provided adjacent to the foot skeleton 20 and the first groove 40. The weight-reducing groove 41 is rectangular and communicates with the first groove 40. Along the width direction Y of the foot skeleton 20, the length of the weight-reducing groove 41 is less than the length of the first groove 40. This further achieves the effect of weight reduction. Optionally, the weight-reducing groove 41 and the first groove 40 are combined to form a rectangular groove, and the connection between the two is a rounded transition, which is more convenient for processing and shaping.
[0071] In some alternative embodiments, the two first grooves 40 located on the same side of the foot skeleton 20 along the length direction X are symmetrically arranged along the length direction X of the foot skeleton 20. The two first grooves 40 located on the same side of the foot skeleton 20 along the width direction Y are symmetrically arranged along the width direction Y of the foot skeleton 20.
[0072] Accordingly, the two first deformable arms 50 located on the same side of the foot skeleton 20 along the length direction X are symmetrically arranged along the length direction X of the foot skeleton 20. The two first deformable arms 50 located on the same side of the foot skeleton 20 along the width direction Y are symmetrically arranged along the width direction Y of the foot skeleton 20.
[0073] Therefore, the first deformation arm 50 is evenly distributed at the four corners of the foot skeleton 20, and the force detection module 30 is arranged, the external force on the foot bottom can be evenly transmitted to the position of each force detection module 30 through the uniform force plate 10, the force on the foot bottom of the whole foot structure can be expressed by the resultant force measured by the four force detection modules 30 at the four corner positions, the strain degree at the first deformation arm 50 is detected by the force detection module 30, and then the force at the deformation arm is obtained through calibration and algorithm, so as to obtain the force on the foot bottom, improve the sensing accuracy of the force detection module 30, and more accurately detect the force on the foot bottom of the whole foot structure, and improve the detection accuracy.
[0074] Referring to Figure 9 and Figure 10 , in the embodiment, the slotting mode of the first slot body 40 can be the same as that of the above-mentioned Figures 1 to 8 embodiment, or the same as that of the above-mentioned Figure 9 and Figure 10 embodiments. The slotting mode of the second slot body 42 can include that the two ends of the foot skeleton 20 along the width direction Y are respectively provided with a notch part 43 and two second slot bodies 42 in communication with the notch part 43, and the two second slot bodies 42 on the same side of the foot skeleton 20 are arranged at intervals along the length direction X of the foot skeleton 20. The two ends of the foot skeleton 20 along the width direction Y are respectively separated by the two second slot bodies 42 on the same side to form two second deformation arms 52. That is, the foot skeleton 20 is provided with four first deformation arms 50 and four second deformation arms 52, a total of eight deformation arms.
[0075] In some optional embodiments, the axial direction of the deformation hole 60 extends along the width direction Y of the deformation arm, that is, along the width direction Y of the foot skeleton 20. As shown in the example of Figures 1 to 10 , the cross section of the deformation hole 60 in the direction perpendicular to the axial direction of the deformation hole 60 is a ring-shaped hole. Alternatively, the deformation hole 60 is a racetrack circle, which is convenient for molding and can provide better deformation space and deformation capacity for the deformation arm 50, 52, and improve the detection effect. It should be noted that the shape of the deformation hole 60 can also be set to other shapes according to actual needs, and the present disclosure does not limit this.
[0076] Understandably, the length of the first groove 40 along the length direction of the foot skeleton 20 determines the length of the first deformable arm 50 along the length direction of the foot skeleton 20. The longer the length of the first groove 40, the greater the deformability of the first deformable arm 50; the shorter the length of the first groove 40, the smaller the deformability of the first deformable arm 50. Similarly, the length of the first groove 40 along the width direction of the foot skeleton 20 determines the length of the first deformable arm 50 along the width direction of the foot skeleton 20. The longer the length of the first groove 40, the smaller the deformability of the first deformable arm 50; the shorter the length of the first groove 40, the greater the deformability of the first deformable arm 50. Likewise, the second groove 42 and the second deformable arm 52 have the same corresponding relationship.
