Self-adaptive posture adjustment humanoid robot

Abstract

The utility model discloses a self-adaptive posture adjustment humanoid robot, and relates to the technical field of humanoid robots. A self-adaptive posture adjusting humanoid robot comprises a trunk provided with feet, and further comprises the steps that the feet comprise heels, middle palms and toes, side skirt plates are symmetrically arranged on the two sides of the middle palms, and the side skirt plates are rotationally connected with the middle palms; the sliding block is arranged on the middle palm and is used for pushing the side apron board to rotate; according to the humanoid robot, the side skirt plates capable of being automatically folded and unfolded are arranged on the two sides of the middle palm, the side skirt plates are automatically unfolded when the feet fall on the ground in the walking process of the humanoid robot, the ground contact area of the middle palm is increased, the pressure intensity of the humanoid robot on the ground is reduced, meanwhile, the projection area of the humanoid robot is increased, and the humanoid robot is more attractive. The stability of the humanoid robot is improved when the middle palm leaves the ground and is about to step out of the next step. And the side apron board automatically resets, so that the side apron board is prevented from interfering with the other leg in the stepping process.

Description

Technical Field

[0001] This utility model belongs to the field of humanoid robot technology, specifically, it relates to an adaptive posture adjustment humanoid robot. Background Technology

[0002] An adaptive posture-adjusting humanoid robot is a robot that combines advanced sensing technology, motion control technology, and artificial intelligence technology. It can automatically adjust its posture according to the environment and task requirements without human intervention, maintain balance, and complete tasks efficiently. At the same time, it also has a high degree of human-likeness and can replace most of the work that previously required manual labor through professional motion design.

[0003] Because robots often have multiple electrical devices implanted in their torsos, their torsos are often much heavier than those of humans. This results in humanoid robots exerting much higher pressure on the ground during walking than normal humans. When walking on soft or muddy surfaces, their feet can easily sink into them, leading to poor environmental adaptability and mobility. Simply increasing the ground contact area of ​​the robot's feet may cause interference between the two feet during walking and reduce the anthropomorphism of the humanoid robot. Therefore, we propose an adaptive posture adjustment humanoid robot. Utility Model Content

[0004] The technical problem to be solved by this invention is to overcome the shortcomings of the prior art and provide an adaptive posture adjustment humanoid robot that can overcome or at least partially solve the above problems.

[0005] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by this utility model is as follows: an adaptive posture adjustment humanoid robot, including a torso with feet installed, and further including: the feet include a heel, a midfoot, and toes, with side skirts symmetrically arranged on both sides of the midfoot, the side skirts being rotatably connected to the midfoot; a slider, the slider being disposed on the midfoot, for pushing the side skirts to rotate; when the heel rotates, it drives the slider to slide, the slider pushing the side skirts to rotate and lock; when the toes rotate, it drives the slider to unlock, the slider and the side skirts to reset.

[0006] Preferably, a first base is fixedly connected to the middle palm, and a reversing gear and a second gear that mesh with each other are rotatably connected to the first base. A first gear is fixedly connected to the heel, and the first gear meshes with the reversing gear. A rack is also slidably connected to the middle palm, and the rack meshes with the second gear. A push rod is fixedly connected to one end of the rack, and the push rod contacts the inclined surface of the slider.

[0007] Furthermore, it also includes: a T-shaped slide rail fixedly connected to the middle palm, the T-shaped slide rail being slidably connected to the slider, a first spring being provided inside the slider, the two ends of the first spring being fixedly connected to the slider and the T-shaped slide rail respectively, a slot being provided on the slider, a locking block corresponding to the slot being slidably connected on the T-shaped slide rail, the locking block passing through the T-shaped slide rail, a second spring being fixedly connected to one side of the locking block, and the other end of the second spring being fixedly connected to the bridge-shaped slide rail.

