Humanoid robot foot

Abstract

The utility model relates to the technical field of humanoid robots, in particular to a humanoid robot foot which comprises a leg bone, an adapter, an arch, a rear sole and a front sole. The foot of a traditional humanoid robot is divided into the three modules of the foot arch, the rear sole and the front sole, the real supporting phase, the real swinging phase and the two-phase interconversion process are better simulated, then the gait of a real person can be simulated, and the balance, the stability and the walking speed of the humanoid robot during walking can be improved. Meanwhile, by means of the first rotating shaft, the front-back foot lifting action of the ankle joint of a real person can be simulated. By means of the second rotating shaft, the left-right skimming action of the ankle joint of a real human can be simulated. The third rotating shaft enables the rear sole to rotate relative to the arch. The fourth rotating shaft enables the front sole to rotate relative to the arch. The adaptive capacity of the feet of the humanoid robot to the terrain and the movement flexibility are improved, and the application scene is widened.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, and in particular to a humanoid robot foot. Background Technology

[0002] A normal human gait should possess a certain degree of stability and rhythm. The normal gait is divided into two phases: the support phase and the swing phase. Typically, the support phase begins with the heel striking the ground, transitions to the fifth and first metatarsal bones landing, and then the toes lift off the ground. The swing phase is the period from the toes leaving the ground to the heel striking the ground.

[0003] Currently, most humanoid robots have flat feet, which makes it impossible for the toes and heels to lift off the ground separately, making it difficult to reproduce the gait of real humans. Utility Model Content

[0004] This invention provides a humanoid robot foot to solve the problem that the humanoid robot's foot is flat, which makes it impossible to achieve the purpose of the toes and heels leaving the ground separately, and makes it difficult to reproduce the gait of a real human.

[0005] This utility model provides a humanoid robot foot, comprising:

[0006] Shinbone;

[0007] The adapter is rotatably connected to the bottom of the shinbone via a first rotating shaft;

[0008] The arch of the foot is rotatably connected to the adapter via a second pivot; the axes of the second pivot and the first pivot are perpendicular to each other.

[0009] The heel is connected to the back of the arch via a third pivot; the axes of the third pivot are parallel to those of the first pivot.

[0010] The forefoot is rotatably connected to the front of the arch via a fourth pivot; the axes of the fourth pivot are parallel to those of the first pivot.

[0011] In some embodiments, it also includes:

[0012] The rear torsion spring is sleeved on the third rotating shaft;

[0013] The front torsion spring is fitted onto the fourth rotating shaft.

[0014] In some embodiments, a first connecting shaft is provided on the posterior side of the tibia; a second connecting shaft is provided on the posterior side of the arch of the foot;

[0015] Also includes:

[0016] The linear actuator consists of two units arranged side-by-side, with the fixed ends mounted on the first connecting shaft and the output ends mounted on the second connecting shaft.

[0017] In some embodiments, braking holes are formed on the forefoot;

[0018] Also includes:

[0019] The brake, installed on the front of the arch, has an output shaft that can be inserted into or disengaged from the brake hole to restrict relative rotation between the forefoot and the arch or to release the restriction on the forefoot.

[0020] In some embodiments, a rear mounting hole is formed on the heel; a front mounting hole is formed on the forefoot;

[0021] Also includes:

[0022] The rear pressure sensor is installed in the rear mounting hole;

[0023] The front pressure sensor is installed in the front mounting hole.

[0024] In some embodiments, it also includes:

[0025] An inertial measurement unit is mounted on the arch of the foot.

[0026] In some embodiments, it also includes:

[0027] The first contact switch is installed on the lower part of the shinbone;

[0028] The second contact switch is installed on the arch of the foot.

[0029] In some embodiments, the arch of the foot is a hollow structure.

[0030] In some embodiments, the length of the forefoot is 1 / 3 of the length of the humanoid robot's foot; the forefoot is capable of rotating 0-30° relative to the arch.

[0031] In some embodiments, it also includes:

[0032] The fixing box is detachably installed on the bottom of the arch, and has clearance holes on both sides;

[0033] A bidirectional linear actuator, installed in a fixed housing;

[0034] There are two support plates, which are respectively set on opposite sides of the fixed box; one support plate is fixedly connected to one of the output shafts of the bidirectional linear actuator, and the other support plate is fixedly connected to the other output shaft of the bidirectional linear actuator.

[0035] The bidirectional linear actuator can drive two support plates to extend outside the fixed box or retract into the fixed box.