[0077] like Figures 11 to 14 As shown, the deformable hole 60 includes an open end 61 that penetrates the bottom surface of the deformable arm (i.e., the foot skeleton 20). Optionally, the deformable hole 60 includes a first hole portion 62 and a second hole portion 63 communicating with the first hole portion 62, the second hole portion 63 including the open end 61. The axial directions of both the first hole portion 62 and the second hole portion 63 extend along the width direction Y of the deformable arm (i.e., the foot skeleton 20), and the first hole portion 62 and the second hole portion 63 are bent together. The second hole portion 63 penetrates the bottom surface of the deformable arm (i.e., the foot skeleton 20) from the open end 61. Optionally, the bending angle between the first hole portion 62 and the second hole portion 63 can be between 75° and 105°.
[0078] like Figures 15 to 18 As shown, the deformable hole 60 includes an open end 61 that penetrates the top surface of the deformable arm (i.e., the foot skeleton 20). Optionally, the deformable hole 60 includes a first hole portion 62 and a second hole portion 63 communicating with the first hole portion 62, the second hole portion 63 including the open end 61. The axial directions of both the first hole portion 62 and the second hole portion 63 extend along the width direction Y of the deformable arm (i.e., the foot skeleton 20), and the first hole portion 62 and the second hole portion 63 are bent and connected. The second hole portion 63 penetrates the top surface of the deformable arm (i.e., the foot skeleton 20) from the open end 61.
[0079] In some alternative embodiments, the diameter of the first hole 62 and the diameter of the second hole 63 are the same, such as... Figure 11 The example shown illustrates this. When the manufacturing process allows, holes can be simultaneously drilled at both ends of the same side of the foot frame 20 using diamond wire, thereby forming deformation holes 60 on the first deformable arm 50 on the same side of the foot frame 20.
[0080] Alternatively, the diameter of the first hole 62 is larger than the diameter of the second hole 63, such as... Figure 15The example shown. In the process conditions allow, can be through the diamond wire in the same side of the foot skeleton 20 both ends of the hole, when encountered on the foot skeleton 20 for the installation of the corresponding position used to connect the leg structure installation part 80, the diamond wire needs to avoid installation part 80, can be first formed by hole forming a second hole 63 to the corresponding position close to the installation part 80 below, and then change the milling process to open a first hole 62 with a relatively large hole diameter.
[0081] Optionally, the first hole 62 and the second hole 63 are perpendicular to each other, that is, the deformation hole 60 is L-shaped. Further, the bending part between the first hole 62 and the second hole 63 is arc-shaped transition. In this way, when the foot skeleton 20 is subjected to external force, the inner walls of the deformation arms can be in contact with each other in a larger area. The larger the contact area, the more accurate the force detection, and the higher the accuracy of force detection.
[0082] It can be understood that when the second hole 63 penetrates the bottom surface of the deformation arm, a protection structure 17 can be formed above each deformation arm. The protection structure 17 can withstand a large pressure. When the deformation arm is deformed by pressure, the protection structure will prevent the deformation arm from continuing to deform when the deformation exceeds a certain threshold, thereby realizing the overload protection function.
[0083] It can be understood that, as Figures 11 to 14 shown in the example, the opening end 61 of the deformation hole 60 penetrates the deformation arm downward. When the deformation arm is subjected to upward pressure, the deformation arm deforms downward. When the deformation exceeds a certain threshold, the protection structure 17 will prevent the deformation arm from continuing to deform, thereby realizing the overload protection function. When the deformation arm is subjected to downward pressure, due to the gap 11 between the uniform force plate 10 and the foot skeleton 20, the deformation arm deforms downward. When the deformation exceeds a certain threshold, the protection structure 17 will contact the uniform force plate 10 until the upper and lower inner walls of the first hole 62 are in contact with each other, thereby preventing the uniform force plate from continuing to apply upward pressure to the deformation arm and preventing the deformation arm from continuing to deform, thereby realizing the overload protection function.
[0084] It can be understood that, as Figures 15 to 18 shown in the example, the opening end 61 of the deformation hole 60 penetrates the deformation arm upward. When the deformation arm is subjected to upward pressure, the deformation arm deforms downward. When the deformation exceeds a certain threshold, the protection structure 17 deforms downward until the upper and lower inner walls of the first hole 62 are in contact with each other, thereby preventing the deformation arm from continuing to deform and realizing the overload protection function.
