Foot skeleton, foot structure, mechanical leg and foot type robot

Abstract

The utility model relates to a foot skeleton, a foot structure, a mechanical leg and a foot type robot, the foot skeleton is provided with at least one deformation arm, and the at least one deformation arm is arranged in at least one of the length direction and the width direction of the foot skeleton. A deformation hole is formed in the side part of the deformation arm, and the axial direction of the deformation hole extends along the width direction of the foot skeleton; the deformation hole comprises an opening end which penetrates through the bottom face of the deformation arm. At least one deformation arm is provided with at least one force detection module. The foot skeleton is further provided with at least one installation part used for being connected with an external component. According to the foot skeleton, the force detection module is arranged at the position of at least one deformation arm, so that the stress path of the foot sole is changed, external force borne by the foot sole can be transmitted to the positions of the force detection modules, the sensing accuracy of the force detection modules is improved, the structural difficulty is simplified, the integration level and the space utilization rate of a foot structure are improved, and the foot skeleton is suitable for being popularized and applied. And the structural volume and the weight are reduced.

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 some 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 deformation arm is provided with a deformation hole in a side portion, an axial direction of the deformation hole extending along the width direction of the foot skeleton; the deformation hole includes an opening end penetrating a bottom surface of the deformation arm; at least one of the deformation arms is provided with at least one force detection module; and the foot skeleton is further provided with at least one mounting portion for connecting an external component.

[0006] Optionally, the deformation hole includes a first hole portion and a second hole portion in communication with the first hole portion, the second hole portion including the opening end; the axial directions of the first hole portion and the second hole portion both extend along the width direction of the deformation arm, and the first hole portion and the second hole portion are connected by bending.

[0007] Optionally, the hole diameter of the first hole portion is the same as or larger than the hole diameter of the second hole portion; and / or

[0008] The first hole portion and the second hole portion are perpendicular to each other; and / or

[0009] The bending portion between the first hole portion and the second hole portion is arc-shaped.

[0010] 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.

[0011] Optionally, the foot skeleton is provided with a first slot body at each of the two ends along the length direction, and the two ends of the foot skeleton are divided into a plurality of first deformation arms by the first slot bodies.

[0012] The foot skeleton is provided with a second slot body at each of the two ends along the width direction, and the two ends of the foot skeleton are divided into a plurality of second deformation arms by the second slot bodies.

[0013] Optionally, the first slot body is in the shape of a long slit, the foot skeleton is provided with two first slot bodies at each of the two ends along the length direction, and the two first slot bodies on the same side of the foot skeleton are arranged at intervals along the width direction of the foot skeleton; the two ends of the foot skeleton are divided into two first deformation arms and a main body between the two first deformation arms by the two first slot bodies on the same side.

[0014] Optionally, the two first slot bodies on the same side of the foot skeleton along the length direction are arranged symmetrically along the length direction of the foot skeleton; the two first slot bodies on the same side of the foot skeleton along the width direction are arranged symmetrically along the width direction of the foot skeleton.

[0015] The two first deformation arms on the same side of the foot skeleton along the length direction are arranged symmetrically along the length direction of the foot skeleton; the two first deformation arms on the same side of the foot skeleton along the width direction are arranged symmetrically along the width direction of the foot skeleton.

[0016] Optionally, the first slot body is in the shape of a rectangle, the foot skeleton is provided with one first slot body at each of the two ends along the length direction, and the two ends of the foot skeleton are divided into two first deformation arms by the first slot bodies.

[0017] Optionally, the foot skeleton is further provided with a weight-reducing slot adjacent to the first slot body, the weight-reducing slot is in the shape of a rectangle and communicates with the first slot body; along the width direction of the foot skeleton, the length of the weight-reducing slot is smaller than the length of the first slot body.

[0018] Optionally, the foot skeleton is provided with a notch and two second slot bodies communicating with the notch at each of the two ends along the width direction, and the two second slot bodies on the same side of the foot skeleton are arranged at intervals along the length direction of the foot skeleton; the two ends of the foot skeleton are divided into two second deformation arms by the two second slot bodies on the same side.

