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 open end which penetrates through the top 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 a plurality of deformation arms 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, the deformation hole includes an opening end, the opening end penetrates the top surface of the deformation arm, the deformation arm 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 includes the opening end, the axial direction of the first hole portion and the second hole portion extends 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 grooves 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 grooves.

[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, the foot skeleton being connected to the uniform force plate

[0026] Optionally, further comprising a plurality of fasteners, the fasteners penetrating 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, the forefoot, the hindfoot and the arch being integrally formed; or

[0029] The uniform force plate comprises a forefoot and a hindfoot arranged separately, the forefoot being connected to the foot skeleton corresponding to the front end of the foot skeleton, and the hindfoot being 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, further comprising 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] The foot skeleton comprises a forefoot part and a hindfoot part, and the rubber pad is arranged on the uniform force plate at a position corresponding to the forefoot part and the hindfoot part.

[0037] 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.

[0038] 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.

[0039] The technical solutions provided by the embodiments of the present disclosure can have the following beneficial effects:

[0040] 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 receiving path of the foot bottom, and 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, simplify the structural difficulty, improve the integration and space utilization of the foot structure, and reduce the structure volume and weight.

[0041] 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

[0042] 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.

[0043] Figure 1 is a perspective view of a foot structure of an exemplary embodiment of the present disclosure.

[0044] Figure 2 is a front view of Figure 1 .

[0045] Figure 3 is a side view of Figure 1Top view.

[0046] Figure 4 yes Figure 1 Side view.

[0047] Figure 5 This is a three-dimensional schematic diagram of a foot skeleton according to an exemplary embodiment of the present disclosure.

[0048] Figure 6 yes Figure 5 The front view.

[0049] Figure 7 yes Figure 5 Top view.

[0050] Figure 8 yes Figure 5 Side view.

[0051] Figure 9 This is a perspective view of a foot structure according to another exemplary embodiment of this disclosure.

[0052] Figure 10 yes Figure 9 An explosion diagram.

[0053] Figure 11 This is a perspective view of a foot structure according to another exemplary embodiment of this disclosure.

[0054] Figure 12 yes Figure 11 An explosion diagram.

[0055] Figure 13 yes Figure 11 The front view.

[0056] Figure 14 yes Figure 13 Enlarged diagram of point A in the middle.

[0057] Figure 15 This is a perspective view of a foot structure according to another exemplary embodiment of this disclosure.

[0058] Figure 16 yes Figure 15 An explosion diagram.

[0059] Figure 17 yes Figure 15 The front view.

[0060] Figure 18 yes Figure 17 Enlarged diagram of point B in the middle.

[0061] Figure 19 This is a perspective view of a foot structure according to another exemplary embodiment of this disclosure. Detailed Implementation

[0062] To better understand the technical solutions of this disclosure, the foot skeleton, foot structure, mechanical leg, and footed robot of this disclosure will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the features in the following embodiments and implementations can be combined with each other.

[0063] See Figures 1 to 8 As shown, this disclosure proposes a foot structure applicable to bipedal robots or other types of legged robots, used to detect the force applied to the sole of the robot's foot. The foot structure may include: a force-equalizing plate 10, a foot frame 20, and multiple force detection modules 30. The foot frame 20 is connected to the force-equalizing plate 10. The foot frame 20 has at least one deformable arm 50, 52, arranged along at least one of the length direction X and width direction Y of the foot frame 20. Deformation holes 60 are formed on the sides of the deformable arms 50, 52. At least one of the deformable arms 50, 52 is equipped with at least one force detection module 30. Optionally, in this embodiment, the number of force detection modules 30 may correspond to the number of deformable arms 50, 52, and they may be arranged one-to-one on each of the multiple deformable arms 50, 52. It is understood that each deformable arm 50, 52 may be equipped with one or more force detection modules 30, or may not be equipped with any force detection module. Furthermore, the number of force detection modules 30 installed on each deformable arm 50, 52 of the force detection module 30 may be the same or different, and this disclosure does not limit this.