[0036] The beneficial effects of this utility model are as follows: The humanoid robot foot of this utility model is designed with a shinbone, a connecting seat, an arch, a hind foot, and a forefoot. By dividing the traditional humanoid robot foot into three modules—the arch, the hind foot, and the forefoot—it better achieves the goal of the forefoot and hind foot lifting off the ground separately, better simulating the real support phase, swing phase, and the transition between the two phases. This facilitates the simulation of a real human gait and improves the balance, stability, and walking speed of the humanoid robot. Simultaneously, the first pivot axis simulates the forward and backward lifting movements of the human ankle joint. The second pivot axis simulates the left and right turning movements of the human ankle joint. The third pivot axis allows the hind foot to rotate relative to the arch, improving the humanoid robot foot's adaptability to terrain and its mobility. The fourth pivot axis allows the forefoot to rotate relative to the arch, further improving the humanoid robot foot's adaptability to terrain and its mobility. This effectively broadens the application scenarios of the humanoid robot foot. Attached Figure Description

[0037] Figure 1 This is a structural schematic diagram of some specific embodiments of the foot of a humanoid robot according to this utility model;

[0038] Figure 2 yes Figure 1 A structural schematic diagram of the humanoid robot's foot from another perspective;

[0039] Figure 3 yes Figure 1 The diagram shows another view of the humanoid robot's feet.

[0040] Figure 4 yes Figure 1 The diagram shows a structural schematic of the humanoid robot's feet from another perspective.

[0041] In the attached diagram, 110 is the shinbone; 111 is the first connecting shaft; 120 is the adapter; 131 is the arch of the foot; 1311 is the second connecting shaft; 132 is the heel; 133 is the forefoot; 141 is the first pivot; 142 is the second pivot; 143 is the third pivot; 144 is the fourth pivot; 151 is the rear torsion spring; 152 is the front torsion spring; 160 is the linear actuator; 170 is the brake; 181 is the rear pressure sensor; 182 is the front pressure sensor; 183 is the inertial measurement unit; 184 is the first contact switch; and 185 is the second contact switch. Detailed Implementation

[0042] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0043] As described in the background section, most humanoid robots have flat feet, which makes it impossible for the toes and heels to leave the ground separately, thus making it difficult to reproduce the gait of a real human.

[0044] To solve the above problems, refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 This utility model provides a humanoid robot foot, including a shinbone 110, an adapter 120, an arch 131, a hindfoot 132, and a forefoot 133. The adapter 120 is rotatably connected to the bottom of the shinbone 110 via a first pivot 141. The arch 131 is rotatably connected to the adapter 120 via a second pivot 142. The axes of the second pivot 142 and the first pivot 141 are perpendicular to each other. The hindfoot 132 is rotatably connected to the rear side of the arch 131 via a third pivot 143. The axes of the third pivot 143 and the first pivot 141 are parallel to each other. The forefoot 133 is rotatably connected to the front side of the arch 131 via a fourth pivot 144. The axes of the fourth pivot 144 and the first pivot 141 are parallel to each other. By dividing the traditional humanoid robot foot into three modules—arch 131, heel 132, and forefoot 133—it is possible to achieve separate grounding of the forefoot 133 and heel 132, better simulating the real support phase, swing phase, and the transition between these phases. This facilitates the simulation of a realistic human gait and improves the robot's balance, stability, and walking speed. Simultaneously, the first pivot 141 simulates the forward and backward lifting motion of the human ankle joint. The second pivot 142 simulates the left and right turning motion of the ankle joint. The third pivot 143 allows the heel 132 to rotate relative to the arch 131, improving the robot's adaptability to terrain and its mobility. The fourth pivot 144 allows the forefoot 133 to rotate relative to the arch 131, further enhancing the robot's adaptability to terrain and its mobility. This effectively broadens the application scenarios of the humanoid robot foot.

[0045] Specifically, in the example, a first connecting shaft 111 is provided on the posterior side of the tibia 110. A second connecting shaft 1311 is provided on the posterior side of the arch 131. The humanoid robot's foot also includes a rear torsion spring 151, a front torsion spring 152, and two linear actuators 160. The rear torsion spring 151 is sleeved on a third rotating shaft 143, giving the hindfoot 132 a self-resetting function. The front torsion spring 152 is sleeved on a fourth rotating shaft 144, giving the forefoot 133 a self-resetting function. The two linear actuators 160 are arranged side by side, with their fixed ends mounted on the first connecting shaft 111 and their output ends mounted on the second connecting shaft 1311. When the output ends of the two linear actuators 160 extend simultaneously, the arch 131 rotates around the first rotating shaft 141, realizing a foot-lifting action. When the output ends of the two linear actuators 160 shorten simultaneously, the arch 131 rotates around the first rotating shaft 141, realizing a foot-pressing action. When the output end of the left linear actuator 160 extends and the output end of the right linear actuator 160 shortens, an outward foot movement is achieved. When the output end of the left linear actuator 160 shortens and the output end of the right linear actuator 160 extends, an inward foot movement is achieved. When the heel 132 rotates around the third pivot 143 or the forefoot 133 rotates around the fourth pivot 144, the rear torsion spring 151 or the front torsion spring 152 is subjected to force. Under the action of the shinbone 110, the two linear actuators 160, and the ground, the angle between the heel 132 or the forefoot 133 and the arch 131 can still be maintained. When the arch 131, the heel 132, and the forefoot 133 leave the ground or their angle changes actively, the rear torsion spring 151 or the front torsion spring 152 restores the deformation force, driving the heel 132 or the forefoot 133 to return to its original position. The rear torsion spring 151 and the front torsion spring 152 give the humanoid robot's feet two passive degrees of freedom. This improves the flexibility of movement and ensures the stability and speed of the robot's movement, even in complex terrain.