[0019] Optionally, the two ends of the deformation hole along the axial direction respectively penetrate the side walls on both sides of the deformation arm along the width direction; or

[0020] The deformation hole penetrates the side wall of the deformation arm in the width direction at least one of the two axial ends of the deformation hole; or

[0021] The deformation hole does not penetrate the two side walls of the deformation arm in the width direction at both axial ends of the deformation hole.

[0022] Optionally, the force detection module is arranged at the maximum strain position of the deformation arm; and / or

[0023] The force detection module comprises a stress sheet; and / or

[0024] The force detection module is arranged on the side of the deformation arm away from the opening end.

[0025] In a second aspect, the disclosure provides a foot structure comprising a uniform force plate and at least one foot skeleton as described in the first aspect, wherein the foot skeleton is connected to the uniform force plate.

[0026] Optionally, the foot structure further comprises a plurality of fasteners, the fasteners passing through the first deformation arm and being detachably connected to the uniform force plate; the 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

[0027] The uniform force plate and the foot skeleton are integrally formed, and the 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.

[0028] Optionally, the uniform force plate is an integrally formed structure, and the uniform force plate comprises a forefoot corresponding to the front end of the foot skeleton, a hindfoot corresponding to the rear end of the foot skeleton, and an arch connecting the forefoot and the hindfoot, and the forefoot, the hindfoot and the arch are integrally formed; or

[0029] The uniform force plate comprises a forefoot and a hindfoot arranged separately, the forefoot is connected to the foot skeleton corresponding to the front end of the foot skeleton, and the hindfoot is connected to the foot skeleton corresponding to the rear end of the foot skeleton.

[0030] Optionally, a hollow part is formed in the middle of the arch, and a reinforcing rib is arranged in the hollow part; and / or

[0031] The foot skeleton is provided with a plurality of deformation arms at intervals along the circumference of the region corresponding to the forefoot; and / or

[0032] The foot skeleton is provided with a plurality of deformation arms at intervals along the circumference of the region corresponding to the hindfoot.

[0033] Optionally, the foot structure further comprises a rubber pad arranged on the side of the uniform force plate opposite to the foot skeleton.

[0034] Optionally, the uniform force plate is an integral structure, the uniform force plate comprises a forefoot corresponding to the front end of the foot skeleton, a hindfoot corresponding to the rear end of the foot skeleton, and an arch connecting between the forefoot and the hindfoot, the forefoot, the hindfoot and the arch are integrally arranged; the forefoot and the hindfoot are both provided with the rubber pad; or

[0035] The uniform force plate comprises a forefoot and a hindfoot arranged separately, 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.

[0036] In a third aspect, the embodiments of the present disclosure provide a mechanical leg, comprising a leg structure and the foot structure as described in the second aspect, and the foot structure is connected to the leg structure.

[0037] In a fourth aspect, the embodiments of the present disclosure provide an omnidirectional robot, comprising at least one mechanical leg as described in the third aspect.

[0038] The technical solutions provided by the embodiments of the present disclosure can have the following beneficial effects:

[0039] The foot skeleton of the present disclosure is provided with a force detection module at the position of 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, which simplifies the structural difficulty, improves the integration and space utilization of the foot structure, and reduces the structure volume and weight.

[0040] 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

[0041] The accompanying drawings, which are incorporated into and form 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.

[0042] Figure 1 is a perspective view of a foot structure of an exemplary embodiment of the present disclosure.

[0043] Figure 2 is a front view of Figure 1 .

[0044] Figure 3 is a top view of Figure 1 .

[0045] Figure 4 is a side view of Figure 1 .

[0046] Figure 5 This is a three-dimensional schematic diagram of a foot skeleton according to an exemplary embodiment of the present disclosure.

[0047] Figure 6 yes Figure 5 The front view.

[0048] Figure 7 yes Figure 5 Top view.

[0049] Figure 8 yes Figure 5 Side view.

[0050] Figure 9 This is a perspective view of a foot structure according to another exemplary embodiment of this disclosure.

[0051] Figure 10 yes Figure 9 An explosion diagram.

[0052] Figure 11 This is a perspective view of a foot structure according to another exemplary embodiment of this disclosure.

[0053] Figure 12 yes Figure 11 An explosion diagram.

[0054] Figure 13 yes Figure 11 The front view.