[0008] Furthermore, the bridge-shaped slide rail is fixedly connected to the middle palm, and a slide bar with locking teeth is slidably connected to the top of the bridge-shaped slide rail. A groove is provided on the slide bar, and an unlocking rod is fixedly connected to the locking block. The upper part of the unlocking rod is located in the groove provided on the slide bar.

[0009] Furthermore, a main drive rod is fixedly connected to one end of the slide bar, a connecting piece is fixedly connected to one end of the main drive rod, a secondary drive rod is fixedly connected to the connecting piece, an anti-slip groove is provided at the bottom of the middle palm, the secondary drive rod is located in the anti-slip groove and is slidably connected to the middle palm, a cleaning block is fixedly connected to the secondary drive rod, and the cleaning block is slidably connected in the anti-slip groove.

[0010] Furthermore, a second base is fixedly connected to the middle palm, the second base is rotatably connected to the toe, a third gear is fixedly connected to the toe, a fourth gear that meshes with the third gear is rotatably connected to the second base, follower rods are fixedly connected to both sides of the fourth gear, a fifth gear is fixedly connected to one end of the follower rod, and the fifth gear meshes with the locking teeth provided on the slide bar.

[0011] Preferably, torsion springs are provided on the shafts of the first gear, the third gear, and the side skirt.

[0012] Preferably, it further includes: a lower ankle portion, which is rotatably connected to the heel and the first base, and an upper ankle portion is rotatably connected to the lower ankle portion, which is connected to the torso.

[0013] By adopting the above technical solution, this utility model has the following beneficial effects compared with the prior art: This utility model, by setting automatically retractable side skirts on both sides of the middle palm, automatically opens the side skirts when the foot lands during the humanoid robot's walking process, increasing the ground contact area of ​​the middle palm, reducing the pressure of the humanoid robot on the ground, and simultaneously increasing the projected area of ​​the humanoid robot, thus improving its stability. When the middle palm leaves the ground and is about to take the next step, the side skirts automatically reset, preventing interference between the side skirts and the other leg during the step. The anti-slip groove at the bottom of the middle palm not only improves the anti-slip performance but also incorporates a cleaning block that moves with the sliding strip within the anti-slip groove, allowing the humanoid robot to clean the anti-slip groove at the bottom of the middle palm after each complete step, preventing foreign objects from getting stuck in the anti-slip groove.

[0014] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings. Attached Figure Description

[0015] In the attached diagram:

[0016] Figure 1 This is a structural schematic diagram of an adaptive posture adjustment humanoid robot proposed in this utility model;

[0017] Figure 2 This is a schematic diagram of the foot structure of an adaptive posture adjustment humanoid robot proposed in this utility model. Figure 1 ;

[0018] Figure 3 This is a schematic diagram of the foot structure of an adaptive posture adjustment humanoid robot proposed in this utility model. Figure 2 ;

[0019] Figure 4 This is a schematic diagram of the bottom structure of the foot of an adaptive posture adjustment humanoid robot proposed in this utility model;

[0020] Figure 5 This is a schematic diagram of the structure of the side skirt of the foot of an adaptive posture adjustment humanoid robot in the unfolded state, as proposed in this utility model.

[0021] Figure 6 This is a schematic diagram of the foot structure of an adaptive posture adjustment humanoid robot proposed in this utility model. Figure 4 ;

[0022] Figure 7 This invention proposes an adaptive posture adjustment humanoid robot. Figure 6 A schematic diagram of the structure at point A in the middle.

[0023] In the diagram: 1. Torso; 2. Foot; 21. Heel; 211. First gear; 22. Middle palm; 220. First base; 2201. Second base; 221. Reversing gear; 222. Second gear; 223. Rack; 2231. Push rod; 224. T-shaped slide rail; 225. Slider; 2251. Slot; 2252. First spring; 226. Bridge-type slide rail; 2261. Second spring; 2262. Locking block; 2263. Unlocking rod; 227. Slide bar; 2271. Main drive rod; 2272. Connecting piece; 2273. Secondary drive rod; 2274. Cleaning block; 228. Anti-slip groove; 229. Side skirt; 23. Toe; 231. Third gear; 24. Fourth gear; 241. Follower rod; 242. Fifth gear; 3. Lower ankle; 4. Upper ankle. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate this utility model, but are not intended to limit the scope of this utility model.

