Humanoid foot plate assembly of biped robot

Abstract

The utility model relates to the technical field of robot equipment, and provides a humanoid foot plate assembly of a biped robot, which comprises a main body assembly, and the main body assembly comprises a foot plate, a heel shell, a front foot sole shell and a gravity sensor; the heel shell is mounted at the rear end of the top of the sole plate, the front sole shell is mounted at the front end of the top of the sole plate, and the gravity sensor is mounted in the heel shell; the maintenance assembly comprises a placement groove, an insertion frame, a rotating gear and a threaded rod; the placing groove is formed in the foot bottom plate, the inserting frame is fixedly connected to the inner bottom wall of the foot bottom plate, and the rotating gear is rotationally connected to the inner side wall of the foot bottom plate. According to the utility model, through the auxiliary cooperation between the tooth block and the insertion frame, the heel shell can be pulled out upwards, and the two groups of screw blocks release the clamping of one end of the gravity sensor at the same time, so that a worker can be assisted to quickly disassemble, assemble and take the gravity sensor, and a more abundant maintenance disassembly and assembly space is provided for the worker.

Description

Technical Field

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

[0002] Robot foot assembly refers to the component installed at the end of the robot's legs. It typically includes a foot shell, a foot plate, and multiple gravity sensors. The main function of the foot assembly is to provide a contact point with the ground and monitor the center of gravity of the foot through gravity sensors, thereby helping the robot maintain balance and stability.

[0003] To this end, patent No. 202020225436.1 discloses a self-balancing footplate for robots, including a robot body with a controller for controlling the operation of various components, a footplate body fixedly installed below the robot body, and a toe structure connected to the footplate body. The footplate body has a concave opening on its end face near the toe structure; the toe structure connects to the footplate body at the concave opening; the footplate body includes a rectangular footplate and a leg connecting column, which connects the footplate to the robot body; the toe structure includes toes covered with strain gauges and a servo structure, which connects the toes to the footplate; and toe connecting pieces located on both sides of the concave opening, which connect the footplate to the servo structure. The advantages of this invention are: simple mechanical structure, low manufacturing cost, and easy to promote and utilize; the double-toe design allows the two toes to rotate at different angles, improving balance.

[0004] The existing technical solutions mentioned above have the following drawbacks: Although the two-toe design can be used to enable the two toes to rotate at different angles and improve balance, due to the special overall structure of the robot foot plate assembly, the internal installation space is not only relatively narrow, but the structure in which the gravity sensor is installed is also relatively complex. It requires the staff to use external tools to disassemble and assemble the robot in a relatively narrow space, which is inconvenient for the staff to operate and increases the difficulty of the work. Utility Model Content

[0005] The purpose of this utility model is to provide a humanoid foot plate assembly for a bipedal robot, in order to solve the defects of the existing humanoid foot plate assembly for a bipedal robot, which has a relatively narrow internal installation space and a relatively complex structure for installing gravity sensors inside, making it inconvenient for workers to disassemble and assemble in a relatively narrow space with the help of external tools.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a humanoid foot plate assembly for a bipedal robot, comprising:

[0007] Main components: The main components include a sole plate, a heel shell, a forefoot shell, and a gravity sensor;

[0008] The heel shell is installed at the top rear end of the sole plate, the forefoot shell is installed at the top front end of the sole plate, and the gravity sensor is installed inside the heel shell.

[0009] Preferably, the repair component includes a placement slot, a insertion frame, a rotating gear, and a threaded rod.

[0010] The placement slot is opened inside the foot plate, the insertion frame is fixedly connected to the inner bottom wall of the foot plate, the rotating gear is rotatably connected to the inner side wall of the foot plate, and the threaded rod is fixedly connected to one end of the rotating gear.

[0011] Preferably, the maintenance assembly further includes a screw block and a toothed block;

[0012] The screw block is threaded to one end of the threaded rod, and the tooth block is fixedly connected to both sides of the inner wall of the heel shell. The tooth block and the rotating gear are meshed together.

[0013] Preferably, the threaded rod and the threaded block are arranged on the same central axis, and the toothed block is slidably connected inside the insert frame.

[0014] Preferably, the gravity sensor is placed inside the placement slot, and the rotating gear and the gear block are arranged on the same central axis.

[0015] Preferably, the main component further includes a mounting frame, a drive motor, a mounting groove, and a spring block;

[0016] The mounting frame is fixedly connected to the top of the heel shell, the drive motor is mounted above the mounting frame, the elastic block is mounted at the bottom of the sole plate, and the mounting groove is opened on the outside of the mounting frame.

[0017] Preferably, it also includes detachable components;

[0018] The disassembly / assembly assembly includes a slide rail, a slider, and a movable block;

[0019] The slide groove is located on the outside of the mounting frame, the slider is slidably connected to the inside of the slide groove, and the movable block is slidably connected to the inside of the slider.

[0020] Preferably, the assembly / disassembly assembly further includes a mounting plate, a retaining strip, and a retaining slot;

[0021] The card strip is slidably connected to the inside of the mounting frame, the card slot is opened at one end of the card strip, and the mounting piece is fixedly connected to one end of the card strip.

[0022] The present invention provides a humanoid foot plate assembly for a bipedal robot, the advantages of which are:

[0023] This utility model, by setting up maintenance components, through the auxiliary cooperation between the toothed block and the insert frame, allows the heel shell to be pulled out upwards while the toothed block and the rotating gear mesh and connect, and allows the two sets of screw blocks to release the clamping of one end of the gravity sensor. This can assist the staff in quickly disassembling and removing the gravity sensor, and provide the staff with more space for inspection and disassembly.