[0046] Preferably, the shinbone 110 includes two side plates, a fixing rod, and a first connecting shaft 111. The two side plates are arranged opposite each other. The opposite ends of the fixing plate are fixedly connected to the middle of the two side plates to improve the strength and rigidity of the shinbone 110. The opposite ends of the first connecting shaft 111 are fixedly connected to the upper rear side of the two side plates. The shinbone 110 achieves a lightweight design, which is beneficial for precise control of the position of the shinbone 110.

[0047] Preferably, each linear actuator 160 is an electric actuator, a hydraulic cylinder, or a pneumatic cylinder.

[0048] Preferably, a braking hole is formed on the forefoot 133. The humanoid robot's foot also includes a brake 170. The brake 170 is mounted on the front side of the arch 131, and its output shaft can be inserted into or disengaged from the braking hole to restrict relative rotation between the forefoot 133 and the arch 131 or to release the restriction on the forefoot 133. When the humanoid robot is in an upright position, the brake 170 is de-energized, and the output shaft of the brake 170 naturally extends and inserts into the braking hole on the forefoot 133. At this time, the forefoot 133 cannot rotate around the fourth pivot 144, making the humanoid robot more stable. When the humanoid robot walks or runs, the brake 170 is energized, and the output shaft of the brake 170 retracts and disengages from the braking hole on the forefoot 133, allowing the forefoot 133 to rotate around the fourth pivot 144, making the robot's movement smoother.

[0049] Preferably, the brake 170 is an electromagnetic lock.

[0050] Specifically, in the example, a rear mounting hole is formed on the hindfoot 132. A front mounting hole is formed on the forefoot 133. The humanoid robot's foot also includes a rear pressure sensor 181, a front pressure sensor 182, an inertial measurement unit 183, a first contact switch 184, and a second contact switch 185. The rear pressure sensor 181 is mounted in the rear mounting hole and is used to detect the ground contact of the hindfoot 132. The front pressure sensor 182 is mounted in the front mounting hole and is used to detect the ground contact of the forefoot 133. The inertial measurement unit 183 is mounted on the arch 131. The inertial measurement unit 183 can detect the linear acceleration, angular velocity, and spatial coordinate angle of the arch 131. The first contact switch 184 is mounted on the lower part of the shinbone 110 and is used to detect the lifting range of the arch 131. When the foot arch 131 lifts the foot beyond a certain range, the first contact switch 184 is triggered, which in turn controls the two linear actuators 160 to stop working, thus acting as a limit switch. The second contact switch 185, mounted on the foot arch 131, is used to detect the pressure point of the foot arch 131. When the pressure point of the foot arch 131 exceeds a certain range, the second contact switch 185 is triggered, which in turn controls the two linear actuators 160 to stop working, thus acting as a limit switch.

[0051] Preferably, the arch 131 has a hollow structure, which achieves a lightweight design and is more conducive to precise control of the position of the arch 131.

[0052] Preferably, the length of the forefoot 133 is in ratio to the length of the humanoid robot's foot (1 / 3). The forefoot 133 can rotate 0-30° relative to the arch 131. This allows the humanoid robot's foot, just before leaving the ground, to provide forward support during walking and running, thereby increasing walking and running speed.

[0053] Preferably, the humanoid robot's feet also include a controller. The controller is electrically connected to each linear actuator 160, brake 170, rear pressure sensor 181, front pressure sensor 182, inertial measurement unit 183, first contact switch 184, and second contact switch 185, and is capable of controlling whether each linear actuator 160, brake 170, rear pressure sensor 181, front pressure sensor 182, inertial measurement unit 183, first contact switch 184, and second contact switch 185 is operational.

[0054] When the humanoid robot walks, the hind foot 132 and arch 131 leave the ground first, while the forefoot 133 remains in contact with the ground. Then, the forefoot 133 also leaves the ground. This entire process is detected and fed back by the rear pressure sensor 181, the front pressure sensor 182, and the inertial measurement unit 183. When landing, the hind foot 132 lands first, followed by the forefoot 133 and arch 131. This process is also detected and fed back by the rear pressure sensor 181, the front pressure sensor 182, and the inertial measurement unit 183. When standing on a level or sloping surface, the rear pressure sensor 181, the front pressure sensor 182, and the inertial measurement unit 183 can also detect and provide feedback to confirm the current state of the humanoid robot's feet.