[0025] Example 1: Refer to Figures 1-7An adaptive posture adjustment humanoid robot includes a torso 1 with feet 2, and further includes: the feet 2 including a heel 21, a midfoot 22, and toes 23; side skirts 229 symmetrically arranged on both sides of the midfoot 22, the side skirts 229 being rotatably connected to the midfoot 22; a slider 225, disposed on the midfoot 22, for pushing the side skirts 229 to rotate; when the heel 21 rotates, it drives the slider 225 to slide, the slider 225 pushes the side skirts 229 to rotate and lock; when the toes 23 rotate, it drives the slider 225 to unlock, the slider 225 and the side skirts 229 to reset; a first base 220 is fixedly connected to the midfoot 22. The device 220 is rotatably connected to a reversing gear 221 and a second gear 222 that mesh with each other. A first gear 211 is fixedly connected to the heel 21, meshing with the reversing gear 221. A rack 223 is slidably connected to the middle palm 22, meshing with the second gear 222. One end of the rack 223 is fixedly connected to a push rod 2231, which contacts the inclined surface of the slider 225. The device also includes a T-shaped slide rail 224 fixedly connected to the middle palm 22, slidably connected to the slider 225. A first spring 2252 is installed inside the slider 225, with its two ends respectively connected to… The slider 225 and the T-shaped slide rail 224 are fixedly connected. The slider 225 also has a slot 2251. A locking block 2262 corresponding to the slot 2251 is slidably connected to the T-shaped slide rail 224. The locking block 2262 passes through the T-shaped slide rail 224. A second spring 2261 is fixedly connected to one side of the locking block 2262, and the other end of the second spring 2261 is fixedly connected to the bridge-shaped slide rail 226. The bridge-shaped slide rail 226 is fixedly connected to the center plate 22. A slide bar 227 with locking teeth is slidably connected to the top of the bridge-shaped slide rail 226. A groove is provided on the slide bar 227. An unlocking rod 2263 is fixedly connected to the locking block 2262. The upper part of the locking rod 2263 is located in a groove on the slide bar 227; a second base 2201 is fixedly connected to the middle palm 22, the second base 2201 is rotatably connected to the toe 23, a third gear 231 is fixedly connected to the toe 23, a fourth gear 24 that meshes with the third gear 231 is rotatably connected to the second base 2201, a follower rod 241 is fixedly connected to both sides of the fourth gear 24, a fifth gear 242 is fixedly connected to one end of the follower rod 241, and the fifth gear 242 meshes with the locking teeth provided on the slide bar 227; torsion springs are respectively provided on the rotating shafts of the first gear 211, the third gear 231, and the side skirt 229;