[0085] In some optional embodiments, the deformation hole 60 extends through both sides of the deformation arm 50, 52 along the width direction Y at both axial ends, that is, the deformation hole 60 is an open hole extending through both ends of the deformation arm 50, 52. Alternatively, the deformation hole 60 extends through one side of the deformation arm 50, 52 along the width direction Y at one of the axial ends, that is, the deformation hole 60 is a half-closed hole extending through one end of the deformation arm 50, 52. Alternatively, the deformation hole 60 does not extend through both sides of the deformation arm 50, 52 along the width direction X at both axial ends, that is, the deformation hole 60 is a closed hole not extending through both ends of the deformation arm 50, 52. It should be noted that the type of the deformation hole 60 can be set according to actual needs, and the present disclosure does not limit this.
[0086] In some optional embodiments, the force detection module 30 is arranged at the maximum strain position of the deformation arm 50, 52. In this way, the deformation arm 50, 52 can achieve a greater degree of deformation, so that a greater range of stress conditions that the sole is subjected to can be detected, improving the detection performance. It should be noted that the position of the deformation hole 60 determines the position of the maximum strain of the deformation arm 50, 52, and the force detection module 30 needs to be arranged at the position of the maximum strain. The position of the deformation hole 60 can be set according to actual needs, and the present disclosure does not limit this.
[0087] It should be noted that the first groove body 40 extends along the length direction X of the foot skeleton 20, and the axial direction of the deformation hole 60 extends along the width direction Y of the deformation arm 50, 52. In this way, the first groove body 40 and the deformation hole 60 can provide the deformation arm 50, 52 with better deformation space and deformation ability, improving the detection effect.
[0088] In addition to the cases described in the above embodiments, in other examples, the first groove body 40 can also extend along the width direction Y of the foot skeleton 20, and the deformation hole 60 can extend along the length direction X of the first deformation arm 50. Alternatively, the first groove body 40 can also extend along the width direction Y of the foot skeleton 20, and the deformation hole 60 can extend along the width direction Y of the first deformation arm 50. Alternatively, the first groove body 40 can also extend along the length direction X of the foot skeleton 20, and the deformation hole 60 can extend along the length direction X of the first deformation arm 50. The arrangement of the first groove body 40 and the deformation hole 60 can be set according to actual needs, and the present disclosure does not limit this.
[0089] In some alternative embodiments, the foot structure can further comprise a plurality of fasteners 70, which pass through the deformation arms 50, 52 and detachably connect with the uniform force plate 10, so as to realize mutual fixation of the foot skeleton 20 and the uniform force plate 10 and realize detachability of the two. The portions between the foot skeleton 20 and the uniform force plate 10 corresponding to the fasteners 70 abut each other, and the remaining portions have gaps 11 therebetween. Alternatively, the fasteners 70 can be screws or other connecting members.
[0090] In some alternative embodiments, the uniform force plate 10 is a one-piece structure, and the uniform force plate 10 comprises a forefoot 13 corresponding to the front end of the foot skeleton 20 (i.e. the right end region of the foot skeleton), a hindfoot 14 corresponding to the rear end of the foot skeleton 20 (i.e. the left end region of the foot skeleton), and an arch 15 connected between the forefoot 13 and the hindfoot 14, the arch 15 corresponding to the middle region of the foot skeleton 20, and the arch 15 can increase the adaptability of the foot sole to different ground. The forefoot 13, the hindfoot 14 and the arch 15 are provided in one piece.
[0091] Alternatively, the uniform force plate 10 and the foot skeleton 20 are provided in one piece or are connected with each other through fasteners 70 such as screws. The portions between the foot skeleton 20 and the uniform force plate 10 corresponding to the force detection modules 30 abut each other, and the remaining portions have gaps 11 therebetween.
[0092] In this way, it can be ensured that the external force received by the foot sole can be transmitted to the positions of the force detection modules 30 through the uniform force plate 10, and the force received by the foot can be fully transmitted to the four deformation arms 50, 52. That is, the uniform force plate 10 is connected with the foot skeleton 20 through the fasteners 70 at the deformation arms 50, 52 and does not contact other places of the foot skeleton 20, so as to ensure that all the forces received by the foot are transmitted to the deformation arms 50, 52 through the uniform force plate 10. Then, the strain degrees of the deformation arms 50, 52 are detected through the force detection modules 30, and the forces at the deformation arms are obtained through calibration and combination algorithms, so as to obtain the force conditions of the foot sole, to improve the sensing accuracy of the force detection modules 30 and ensure the measurement accuracy.