[0064] Optionally, in Figure 1 and Figure 2 In the example shown, 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 and rear ends are each provided with at least one deformable arm 50, 52 and a force detection module 30, so as to ensure that the force situation of the front and rear ends of the entire foot structure can be detected and the detection accuracy can be improved.

[0065] Understandably, the deformation hole 60 determines the strain capacity of the deformable arms 50 and 52. The larger the deformation hole 60, the greater the strain (i.e., the degree of deformation) of the deformable arms 50 and 52 under the same force. The external force on the sole of the foot can be transmitted to the positions of each force detection module 30 through the force equalization plate 10, thereby causing the deformable arms 50 and 52 to detect deformation. The force detection module 30 and the deformable arms 50 and 52 are in close contact and deform synchronously. Thus, by detecting the strain degree of the force detection module 30, the strain degree of the deformable arms 50 and 52 can be reflected and obtained, thereby obtaining the stress situation of the entire foot structure. Optionally, the force detection module 30 may include a stress sheet or other form of force sensor. The stress sheet can be understood as a small-sized FPC (flexible printed circuit board) with crisscrossing copper wires arranged therein. The stress sheet and the deformable arms 50 and 52 are in close contact. When the foot structure is subjected to external force, the deformable arms 50 and 52 and the stress sheet can deform synchronously. The copper wires of the stress sheet are stretched and squeezed by the external force, causing the voltage resistance to change. By detecting the change in this voltage value, it can be understood that the force at the deformable arm can be detected and calculated through calibration and algorithm, thus reflecting and obtaining the degree of deformation of the deformable arm, thereby obtaining the force on the sole of the entire foot structure.

[0066] As can be seen from the above technical solution, the foot structure disclosed herein has a force detection module 30 set at at least one deformable arm 50, 52, thereby changing the force path of the sole. The external force on the sole 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 50, 52, and then obtains the force at the deformable arm through calibration and algorithm, thereby obtaining the force situation of the sole, so as to improve 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 structural volume and weight.

[0067] In some optional embodiments, the foot skeleton 20 has a plurality of grooves 40, 42, which are 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 by the grooves to form the plurality of deformable arms 50, 52. Optionally, at least one groove is formed 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 deformable arm is formed at each end of the foot skeleton 20 along the length direction X by the grooves, and at least one deformable hole 60 is formed on the side of the deformable arm.

[0068] 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.

[0069] 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.

[0070] In some optional embodiments, the grooving method of the first groove 40 may include the following two:

[0071] (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.

[0072] 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.

[0073] (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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] Thus, first deformable arms 50 are evenly distributed at the four corners of the foot skeleton 20, and force detection modules 30 are set there. The external force on the sole of the foot can be evenly transmitted to the positions of each force detection module 30 through the force equalization plate 10. The resultant force measured by the four force detection modules 30 located at the four corners can express the stress condition of the sole of the entire foot structure. The strain degree at the first deformable arm 50 is detected by the force detection module 30, and the force at the deformable arm is obtained through calibration and algorithm, thereby obtaining the stress condition of the sole of the foot. This improves the sensing accuracy of the force detection module 30, and can more accurately detect the stress condition of the sole of the entire foot structure, thus improving the accuracy of the detection.

[0079] See Figure 9 and Figure 10 As shown, in this embodiment, the grooving method of the first groove 40 can be selected from the above-described... Figures 1 to 8 The same slotting method as the above embodiment can also be selected. Figure 9 and Figure 10 The same grooving method is used in the embodiment. The grooving method of the second groove 42 may include: notches 43 and two second grooves 42 communicating with the notches 43 are respectively opened at both ends of the foot frame 20 along the width direction Y, and the two second grooves 42 located on the same side of the foot frame 20 are spaced apart along the length direction X of the foot frame 20. The two ends of the foot frame 20 along the width direction Y are respectively separated by the two second grooves 42 located on the same side to form two second deformable arms 52. That is, the foot frame 20 has four first deformable arms 50 and four second deformable arms 52, for a total of eight deformable arms.

