Self-adaptive foot and humanoid robot

Abstract

The utility model provides a self-adaptive foot (100) and a humanoid robot, and relates to the field of robots, the self-adaptive foot (100) is applied to the humanoid robot, and the self-adaptive foot (100) comprises a sole part (1); the middle arch (2) is located on the sole part (1) and used for being connected with a shank part of the humanoid robot; the front arch (3) and the rear arch (4) are located at the front end and the rear end of the sole part (1) respectively, and the two ends are hinged to the sole part (1) and the middle arch (2) respectively; the two ends of the first plate spring (5) and the two ends of the second plate spring (6) are fixedly connected to the foot sole part (1) and the middle arch (2) respectively. Seen from the side face of the self-adaptive foot (100), the foot sole part (1), the middle arch (2), the front arch (3) and the rear arch (4) jointly form a quadrilateral structure.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to an adaptive leg and humanoid robot. Background Technology

[0002] Currently, humanoid robots are gradually entering people's work and life. As an important part of humanoid robots, their feet will bear the weight of the entire body. During actions such as walking and jumping, the feet will bear greater impact forces. In addition, humanoid robots will also face the challenge of uneven roads. When walking on uneven roads, humanoid robots are very prone to tipping over. However, due to the limitations of the foot structure, current humanoid robots can only walk on flat roads. This greatly limits the adaptability of humanoid robots to road environments and is not conducive to the widespread application of humanoid robots. Utility Model Content

[0003] The purpose of this invention is to provide an adaptive leg and humanoid robot that can adapt to uneven terrain.

[0004] In a first aspect, embodiments of the present invention provide an adaptive foot (100) for use in a humanoid robot, comprising:

[0005] The sole of the foot (1);

[0006] The central arch (2) is located above the ball of the foot (1);

[0007] The forefoot arch (3) and hindfoot arch (4) are respectively located at the front and rear ends of the foot portion (1), and both ends of the forefoot arch (3) and the hindfoot arch (4) are respectively hinged to the foot portion (1) and the midfoot arch (2); and

[0008] The first leaf spring (5) and the second leaf spring (6) are respectively located at the front and rear ends of the foot part (1). The two ends of the first leaf spring (5) and the two ends of the second leaf spring (6) are respectively fixed to the foot part (1) and the middle arch (2); wherein the foot part (1), the middle arch (2), the forefoot arch (3) and the hindfoot arch (4) together form a quadrilateral structure.

[0009] In some embodiments, the foot portion (1) includes:

[0010] The base plate (11), and the toe assembly (12) and heel (13) fixed on the base plate (11);

[0011] The toe assembly (12) is configured to be hinged to the forefoot arch (3) and fixed to the first leaf spring (5);

[0012] The heel (13) is configured to be hinged to the hindfoot arch (4) and fixed to the second leaf spring (6).

[0013] In some embodiments, the toe assembly (12) includes a support platform (121) and a connector (122), the support platform (121) being fixedly connected to the base plate (11), and the connector (122) being hinged to the support platform (121); the forefoot arch (3) is hinged to the support platform (121), and the first leaf spring (5) is fixedly connected to the connector (122).

[0014] In some embodiments, the angles formed by the forefoot arch (3) and the hindfoot arch (4) with the foot (1) are both acute angles; the quadrilateral is a trapezoid.

[0015] In some embodiments, the second leaf spring (6) is a bent plate.

[0016] In some embodiments, the forefoot arch (3) has a first weight-reducing hole (33) and the hindfoot arch (4) has a second weight-reducing hole (43).

[0017] In some embodiments, there are two forefoot arches (3) and two toe assemblies (12); there are two hindfoot arches (4) and one heel (13).

[0018] In some embodiments, the two forefoot arches (3) are integrally formed and the two hindfoot arches (4) are integrally formed.

[0019] In some embodiments, there are two first leaf springs (5), and the two first leaf springs (5) are arranged side by side with the two forefoot arches (3).