[0093] Alternatively, referring to Figure 19 In some alternative embodiments, the uniform force plate 10 comprises a forefoot 13 and a hindfoot 14 provided in two pieces, the forefoot 13 is connected with the foot skeleton 20 corresponding to the front end of the foot skeleton 20, and the hindfoot 14 is connected with the foot skeleton 20 corresponding to the rear end of the foot skeleton 20. That is, the uniform force plate adopts a structure in two pieces.
[0094] Optionally, the foot frame 20 has a plurality of deformable arms spaced apart along the circumference of the forefoot 13 in the area corresponding to the forefoot 13. Similarly, the foot frame 20 has a plurality of deformable arms spaced apart along the circumference of the rearfoot 14 in the area corresponding to the rearfoot 14. This ensures that deformable arms are distributed circumferentially on both the forefoot and rearfoot, enabling more accurate detection of the force applied to each. Optionally, a deformable arm is provided at each of the four corners of the forefoot and rearfoot, meaning that each foot has four deformable arms.
[0095] Understandably, the force-equalizing plate adopts a split structure, with the forefoot and heel separated. This allows for independent sensing of the ground contact position. Compared to the integrated foot structure of the aforementioned force-equalizing plate, it can more accurately determine whether both the forefoot and heel are in contact with the ground. For example, it can more accurately distinguish between a full foot landing and a situation where the center of the foot touches a pebble. It can ensure that when the foot lands in different postures or when different parts of the foot touch objects such as stones or steps, the force-equalizing plate can transmit force upwards through the various points set by the deformable arm. Furthermore, the split structure of the force-equalizing plate, with the forefoot and heel separated, means that the force transmitted at the four points varies depending on the foot's contact position. This allows for calculation and analysis of the foot contact position, providing a reference for robot posture correction. Robots using this foot structure can better analyze the foot's ground contact position when walking on uneven surfaces.
[0096] Furthermore, a hollow portion 16 is formed in the middle of the arch 15, and a reinforcing rib 18 is provided inside the hollow portion 16 to increase the rigidity of the force equalization plate. The force equalization plate is connected to the foot frame by fasteners such as screws. When the force equalization plate contacts the ground, the force is transmitted to the various deformable arms of the foot frame through the four corners of the forefoot and heel. If the rigidity of the force equalization plate is insufficient, the strain gauge data will be different when the sole of the foot is on a surface of different hardness (carpet, marble floor), resulting in different calculated force magnitudes. Therefore, the reinforcing ribs can enhance the rigidity of the force equalization plate and improve the adaptability of the sole of the foot to different surfaces.
[0097] In some optional embodiments, the foot structure may further include a rubber pad 81 disposed on the side of the force-equalizing plate 10 facing away from the foot frame 20. The rubber pad 81 can be used for cushioning the landing of the foot, reducing the instantaneous impact force, and can also enhance the friction between the foot structure and the ground, thereby increasing stability. Optionally, the rubber pad 81 can be a rubber pad. A rubber pad is attached to the underside of the force-equalizing plate 10, and the rubber pad is connected to the metal surface of the force-equalizing plate using connectors 82 such as mushroom studs and glue. The force-equalizing plate is connected to the foot frame by fasteners such as screws. When the force-equalizing plate contacts the ground, the force is transmitted to the various deformable arms of the foot frame through the four corners of the forefoot and heel. Optionally, when the force-equalizing plate adopts a split structure, the rubber pad 81 is provided on both the forefoot and heel.
[0098] It should be noted that, in order to form the gap 11, the portion of the foot frame 20 corresponding to the deformable arms 50 and 52 can protrude towards the force equalizing plate 10 to form a protrusion 21, so that a groove is formed at the bottom of the foot frame 20 (that is, the side of the foot frame 20 near the force equalizing plate 10), so that when the foot frame 20 and the force equalizing plate 10 are assembled together, the gap 11 can be formed between the foot frame 20 and the force equalizing plate 10.
[0099] In some optional embodiments, the force-equalizing plate 10 has a recess 12 formed on the side opposite to the foot skeleton 20. When the foot structure walks on uneven terrain, the recess 12 can accommodate obstacles, thus playing a role in obstacle avoidance and ensuring the balance of the foot structure, thereby expanding the applicability of the legged robot. Optionally, the recess 12 is located in the middle of the force-equalizing plate 10, that is, corresponding to the arch of the foot. When the legged robot steps on an obstacle, it can also make the two ends of the sole of the foot more evenly distributed, ensuring the balance of the foot structure.