[0055] Figure 14 yes Figure 13 Enlarged diagram of point A in the middle.

[0056] Figure 15 This is a perspective view of a foot structure according to another exemplary embodiment of this disclosure.

[0057] Figure 16 yes Figure 15 An explosion diagram.

[0058] Figure 17 yes Figure 15 The front view.

[0059] Figure 18 yes Figure 17 Enlarged diagram of point B in the middle.

[0060] Figure 19 This is a perspective view of a foot structure according to another exemplary embodiment of this disclosure. Detailed Implementation

[0061] In order to better understand the technical solutions of the present disclosure, the foot skeleton, the foot structure, the mechanical leg and the foot 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.

[0062] Referring to Figures 1 to 8 As shown in the drawings, the present disclosure provides 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 an equal force plate 10, a foot skeleton 20 and a plurality of force detection modules 30. The foot skeleton 20 is connected with the equal force 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 present embodiment, the force detection module 30 can correspond in number to the deformation arm 50, 52, and is arranged one by one in 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 a force detection module 30 can be the same or different, and the present disclosure does not limit this.

[0063] Optionally, in the examples shown in Figure 1 and Figure 2 , the left end of the foot skeleton 20 along the length direction X can be referred to as the rear end, and the right end of the foot skeleton 20 along the length direction X can be referred to as 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] In some optional embodiments, the grooving method of the first groove 40 may include the following two:

[0070] (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.

[0071] 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.

[0072] (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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] Therefore, the first deformation arm 50 is uniformly 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 uniformly 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 through 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 through 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.

[0078] Referring to Figure 9 and Figure 10 In the embodiment, the slotting mode of the first slot body 40 can be the same as the slotting mode of the above-mentioned Figures 1 to 8 embodiment, or the same as the slotting mode of the above-mentioned Figure 9 and Figure 10 embodiment. 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.

[0079] 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 processing and forming, and can provide better deformation space and deformation capacity for the deformation arm 50, 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.

[0080] 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.

[0081] 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°.

[0082] 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.

[0083] 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.

[0084] Alternatively, the diameter of the first hole 62 is larger than the diameter of the second hole 63, such as... Figure 15The example shown. When the process conditions allow, the diamond wire can be opened at both ends of the same side of the foot skeleton 20, and when encountering the corresponding position on the foot skeleton 20 for the mounting portion 80 used to connect the leg structure, the diamond wire needs to avoid the mounting portion 80, and can first open a second hole portion 63 to the corresponding position below the mounting portion 80, and then change the milling process to open a first hole portion 62 with a relatively large hole diameter.

[0085] Optionally, the first hole portion 62 and the second hole portion 63 are perpendicular to each other, that is, the deformation hole 60 is L-shaped. Further, the bending part between the first hole portion 62 and the second hole portion 63 is arc-shaped. In this way, when the foot skeleton 20 is subjected to external force, the inner walls of the deformation arms can be in close contact with each other over a larger area. The larger the contact area, the more accurate the force detection, thereby improving the accuracy of force detection.

[0086] As can be understood, when the second hole portion 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 achieving an overload protection function.

[0087] As can be understood, in the example shown, Figures 11 to 14 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 deform downward until the upper and lower inner walls of the first hole portion 62 come into contact with each other, thereby preventing the uniform force plate 10 from continuing to apply upward pressure to the deformation arm and preventing the deformation arm from continuing to deform, thereby achieving an overload protection function.

[0088] As can be understood, in the example shown, Figures 15 to 18 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 portion 62 come into contact with each other, thereby preventing the deformation arm from continuing to deform and achieving an overload protection function.

[0089] In some alternative 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.

[0090] In some alternative 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] In some alternative embodiments, the uniform force plate 10 is an integrally formed 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 integrally formed.

[0095] Alternatively, the uniform force plate 10 and the foot skeleton 20 are integrally formed or 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.

[0096] 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 of 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 of 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.

[0097] Alternatively, referring to Figure 19 In some alternative embodiments, the uniform force plate 10 comprises a forefoot 13 and a hindfoot 14 which are separately arranged, 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 separate structure.