[0020] In a second aspect, this utility model embodiment also provides a humanoid robot, including the aforementioned adaptive feet (100). Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the adaptive foot's first-view external structure according to an embodiment of the present invention;

[0023] Figure 2 for Figure 1 Schematic diagram of the external structure of the adaptive foot from a second-view perspective;

[0024] Figure 3 for Figure 2 A schematic diagram of the external structure of the adaptive foot after the pressure sensor has been removed;

[0025] Figure 4 for Figure 1 A schematic diagram of the midfoot structure;

[0026] Figure 5 for Figure 4 Schematic diagram of the structure of the central support platform;

[0027] Figure 6 for Figure 4 Schematic diagram of the middle connector;

[0028] Figure 7 for Figure 4 A structural diagram of the heel in the middle;

[0029] Figure 8 for Figure 2 A schematic diagram of the structure of the central arch;

[0030] Figure 9 for Figure 8 Another perspective illustration of the bow in the middle;

[0031] Figure 10 for Figure 2 A schematic diagram of the forefoot arch in the foot;

[0032] Figure 11 for Figure 2 A schematic diagram of the hindfoot arch in the middle;

[0033] Figure 12 for Figure 2 A schematic diagram of the structure of the first leaf spring in the middle;

[0034] Figure 13 for Figure 2 A schematic diagram of the structure of the second leaf spring in the diagram;

[0035] Figure 14 This is a schematic diagram illustrating the force decomposition of the adaptive foot under downward pressure in this embodiment.

[0036] Icons: 100-Adaptive foot; 1-Forefoot; 11-Sole plate; 12-Toe assembly; 121-Support platform; 1211-Second hinge hole; 122-Connector; 1221-First hinge hole; 13-Heel; 131-Hinge hole; 2-Center arch; 21-First connecting hole; 22-Third connecting hole; 3-Forefoot arch; 31-Second connecting hole; 33-First weight-reducing hole; 4-Rear arch; 41-Fourth connecting hole; 42-Hinge hole; 43-Second weight-reducing hole; 5-First leaf spring; 6-Second leaf spring; 7-Pressure sensor; 81-First pin; 82-Second pin. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0039] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0040] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0041] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0042] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0043] Please refer to Figures 1-13 This embodiment provides an adaptive foot 100 for use in a humanoid robot, which includes a foot portion 1, a middle arch 2, a forefoot arch 3, a hindfoot arch 4, a first leaf spring 5, and a second leaf spring 6.

[0044] The middle arch 2 is located above the foot part 1 and is used to connect with the lower leg of the humanoid robot. Specifically, a pressure sensor 7 is provided between the middle arch 2 and the lower leg of the humanoid robot, and the lower leg of the humanoid robot is connected to the middle arch 2 via the pressure sensor 7.

[0045] The forefoot arch 3 is hinged at both ends to the ball of the foot 1 and the middle arch 2, respectively. The hindfoot arch 4 is hinged at both ends to the ball of the foot 1 and the middle arch 2, respectively.

[0046] Specifically, the middle arch 2 and the forefoot arch 3 are hinged by a first pin 81. The middle arch 2 has a first connecting hole 21 through which the first pin 81 passes, and the forefoot arch 3 has a second connecting hole 31 through which the first pin 81 passes.

[0047] The middle arch 2 and the hind arch 4 are hinged by a second pin 82. The middle arch 2 has a third connecting hole 22 through which the second pin 82 passes, and the hind arch 4 has a fourth connecting hole 41 through which the second pin 82 passes.

[0048] The first leaf spring 5 is fixedly connected at both ends to the ball of the foot 1 and the mid-arch 2, respectively. The second leaf spring 6 is fixedly connected at both ends to the ball of the foot 1 and the mid-arch 2, respectively. The first leaf spring 5 includes a straight, flexible plate. The second leaf spring 6 includes a bent, flexible plate. Both the first leaf spring 5 and the second leaf spring 6 can be made of materials with good elasticity and toughness.