[0100] In some optional embodiments, the foot skeleton 20 may also have multiple mounting portions 80 distributed throughout, allowing the foot structure to be assembled and connected to other structural parts of the robot, such as the leg structure, via the mounting portions 80. In this embodiment, the foot skeleton 20 has a mounting portion 80 at each end along the length direction X, and also a mounting portion 80 at each end along the width direction Y. It should be noted that the position and number of the mounting portions 80 can be set according to actual conditions, and this disclosure does not impose any limitations on them.
[0101] This disclosure also proposes a mechanical leg applicable to legged robots. The mechanical leg may include a leg structure and at least one foot structure, the foot structure being connected to the leg structure. It should be noted that the descriptions of the foot structure in the above embodiments and implementations are also applicable to the mechanical leg of this embodiment. The foot structure can be movably connected to the leg structure.
[0102] The mechanical leg adopts the foot structure of the above-described embodiment of this disclosure. The foot skeleton 20 is divided by grooves to form deformable arms, and a force detection module 30 is set at the position of at least one deformable arm, thereby changing the force path of the foot. The external force on the foot can be transmitted to the position of each force detection module 30 through the force equalization plate 10. The force detection module 30 detects the strain at the deformable arm, and then obtains the force at the deformable arm through calibration and algorithm, thereby obtaining the force situation of the foot and improving the sensing accuracy of the force detection module 30. This simplifies the structural difficulty, improves the integration and space utilization of the foot structure, and reduces the overall size and weight of the legged robot.
[0103] This disclosure also proposes a legged robot, including at least one mechanical leg. It should be noted that the descriptions of the foot structure and mechanical leg in the above embodiments and implementations are also applicable to the legged robot of this embodiment. Optionally, the legged robot can be a bipedal robot, or it can be a number of other legged robots.
[0104] The legged robot adopts the foot structure of the above-described embodiment of this disclosure. The foot skeleton 20 is divided into deformable arms by grooves, and a force detection module 30 is set at the position of at least one deformable arm, thereby changing the force path of the foot. The external force on the foot can be transmitted to the position of each force detection module 30 through the force equalization plate 10. The force detection module 30 detects the strain at the deformable arm, and then obtains the force at the deformable arm through calibration and algorithm, thereby obtaining the force situation of the foot and improving the sensing accuracy of the force detection module 30. This simplifies the structural difficulty, improves the integration and space utilization of the foot structure, and reduces the overall size and weight of the legged robot.
[0105] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.
Claims
1. A foot skeleton, characterized in that, The foot skeleton is provided with at least one deformable arm, and the at least one deformable arm is arranged along at least one of the length direction and the width direction of the foot skeleton; The deformable arm has a deformable hole on its side, and the axial direction of the deformable hole extends along the width direction of the foot skeleton; the cross-section of the deformable hole in the direction perpendicular to the axial direction of the deformable hole is an annular hole; at least one of the deformable arms is provided with at least one force detection module; the foot skeleton is also provided with at least one mounting part for connecting external components.
2. The foot skeleton according to claim 1, characterized in that, The foot skeleton has multiple grooves arranged along at least one of the length and width directions of the foot skeleton, and the foot skeleton is divided by the grooves to form the multiple deformable arms.
3. The foot skeleton according to claim 2, characterized in that, The foot skeleton has first grooves at both ends along its length, and the two ends along its length are separated by the first grooves to form multiple first deformable arms; and / or The foot skeleton has a second groove at each end along the width direction, and the two ends along the width direction of the foot skeleton are separated by the second groove to form a plurality of second deformable arms.
4. The foot skeleton according to claim 3, characterized in that, The first groove is long and narrow. Two first grooves are formed at both ends of the foot skeleton along its length. The two first grooves on the same side of the foot skeleton are spaced apart along the width of the foot skeleton. The two ends of the foot skeleton along its length are separated by the two first grooves on the same side to form two first deformable arms and a main body between the two first deformable arms.
5. The foot skeleton according to claim 4, characterized in that, The two first grooves located on the same side of the foot skeleton along the length direction are symmetrically arranged along the length direction of the foot skeleton; the two first grooves located on the same side of the foot skeleton along the width direction are symmetrically arranged along the width direction of the foot skeleton. The two first deformable arms located on the same side of the foot skeleton along the length direction are symmetrically arranged along the length direction of the foot skeleton; the two first deformable arms located on the same side of the foot skeleton along the width direction are symmetrically arranged along the width direction of the foot skeleton.