[0098] Optionally, the foot skeleton 20 is provided with a plurality of deformation arms corresponding to the area of the forefoot 13, spaced along the circumference of the forefoot 13. The foot skeleton 20 is provided with a plurality of deformation arms corresponding to the area of the hindfoot 14, spaced along the circumference of the hindfoot 14. In this way, the deformation arms are distributed along the circumference of the forefoot and the hindfoot, so that the force acting on each of them can be more accurately detected. Optionally, the forefoot and the hindfoot are each provided with four deformation arms at the corners.

[0099] It can be understood that the uniform force plate adopts a split structure, and the forefoot and the hindfoot are separated: the position of the contact with the ground can be independently sensed. Compared with the above-mentioned uniform force plate with an integrated foot bottom structure, the situation of the forefoot and the hindfoot contacting the ground can be more accurately judged, for example, the situation of the whole foot landing and the situation of the center of the foot bottom stepping on a stone can be more accurately distinguished. When the foot bottom is in different postures and lands, or the foot bottom steps on a stone, a step or the like at different positions, the uniform force plate can transmit the force acting on each point to the upper part through the deformation arms. In addition, the uniform force plate adopts a split structure, and the forefoot and the hindfoot are separated. When the position of the foot bottom contacting the ground is different, the force acting on the four points is different, and the position of the foot bottom contacting the ground can be analyzed by calculation, which provides a reference for the action posture correction of the robot. When the robot with the foot structure walks on uneven ground, the position of the foot bottom contacting the ground can be better analyzed.

[0100] Further, the middle part of the arch 15 is formed with a hollow part 16, and a reinforcing rib 18 is arranged in the hollow part 16 to increase the rigidity of the uniform force plate. The uniform force plate and the foot skeleton are connected by screws or other fasteners. When the uniform force plate contacts the ground, the force is transmitted to each deformation arm of the foot skeleton through the four corner positions of the forefoot and the hindfoot respectively. If the rigidity of the uniform force plate is insufficient, the strain gauge data will be different when the foot bottom steps on different hardness grounds (carpet, marble ground), resulting in different calculated force sizes. Therefore, the reinforcing rib can increase the rigidity of the uniform force plate, and the adaptability of the foot bottom to different grounds can be improved.

[0101] In some optional embodiments, the foot structure can further include a rubber pad 81 arranged on the side of the uniform force plate 10 opposite to the foot skeleton 20. The rubber pad 81 can be used for foot bottom landing cushioning to reduce instantaneous impact force, and can also enhance the friction between the foot structure and the ground to increase stability. Optionally, the rubber pad 81 can be a rubber pad. The rubber pad is attached to the uniform force plate 10, and the rubber pad and the metal surface of the uniform force plate are connected by using mushroom nails or other connectors 82 and glue. The uniform force plate and the foot skeleton are connected by screws or other fasteners. When the uniform force plate contacts the ground, the force is transmitted to each deformation arm of the foot skeleton through the four corner positions of the forefoot and the hindfoot respectively. Optionally, when the uniform force plate adopts a split structure, the forefoot and the hindfoot are each provided with the rubber pad 81.

[0102] It should be noted that, in order to form the above-mentioned gap 11, the part of the foot skeleton 20 corresponding to the positions of the deformation arms 50, 52 can be protruded to form a protruding part 21 in the direction close to the uniform force plate 10, so that the bottom of the foot skeleton 20 (i.e. the side of the foot skeleton 20 close to the uniform force plate 10) forms a groove, thereby forming the gap 11 between the foot skeleton 20 and the uniform force plate 10 after the foot skeleton 20 and the uniform force plate 10 are assembled with each other.

[0103] In some optional embodiments, a recessed part 12 is formed on the side of the uniform force plate 10 away from the foot skeleton 20. When the foot structure walks on a bumpy road, the recessed part 12 can be used to accommodate obstacles, play a role in obstacle avoidance, and ensure the balance of the foot structure, thereby expanding the applicability of the foot robot. Optionally, the recessed part 12 is located in the middle of the uniform force plate 10, i.e. corresponding to the position of the arch, so that when the foot robot steps on an obstacle, the forces on the two ends of the foot bottom can be more balanced, thereby ensuring the balance of the foot structure.