[0080] In some alternative embodiments, the axial direction of the deformable hole 60 extends along the width direction Y of the deformable arm, that is, along the width direction Y of the foot skeleton 20. For example... Figures 1 to 10 In the example shown, the deformable hole 60 has an annular cross-section in the direction perpendicular to its axial direction. Optionally, the deformable hole 60 is a racetrack circle, which facilitates processing and provides better deformation space and deformation capability for the deformable arms 50 and 52, thereby improving the detection effect. It should be noted that the shape of the deformable hole 60 can also be set to other shapes according to actual needs, and this disclosure does not limit it.

[0081] 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.

[0082] 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°.

[0083] 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.

[0084] 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.

[0085] Alternatively, the diameter of the first hole 62 is larger than the diameter of the second hole 63, such as... Figure 15The example shown is as follows. When the process conditions permit, holes can be drilled simultaneously at both ends of the same side of the foot frame 20 using diamond wire. When encountering the corresponding position on the foot frame 20 for the mounting part 80 used to connect the leg structure, the diamond wire needs to avoid the mounting part 80. A second hole 63 can be drilled first to the corresponding position near the bottom of the mounting part 80, and then a first hole 62 with a relatively larger diameter can be drilled using milling technology.

[0086] Optionally, the first hole 62 and the second hole 63 are perpendicular to each other, that is, the deformable hole 60 is L-shaped. Further, the bend between the first hole 62 and the second hole 63 has an arc-shaped transition. In this way, when the foot skeleton 20 is subjected to external force, the inner walls of the deformable arm can make larger contact areas with each other. The larger the contact area, the more accurate the force detection, thus improving the accuracy of force detection.

[0087] Understandably, when the second hole 63 penetrates the bottom surface of the deformable arm, a protective structure 17 can be formed on the top of each deformable arm, and the protective structure 17 can withstand greater pressure. When the second hole 63 penetrates the top surface of the deformable arm, a protective structure 17 can be formed on the bottom of each deformable arm. The protective structure can withstand greater pressure. When the deformable arm is subjected to pressure and deforms, if the deformation exceeds a certain threshold, the protective structure will prevent the deformable arm from deforming further, thereby achieving the overload protection function.

[0088] Understandable, such as Figures 11 to 14 In the example shown, the opening end 61 of the deformable hole 60 extends downward through the deformable arm. When the deformable arm is subjected to upward pressure, it deforms downward. When the deformation exceeds a certain threshold, the protective structure 17 will prevent the deformable arm from deforming further, thereby achieving overload protection. When the deformable arm is subjected to downward pressure, due to the gap 11 between the force equalizing plate 10 and the foot frame 20, the deformable arm deforms downward. When the deformation exceeds a certain threshold, the protective structure 17 will contact the force equalizing plate 10 until the upper and lower inner walls of the first hole 62 contact each other, thereby preventing the force equalizing plate from applying upward pressure to the deformable arm and preventing the deformable arm from deforming further, thus achieving overload protection.

[0089] Understandable, such as Figures 15 to 18 In the example shown, the opening end 61 of the deformable hole 60 extends upward through the deformable arm. When the deformable arm is subjected to pressure from above, it deforms downward. When the deformation exceeds a certain threshold, the protective structure 17 deforms downward until the upper and lower inner walls of the first hole 62 come into contact with each other, thereby preventing the deformable arm from deforming further and achieving overload protection.

[0090] In some optional embodiments, the deformable hole 60 penetrates both ends of the deformable arms 50 and 52 along the width direction Y at both ends, that is, the deformable hole 60 is an open hole that penetrates both ends of the deformable arms 50 and 52. Alternatively, at least one end of the deformable hole 60 penetrates the sidewall of the deformable arms 50 and 52 along the width direction Y at both ends, that is, the deformable hole 60 is a semi-closed hole that penetrates one end of the deformable arms 50 and 52. Alternatively, neither end of the deformable hole 60 penetrates the sidewall of the deformable arms 50 and 52 along the width direction X at both ends, that is, the deformable hole 60 is a closed hole that does not penetrate either end of the deformable arms 50 and 52. It should be noted that the type of deformable hole 60 can be set according to actual needs, and this disclosure does not limit it.