6. The foot skeleton according to claim 3, characterized in that, The first groove is rectangular, and the foot skeleton has a first groove at each end along its length. The two ends of the foot skeleton along its length are separated by the first groove to form two first deformable arms.
7. The foot skeleton according to claim 6, characterized in that, A weight-reducing groove is also provided at the adjacent position of the foot skeleton and the first groove. The weight-reducing groove is rectangular and communicates with the first groove. Along the width direction of the foot skeleton, the length of the weight-reducing groove is less than the length of the first groove.
8. The foot skeleton according to claim 3, characterized in that, The foot skeleton has notches and two second grooves communicating with the notches at both ends along the width direction. The two second grooves located on the same side of the foot skeleton are spaced apart along the length direction of the foot skeleton. The two ends of the foot skeleton along the width direction are separated by the two second grooves located on the same side to form two second deformable arms.
9. The foot skeleton according to claim 1, characterized in that, The two ends of the deformation hole along the axial direction respectively penetrate the two side walls of the deformation arm along the width direction; or At least one end of the deformable hole along the axial direction penetrates the sidewall of the deformable arm along the width direction; or Neither end of the deformable hole along the axial direction penetrates the two sidewalls of the deformable arm along the width direction.
10. The foot skeleton according to claim 1, characterized in that, The force detection module is located at the position of maximum strain in the deformable arm; and / or The force detection module includes a stress plate; and / or The deformable hole is circular like a racetrack.
11. A foot structure, characterized in that, It includes a force equalizing plate and at least one foot skeleton as described in any one of claims 1 to 10, the foot skeleton being connected to the force equalizing plate.
12. The foot structure according to claim 11, characterized in that, It also includes multiple fasteners that pass through the first deformable arm and are detachably connected to the force-equalizing plate; the portions of the foot skeleton and the force-equalizing plate corresponding to the fasteners abut against each other, while the remaining portions have gaps between them; or The force equalizing plate and the foot skeleton are integrally formed. The part of the foot skeleton and the force equalizing plate that corresponds to the force detection module abuts against each other, and there are gaps between the remaining parts.
13. The foot structure according to claim 11, characterized in that, The force-equalizing plate is a one-piece molded structure, comprising a forefoot corresponding to the front end of the foot frame, a hindfoot corresponding to the rear end of the foot frame, and an arch connecting the forefoot and the hindfoot. The forefoot, the hindfoot, and the arch are integrally molded; or The force plate includes a forefoot and a rearfoot, which are separately arranged. The forefoot corresponds to the front end of the foot skeleton and is connected to the foot skeleton, while the rearfoot corresponds to the rear end of the foot skeleton and is connected to the foot skeleton.
14. The foot structure according to claim 13, characterized in that, The arch of the foot has a hollow section in the middle, and the hollow section contains reinforcing ribs; and / or The foot skeleton, corresponding to the area of the forefoot and along the circumference of the forefoot, is provided with a plurality of deformable arms at intervals; and / or The foot skeleton is provided with a plurality of deformable arms at intervals along the circumference of the hind foot in the area corresponding to the hind foot.
15. The foot structure according to claim 11, characterized in that, It also includes a rubber pad disposed on the side of the force equalizing plate opposite to the foot skeleton.
16. The foot structure according to claim 15, characterized in that, The force-equalizing plate is a one-piece molded structure, comprising a forefoot corresponding to the front end of the foot frame, a hindfoot corresponding to the rear end of the foot frame, and an arch connecting the forefoot and the hindfoot. The forefoot, the hindfoot, and the arch are integrally molded; both the forefoot and the hindfoot are provided with the rubber pad; or The force-equalizing plate includes a forefoot and a rearfoot that are separately arranged. The forefoot corresponds to the front end of the foot frame and is connected to the foot frame, while the rearfoot corresponds to the rear end of the foot frame and is connected to the foot frame. Both the forefoot and the rearfoot are provided with the rubber pad.
17. A mechanical leg, characterized in that, It includes a leg structure and a foot structure as described in any one of claims 11 to 16, wherein the foot structure is connected to the leg structure.
18. A legged robot, characterized in that, Includes at least one mechanical leg as described in claim 17.