[0104] In some optional embodiments, the foot skeleton 20 can also be distributed with a plurality of mounting parts 80, and the foot structure can be assembled and connected with other structural parts of the robot, such as the leg structure, through the mounting parts 80. In this embodiment, the foot skeleton 20 is respectively provided with a mounting part 80 at each end along the length direction X, and the foot skeleton 20 is also respectively provided with a mounting part 80 at each end along the width direction Y. It should be noted that the positions and number of the mounting parts 80 can be set according to actual conditions, and the present disclosure does not limit this.

[0105] The present disclosure also provides a mechanical leg which can be applied to a foot robot. The mechanical leg can include a leg structure and at least one foot structure connected to the leg structure. It should be noted that the description of the foot structure in the above-mentioned embodiments and embodiments is also applicable to the mechanical leg of the present embodiment. The foot structure can be movably connected with the leg structure.

[0106] The mechanical leg adopts the foot structure of the above-mentioned embodiments of the present disclosure, the foot skeleton 20 is divided into deformation arms by the groove, and the force detection module 30 is arranged at the position of at least one deformation arm, thereby changing the force path of the foot bottom, the external force on the foot bottom can be transmitted to the positions of the force detection modules 30 through the uniform force plate 10, the degree of strain at the deformation arm is detected through the force detection module 30, and then the force at the deformation arm is obtained through calibration and algorithm, thereby obtaining the force condition of the foot bottom, so as to improve the sensing accuracy of the force detection module 30, simplify the structural difficulty, and improve the integration and space utilization of the foot structure, thereby reducing the volume and weight of the overall structure of the foot robot.

[0107] The embodiment of the present disclosure further provides a foot-type robot comprising at least one mechanical leg. It should be noted that the description of the foot structure and the mechanical leg in the above embodiments and implementations is also applicable to the foot-type robot of the present embodiment. Alternatively, the foot-type robot can be a biped robot, or a foot-type robot with other number of legs.

[0108] The foot-type robot adopts the foot structure of the above embodiments of the present disclosure. The foot skeleton 20 is divided by the groove body to form a deformation arm, and the force detection module 30 is arranged at the position of at least one deformation arm, so that the force path of the foot bottom is changed. The external force received by the foot bottom can be transmitted to the position of each force detection module 30 through the uniform force plate 10. The degree of strain at the deformation arm is detected through the force detection module 30, and then the force at the deformation arm is obtained through calibration combined with an algorithm, so as to obtain 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 volume and weight of the overall structure of the foot-type robot are reduced.

[0109] It should be understood that the present disclosure is not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present 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 deformable hole includes an open end that penetrates the bottom surface of the deformable arm; 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 deformable hole includes a first hole portion and a second hole portion communicating with the first hole portion, the second hole portion including the open end; the axial directions of the first hole portion and the second hole portion both extend along the width direction of the deformable arm, and the first hole portion and the second hole portion are bent and connected.

3. The foot skeleton according to claim 2, characterized in that, The diameter of the first hole is the same as the diameter of the second hole, or the diameter of the first hole is larger than the diameter of the second hole; and / or The first hole and the second hole are perpendicular to each other; and / or The bend between the first hole and the second hole has an arc-shaped transition.

4. 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.

5. The foot skeleton according to claim 4, 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.

6. The foot skeleton according to claim 5, 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.

7. The foot skeleton according to claim 6, 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.

8. The foot skeleton according to claim 5, 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.

9. The foot skeleton according to claim 8, 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.

10. The foot skeleton according to claim 5, 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.

11. 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.

12. 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 force detection module is located on the side of the deformable arm away from the open end.

13. 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 12, the foot skeleton being connected to the force equalizing plate.

14. The foot structure according to claim 13, 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.

15. The foot structure according to claim 13, 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.

16. The foot structure according to claim 15, 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.

17. The foot structure according to claim 13, characterized in that, It also includes a rubber pad disposed on the side of the force equalizing plate opposite to the foot skeleton.

18. The foot structure according to claim 17, 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.

19. A mechanical leg, characterized in that, It includes a leg structure and a foot structure as described in any one of claims 13 to 18, wherein the foot structure is connected to the leg structure.

20. A legged robot, characterized in that, Includes at least one mechanical leg as described in claim 19.

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