[0026] During the humanoid robot's walking process, the first part to contact the ground is the heel 21. Rotating the heel 21 ensures its bottom is firmly against the ground. Simultaneously, the rotation of the heel 21 drives the first gear 211 to rotate. Through the transmission of the reversing gear 221, this drives the second gear 222 to rotate. The second gear 222 then drives the rack 223, which meshes with it. This causes the rack 223 to drive the push rod 2231 to slide on the palm 22. The push rod 2231 contacts the inclined surface of the slider 225, pushing the slider 225 to slide out to both sides of the palm 22. The T-shaped slide rail 224 serves to limit the sliding of the slider 225, preventing it from sliding out. Maintaining consistency in the sliding direction while limiting the push rod 2231, the push rod 2231 is locked to prevent excessive rotation of the heel 21. The slider 225 pushes the side skirt 229, causing it to rotate to the same plane as the center of the palm 22. At this time, the first spring 2252 inside the slider 225 is in a stretched state. Simultaneously, the slot 2251 on the slider 225 moves to the position of the locking block 2262. Under the spring force of the second spring 2261, the locking block 2262 inserts into the slot 2251, locking the position of the slider 225 and thus locking the side skirt 229, increasing the force-bearing surface of the center of the palm 22. As the humanoid robot continues to move forward, the middle palm 22 contacts the ground, and the heel 21 rotates in the opposite direction and resets under the action of the torsion spring, driving the rack 223 and push rod 2231 to reset. The slider 225 and side skirt 229 remain locked because the locking block 2262 is inserted into the slot 2251. As walking continues, the middle palm 22 and heel 21 leave the ground, and the toes 23 rotate relative to the middle palm 22, driving the third gear 231 to rotate. Through the transmission of the fourth gear 24 and follower rod 241, the fifth gear 242 rotates, ultimately driving the slider 227, which is equipped with locking teeth and meshes with the fifth gear 242, to... The top of the bridge-shaped slide rail 226 slides, and the grooved sidewall on the slide bar 227 hits the unlocking rod 2263 during the sliding process, causing the unlocking rod 2263 to drive the locking block 2262 to slide. The locking block 2262 disengages from the slot 2251, and the slider 225 resets under the spring force of the first spring 2252. Since the side skirt 229 is no longer limited by the slider 225, it also resets under the action of the torsion spring, so that the side skirt 229 will not interfere with the other leg when the robot takes a step. When the humanoid robot's foot 2 leaves the ground and takes a step, the toe 23 will reset under the action of the torsion spring, so that the slide bar 227 returns to its initial state.

[0027] Example 2: Refer to Figures 1-7An adaptive posture adjustment humanoid robot is basically the same as in Embodiment 1, but with the following additional features: one end of the slider 227 is fixedly connected to a main drive rod 2271, one end of the main drive rod 2271 is fixedly connected to a connecting piece 2272, a secondary drive rod 2273 is fixedly connected to the connecting piece 2272, an anti-slip groove 228 is provided at the bottom of the middle palm 22, the secondary drive rod 2273 is located in the anti-slip groove 228 and is slidably connected to the middle palm 22, a cleaning block 2274 is fixedly connected to the secondary drive rod 2273, and the cleaning block 2274 is slidably connected to the anti-slip groove 228; the lower ankle 3 is rotatably connected to the heel 21 and the first base 220 respectively, and an upper ankle 4 is rotatably connected to the lower ankle 3, and the upper ankle 4 is connected to the torso 1.

[0028] When the slider 227 slides, it can also push the main drive rod 2271. The main drive rod 2271 drives each auxiliary drive rod 2273 to slide through the connecting piece 2272, so that the cleaning block 2274 fixedly connected to the auxiliary drive rod 2273 slides in the anti-slip groove 228, pushing out any foreign objects that may be stuck in the anti-slip groove 228. During the reset process of the slider 227, it can also drive the cleaning block 2274 to reset, so that the humanoid robot can clean the anti-slip groove 228 at the bottom of the middle palm 22 every time it takes a complete step. The foot 2 is connected to the torso 1 through the lower ankle 3 and the upper ankle 4, which maximizes the flexibility of the ankle joint while ensuring the sturdiness of the ankle joint.

[0029] This invention features automatically retractable side skirts 229 on both sides of the central palm 22. During the robot's walking process, the side skirts 229 automatically open when the foot 2 lands, increasing the ground contact area of ​​the central palm 22, reducing the pressure exerted on the ground, and simultaneously increasing the robot's projected area, thus improving stability. When the central palm 22 leaves the ground and is about to take the next step, the side skirts 229 automatically reset, preventing interference between the side skirts 229 and the other leg during the step. The anti-slip grooves 228 at the bottom of the central palm 22 not only improve anti-slip performance but also incorporate cleaning blocks 2274 that move with the sliding strips 227, allowing the robot to clean the anti-slip grooves 228 with each complete step, preventing foreign objects from getting stuck.

[0030] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.