[0049] When the foot 1 steps onto an uneven surface, the quadrilateral structure formed by the foot 1, mid-arch 2, forefoot arch 3, and rearfoot arch 4 is inherently unstable. This causes the forefoot arch 3 and rearfoot arch 4 to tend to rotate, thus maintaining the mid-arch 2 in a horizontal position relative to the foot 1. However, excessive rotation of the forefoot arch 3 and rearfoot arch 4 can cause the adaptive foot 100 to fail in supporting the lower leg. Therefore, the elastic deformation capacity of the first leaf spring 5 and the second leaf spring 6 can be utilized to... When the middle arch 2 receives the downward pressure from the lower leg, it deforms appropriately, causing the forefoot arch 3 and the rearfoot arch 4 to rotate at a small angle relative to the foot part 1 (or the middle arch 2). However, this does not cause the adaptive foot 100 to fail to support the lower leg. In other words, with the support of the first leaf spring 5 and the second leaf spring 6, the quadrilateral structure composed of the foot part 1, the middle arch 2, the forefoot arch 3 and the rearfoot arch 4 not only has the deformation ability of a quadrilateral but also has a stable support ability, thus enabling the foot part 1 to adapt to uneven road surfaces.

[0050] The aforementioned quadrilateral structure, when viewed from the side, is roughly trapezoidal. Specifically, the angles formed by the forefoot arch 3 and the hindfoot arch 4 with the ball of the foot 1 are both acute angles.

[0051] Specifically, in this embodiment, the foot portion 1 includes: a base plate 11, and a toe assembly 12 and a heel 13 fixed to the base plate 11; the toe assembly 12 is configured to be hinged to the forefoot arch 3 and fixed to the first leaf spring 5; the heel 13 is configured to be hinged to the rearfoot arch 4 and fixed to the second leaf spring 6. The heel 13 and the rearfoot arch 4 are hinged via a second pivot axis, and the heel 13 has a hinge hole 131 through which the second pivot axis passes, while the rearfoot arch 4 has a hinge hole 42 through which the second pivot axis passes.

[0052] The above structure, especially the transitional connection between the toe assembly 12 and the heel 13, not only facilitates the connection between the forefoot arch 3 and the rearfoot arch 4 and the foot part 1, but also facilitates the connection between the first leaf spring 5 and the second leaf spring 6 and the foot part 1.

[0053] More specifically, in this embodiment, the toe assembly 12 includes a support platform 121 and a connector 122. The support platform 121 is fixedly connected to the base plate 11, and the connector 122 is hinged to the support platform 121. For example, the connector 122 can be hinged to the support platform 121 through a first pivot axis. A first hinge hole 1221 through which the first pivot axis is formed can be formed on the connector 122, and a second hinge hole 1211 through which the first pivot axis is formed on the support platform 121.

[0054] The forefoot arch 3 is hinged to the support platform 121, and the first leaf spring 5 is fixed to the connector 122. With the above structure, the toe assembly 12 is designed as a combination of the support platform 121 and the connector 122. The support platform 121 is used to connect the forefoot arch 3, and the connector 122 is used to connect the first leaf spring 5. The first leaf spring 5 can be located on the forefoot arch 3 and the two are roughly parallel to each other, which makes the adaptive foot 100 easier to assemble and disassemble.

[0055] To reduce weight, in this embodiment, the forefoot arch 3 has a first weight-reducing hole 33 and the hindfoot arch 4 has a second weight-reducing hole 43.

[0056] Furthermore, for stability and strength considerations, in this embodiment, there are two forefoot arches 3, and both forefoot arches 3 are integrally formed. There are also two hindfoot arches 4, and both hindfoot arches 4 are integrally formed.

[0057] like Figure 14 The four-bar linkage ABCD shown can explain the force situation of the adaptive foot 100 in this embodiment from a mechanical point of view. AB, CD, AD, and BC represent the ball of the foot 1, the middle arch 2, the forefoot arch 3, and the hindfoot arch 4, respectively.