[0091] In some optional embodiments, the force detection module 30 is located at the position of maximum strain of the deformable arms 50 and 52. This allows the deformable arms 50 and 52 to deform to a greater extent, thereby enabling the detection of a wider range of forces acting on the sole of the foot and improving detection performance. It should be noted that the position of the deformation hole 60 determines the location of maximum strain in the deformable arms 50 and 52, and the force detection module 30 needs to be located at this position. The position of the deformation hole 60 can be set according to actual needs, and this disclosure does not impose any limitations on it.

[0092] It should be noted that the first groove 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 arms 50 and 52. This arrangement of the first groove 40 and the deformation hole 60 can provide better deformation space and deformation capability for the deformation arms 50 and 52, thereby improving the detection effect.

[0093] In addition to the embodiments described above, in other examples, the first groove 40 may extend along the width direction Y of the foot skeleton 20, and the deformation hole 60 may extend along the length direction X of the first deformable arm 50. Alternatively, the first groove 40 may extend along the width direction Y of the foot skeleton 20, and the deformation hole 60 may extend along the width direction Y of the first deformable arm 50. Alternatively, the first groove 40 may extend along the length direction X of the foot skeleton 20, and the deformation hole 60 may extend along the length direction X of the first deformable arm 50. The arrangement of the first groove 40 and the deformation hole 60 can be set according to actual needs, and this disclosure does not limit this.

[0094] In some alternative embodiments, the foot structure may further include a plurality of fasteners 70 passing through the deformable arms 50, 52 and detachably connected to the force-equalizing plate 10, thereby fixing the foot frame 20 to the force-equalizing plate 10 and allowing for their detachment. The portions of the foot frame 20 and the force-equalizing plate 10 corresponding to the fasteners 70 abut against each other, with a gap 11 between the remaining portions. Optionally, the fasteners 70 may be screws or other connectors.

[0095] In some optional embodiments, the force-equalizing plate 10 is a one-piece molded structure. The force-equalizing plate 10 includes a forefoot 13 corresponding to the front end (i.e., the right end region of the foot frame 20), a rearfoot 14 corresponding to the rear end (i.e., the left end region of the foot frame 20), and an arch 15 connecting the forefoot 13 and the rearfoot 14. The arch 15 corresponds to the middle region of the foot frame 20 and can increase the adaptability of the foot to different ground surfaces. The forefoot 13, the rearfoot 14, and the arch 15 are integrally molded.

[0096] Optionally, the force equalizing plate 10 and the foot frame 20 are integrally formed, or connected to each other by fasteners 70 such as screws. The portion of the foot frame 20 and the force equalizing plate 10 corresponding to the force detection module 30 abuts against each other, and the remaining portions have a gap 11 between them.

[0097] In this way, it can be ensured that the external force on the sole of the foot can be transmitted to the positions of each force detection module 30 through the force equalization plate 10, and all the force on the foot can be transmitted to the four deformable arms 50 and 52. That is, the force equalization plate 10 is connected to the foot frame 20 through the fasteners 70 at the deformable arms 50 and 52, and does not contact other parts of the foot frame 20, thus ensuring that all the force on the foot is transmitted to the deformable arms 50 and 52 through the force equalization plate 10. Then, the force detection module 30 detects the strain at the deformable arms 50 and 52, and then obtains the force at the deformable arm through calibration and algorithm, thereby obtaining the force situation on the sole of the foot, improving the sensing accuracy of the force detection module 30, and ensuring the accuracy of the measurement.

[0098] Or see Figure 19 As shown, in some embodiments, the force equalization plate 10 includes a separate forefoot 13 and a rearfoot 14. The forefoot 13 corresponds to the front end of the foot frame 20 and is connected to the foot frame 20, while the rearfoot 14 corresponds to the rear end of the foot frame 20 and is connected to the foot frame 20. That is, the force equalization plate adopts a separate structural form.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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 deformable hole includes an open end that penetrates the top 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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