Claims

1. An adaptive posture-adjusting humanoid robot, comprising a torso (1) equipped with feet (2), characterized in that, Also includes: The foot (2) includes a heel (21), a midfoot (22), and toes (23). Side skirts (229) are symmetrically arranged on both sides of the midfoot (22), and the side skirts (229) are rotatably connected to the midfoot (22). A slider (225) is disposed on the center palm (22) for pushing the side skirt (229) to rotate; When the heel (21) rotates, it drives the slider (225) to slide, and the slider (225) pushes the side skirt (229) to rotate and lock; When the toe (23) rotates, it drives the slider (225) to unlock, and the slider (225) and the side skirt (229) are reset.

2. The adaptive posture adjustment humanoid robot according to claim 1, characterized in that, A first base (220) is fixedly connected to the middle palm (22), and a reversing gear (221) and a second gear (222) that mesh with each other are rotatably connected to the first base (220). A first gear (211) is fixedly connected to the heel (21), and the first gear (211) meshes with the reversing gear (221). A rack (223) is also slidably connected to the middle palm (22), and the rack (223) meshes with the second gear (222). A push rod (2231) is fixedly connected to one end of the rack (223), and the push rod (2231) contacts the inclined surface of the slider (225).

3. The adaptive posture adjustment humanoid robot according to claim 2, characterized in that, Also includes: A T-shaped slide rail (224) is fixedly connected to the middle palm (22). The T-shaped slide rail (224) is slidably connected to the slider (225). A first spring (2252) is provided inside the slider (225). The two ends of the first spring (2252) are fixedly connected to the slider (225) and the T-shaped slide rail (224) respectively. A slot (2251) is also provided on the slider (225). A locking block (2262) corresponding to the slot (2251) is slidably connected on the T-shaped slide rail (224). The locking block (2262) passes through the T-shaped slide rail (224). A second spring (2261) is fixedly connected to one side of the locking block (2262). The other end of the second spring (2261) is fixedly connected to the bridge-shaped slide rail (226).

4. The adaptive posture adjustment humanoid robot according to claim 3, characterized in that, The bridge-shaped slide rail (226) is fixedly connected to the middle palm (22). The top end of the bridge-shaped slide rail (226) is slidably connected to a slide bar (227) with locking teeth. The slide bar (227) has a groove. The locking block (2262) is fixedly connected to an unlocking rod (2263). The upper part of the unlocking rod (2263) is located in the groove on the slide bar (227).

5. The adaptive posture adjustment humanoid robot according to claim 4, characterized in that, One end of the slide bar (227) is also fixedly connected to a main drive rod (2271), one end of the main drive rod (2271) is fixedly connected to a connecting piece (2272), a secondary drive rod (2273) is fixedly connected to the connecting piece (2272), an anti-slip groove (228) is provided at the bottom of the middle palm (22), the secondary drive rod (2273) is located in the anti-slip groove (228) and is slidably connected to the middle palm (22), a cleaning block (2274) is fixedly connected to the secondary drive rod (2273), and the cleaning block (2274) is slidably connected in the anti-slip groove (228).

6. The adaptive posture adjustment humanoid robot according to claim 2, characterized in that, A second base (2201) is fixedly connected to the middle palm (22). The second base (2201) is rotatably connected to the toe (23). A third gear (231) is fixedly connected to the toe (23). A fourth gear (24) that meshes with the third gear (231) is also rotatably connected to the second base (2201). Follower rods (241) are fixedly connected to both sides of the fourth gear (24). A fifth gear (242) is fixedly connected to one end of the follower rod (241). The fifth gear (242) meshes with the locking teeth provided on the slide bar (227).

7. The adaptive posture adjustment humanoid robot according to claim 6, characterized in that, Torsion springs are provided on the shafts of the first gear (211), the third gear (231), and the side skirt (229).

8. The adaptive posture adjustment humanoid robot according to claim 1, characterized in that, Also includes: The lower ankle (3) is rotatably connected to the heel (21) and the first base (220), and the upper ankle (4) is rotatably connected to the lower ankle (3), which is connected to the torso (1).

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