[0058] Point A represents the hinge between the foot 1 and the forefoot arch 3, denoted as the first hinge. Point B represents the hinge between the foot 1 and the hindfoot arch 4, denoted as the second hinge. Point C represents the hinge between the hindfoot arch 4 and the middle arch 2, denoted as the third hinge. Point D represents the hinge between the forefoot arch 3 and the middle arch 2, denoted as the fourth hinge. F represents the pressure applied to the middle arch 2, specifically representing the downward pressure exerted by the robot's lower leg on the adaptive foot 100. The force distribution on the foot 1, middle arch 2, forefoot arch 3, and hindfoot arch 4 has the following corresponding relationship:

[0059]

[0060] Where F represents the downward pressure exerted on the middle arch 2 by the lower leg, and the specific location on CD that receives F is denoted as the point of impact of the downward pressure. F AD This represents the reaction force of the forefoot arch 3 on the middle arch 2. F BC This represents the reaction force of the hindfoot arch 4 on the middle arch 2. l This indicates the distance between the third and fourth hinge points mentioned above. l 1 This indicates the distance between the fourth hinge point and the point where the downward pressure is applied. l 2 This represents the distance between the third hinge point and the point where the downward pressure is applied. Solving the above system of equations yields the following results:

[0061]

[0062] Based on the magnitude of and the determined input position, a dual-modal working mechanism is achieved through parameter optimization: the static support stage maintains geometric invariance to provide a stable load-bearing platform; the dynamic motion stage triggers torsion spring deformation to achieve compliant switching, balancing structural stiffness and motion flexibility.

[0063] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An adaptive foot (100) for use in a humanoid robot, characterized in that, include: The sole of the foot (1); The central arch (2) is located above the ball of the foot (1); The forefoot arch (3) and hindfoot arch (4) are respectively located at the front and rear ends of the foot portion (1), and both ends of the forefoot arch (3) and the hindfoot arch (4) are respectively hinged to the foot portion (1) and the midfoot arch (2); and The first leaf spring (5) and the second leaf spring (6) are respectively located at the front and rear ends of the foot part (1). The two ends of the first leaf spring (5) and the two ends of the second leaf spring (6) are respectively fixed to the foot part (1) and the middle arch (2); wherein the foot part (1), the middle arch (2), the forefoot arch (3) and the hindfoot arch (4) together form a quadrilateral structure.

2. The adaptive foot (100) according to claim 1, characterized in that, The foot portion (1) includes: The base plate (11), and the toe assembly (12) and heel (13) fixed on the base plate (11); The toe assembly (12) is configured to be hinged to the forefoot arch (3) and fixed to the first leaf spring (5); The heel (13) is configured to be hinged to the hindfoot arch (4) and fixed to the second leaf spring (6).

3. The adaptive foot (100) according to claim 2, characterized in that, The toe assembly (12) includes a support platform (121) and a connector (122). The support platform (121) is fixed to the base plate (11), and the connector (122) is hinged to the support platform (121). The forefoot arch (3) is hinged to the support platform (121), and the first leaf spring (5) is fixed to the connector (122).

4. The adaptive foot (100) according to claim 1, characterized in that, The angles formed by the forefoot arch (3) and the hindfoot arch (4) with the ball of the foot (1) are both acute angles; the quadrilateral is a trapezoid.

5. The adaptive foot (100) according to claim 1, characterized in that, The second leaf spring (6) is a bent plate.

6. The adaptive foot (100) according to claim 1, characterized in that, The forefoot arch (3) has a first weight-reducing hole (33), and the hindfoot arch (4) has a second weight-reducing hole (43).

7. The adaptive foot (100) according to claim 2, characterized in that, The number of forefoot arches (3) and toe components (12) are both two; the number of hindfoot arches (4) is two and the number of heels (13) is one.

8. The adaptive foot (100) according to claim 7, characterized in that, The two forefoot arches (3) are integrally formed, and the two hindfoot arches (4) are integrally formed.

9. The adaptive foot (100) according to claim 7, characterized in that, There are two first leaf springs (5), and the two first leaf springs (5) are arranged side by side with the two forefoot arches (3).

10. A humanoid robot, characterized in that, Includes the adaptive foot (100) as described in any one of claims 1-9.

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