[0055] Preferably, the humanoid robot's foot also includes a fixed box, a bidirectional linear actuator, and two support plates. The fixed box is detachably mounted to the bottom of the foot arch 131 by bolts, and has clearance holes on opposite sides. The bidirectional linear actuator is fixedly mounted inside the fixed box. The two support plates are respectively located on opposite sides inside the fixed box. One support plate is fixedly connected to one output shaft of the bidirectional linear actuator, and the other support plate is fixedly connected to the other output shaft of the bidirectional linear actuator. The bidirectional linear actuator can drive the two support plates to extend outside the fixed box or retract inside the fixed box. When the humanoid robot is in an upright position, the bidirectional linear actuator drives the two support plates to extend out of the corresponding clearance holes and press against the ground to provide support on the left and right sides below the foot arch 131, effectively improving the humanoid robot's anti-tipping ability. When the humanoid robot is in a walking position, the bidirectional linear actuator drives the two support plates to retract into the corresponding clearance holes to ensure smooth movement.

[0056] Preferably, each support plate includes a steel plate and a flexible bladder. The flexible bladder covers the steel plate. A medium storage cavity is formed inside the flexible bladder. The medium storage cavity can store liquid or gas. After the two support plates extend corresponding clearance holes, liquid or gas can be introduced into the flexible bladders of the two support plates to cause the flexible bladders of the two support plates to expand, further improving the anti-tipping ability of the humanoid robot. Before the two support plates retract their corresponding clearance holes, the liquid or gas in the flexible bladders of the two support plates is discharged, causing the flexible bladders of the two support plates to shrink, facilitating the retraction of the support plates.

[0057] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0058] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0059] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0060] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0061] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A humanoid robot foot, characterized in that, include: Shinbone; The adapter is rotatably connected to the bottom of the shinbone via a first rotating shaft; The arch of the foot is rotatably connected to the adapter via a second pivot; the axes of the second pivot and the first pivot are perpendicular to each other. The heel is rotatably connected to the rear side of the arch of the foot via a third pivot; the axis of the third pivot is parallel to the axis of the first pivot. The forefoot is rotatably connected to the front side of the arch of the foot via a fourth pivot; the axis of the fourth pivot is parallel to that of the first pivot.

2. The humanoid robot foot according to claim 1, characterized in that, Also includes: A rear torsion spring is sleeved on the third rotating shaft; A front torsion spring is sleeved on the fourth rotating shaft.

3. The humanoid robot foot according to claim 1, characterized in that, A first connecting shaft is provided on the posterior side of the tibia; a second connecting shaft is provided on the posterior side of the arch of the foot; Also includes: There are two linear drivers arranged side by side, with their fixed ends mounted on the first connecting shaft and their output ends mounted on the second connecting shaft.

4. The humanoid robot foot according to claim 1, characterized in that, A braking hole is formed on the forefoot; Also includes: A brake is installed on the front side of the arch, and the output shaft can be inserted into or disengaged from the brake hole to restrict relative rotation between the forefoot and the arch or to release the restriction on the forefoot.

5. The humanoid robot foot according to claim 1, characterized in that, A rear mounting hole is formed on the heel; a front mounting hole is formed on the forefoot; Also includes: The rear pressure sensor is installed in the rear mounting hole; The front pressure sensor is installed in the front mounting hole.

6. The humanoid robot foot according to claim 1, characterized in that, Also includes: An inertial measurement unit is mounted on the foot arch.

7. The humanoid robot foot according to claim 1, characterized in that, Also includes: The first contact switch is installed on the lower part of the shinbone; The second contact switch is installed on the arch of the foot.

8. The humanoid robot foot according to claim 1, characterized in that, The arch of the foot has a hollow structure.

9. The humanoid robot foot according to claim 1, characterized in that, The ratio of the length of the forefoot to the length of the humanoid robot's foot is 1 / 3; the forefoot can rotate 0-30° relative to the arch of the foot.

10. The humanoid robot foot according to claim 1, characterized in that, Also includes: The fixing box is detachably installed at the bottom of the foot arch, and clearance holes are provided on opposite sides; A bidirectional linear actuator is installed inside the mounting box; There are two support plates, which are respectively disposed on opposite sides of the fixed box; one of the support plates is fixedly connected to one of the output shafts of the bidirectional linear actuator, and the other support plate is fixedly connected to the other output shaft of the bidirectional linear actuator. The bidirectional linear actuator can drive the two support plates to extend outside the fixed box or retract into the fixed box.

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