[0024] Based on the aforementioned beneficial effects, a disassembly and assembly component is provided. Through the auxiliary cooperation between the slide and the slider, the position of the slider can be slid according to the actual installation requirements. At the same time, the sliding movable block makes the movable block and the slot engage, which can assist the staff in installing the foot plate component and drive motors of different specifications. It also allows the installation process to be unrestricted by the specifications of the parts, achieving a flexible installation effect. Attached Figure Description

[0025] Figure 1 This is a three-dimensional schematic diagram of the present invention;

[0026] Figure 2 This is a three-dimensional disassembled schematic diagram of the foot plate of this utility model;

[0027] Figure 3 This is a three-dimensional disassembled schematic diagram of the heel shell of this utility model;

[0028] Figure 4 This is a perspective sectional view of the mounting frame of this utility model;

[0029] Figure 5 This is a three-dimensional schematic diagram of the mounting frame of this utility model.

[0030] Explanation of the reference numerals in the figure:

[0031] 11. Foot plate; 12. Heel shell; 13. Forefoot shell; 14. Mounting frame; 15. Drive motor

[0032] 16. Mounting slot; 17. Gravity sensor; 18. Spring block;

[0033] 21. Placement slot; 22. Insert frame; 23. Rotating gear; 24. Threaded rod; 25. Threaded block; 26. Toothed block;

[0034] 31. Slide rail; 32. Slider; 33. Movable block; 34. Mounting plate; 35. Locking strip; 36. Locking groove. Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0036] Please see Figures 2-3 This utility model provides a humanoid foot plate assembly for a bipedal robot, comprising:

[0037] Main components: The main components include the sole plate 11, the heel shell 12, the forefoot shell 13, and the gravity sensor 17;

[0038] The heel shell 12 is installed at the top rear end of the foot plate 11, the forefoot shell 13 is installed at the top front end of the foot plate 11, and the gravity sensor 17 is installed inside the heel shell 12.

[0039] The main components also include a mounting frame 14, a drive motor 15, a mounting slot 16, and a spring block 18;

[0040] The mounting frame 14 is fixedly connected to the top of the heel shell 12, the drive motor 15 is mounted on the top of the mounting frame 14, the elastic block 18 is mounted on the bottom of the sole plate 11, and the mounting groove 16 is opened on the outside of the mounting frame 14.

[0041] The heel shell 12 and the forefoot shell 13 are fixedly connected by bolts. A mounting frame 14 is used to create mounting slots 16. The drive motor 15 is mounted on both sides via the mounting slots 16 and the mounting frame 14. There are three sets of elastic blocks 18; two sets of elastic blocks 18 are mounted on the forefoot of the sole plate 11, and one set of elastic blocks 18...

[0042] Block 18 is installed on the heel of foot plate 11. All three sets of elastic blocks 18 are connected to gravity sensor 17 through wires. Gravity sensor 17 can monitor the center of gravity of the foot and adjust the robot's posture or gait in time to prevent falls or damage, provide a stable ground contact point, and ensure that the robot walks stably on various terrains.

[0043] All of the above parts are existing technologies;

[0044] Repair components: The repair components include a placement slot 21, a insertion frame 22, a rotating gear 23, and a threaded rod 24;

[0045] The placement slot 21 is opened inside the foot plate 11, the insertion frame 22 is fixedly connected to the inner bottom wall of the foot plate 11, the rotating gear 23 is rotatably connected to the inner side wall of the foot plate 11, and the threaded rod 24 is fixedly connected to one end of the rotating gear 23.

[0046] Repair components: The repair components include a placement slot 21, a insertion frame 22, a rotating gear 23, and a threaded rod 24;

[0047] The placement slot 21 is opened inside the foot plate 11, the insertion frame 22 is fixedly connected to the inner bottom wall of the foot plate 11, the rotating gear 23 is rotatably connected to the inner side wall of the foot plate 11, and the threaded rod 24 is fixedly connected to one end of the rotating gear 23.

[0048] The threaded rod 24 and the screw block 25 are set on the same central axis. There are two sets of screw blocks 25. The insert frame 22 is used to provide space for the tooth block 26 to be inserted, so that the tooth block 26 can be precisely meshed with the rotating gear 23.

[0049] With the auxiliary cooperation between the toothed block 26 and the insert frame 22, the heel shell 12 can be pulled out upwards, while the toothed block 26 and the rotating gear 23 can be meshed and connected, and the two sets of screw blocks 25 can be released from the clamping of one end of the gravity sensor 17.

[0050] Working principle: When staff disassemble and repair the robot's rubber sheet assembly;

[0051] First, by removing the installation between the heel shell 12 and the sole plate 11, the staff can lift the heel shell 12 upwards, while the toothed block 26 slides vertically inside the insert frame 22, allowing the toothed block 26 to mesh with the rotating gear 23, and the screw block 25 to slide vertically inside the placement groove 21 along the threaded trajectory outside the threaded rod 24.

[0052] Next, the clamping force formed by the two sets of screw blocks 25 on one end of the gravity sensor 17 can be released, thereby allowing...

[0053] This releases the limiting position between the placement slot 21 and the gravity sensor 17, making it easier for staff to pick up the gravity sensor 17.

[0054] This step can help staff to quickly disassemble and retrieve the gravity sensor 17, and provide staff with ample space for inspection and disassembly.

[0055] Please see Figure 4-5 As shown, this embodiment, based on the above embodiment, also includes a disassembly and assembly component;

[0056] The assembly and disassembly components include a slide 31, a slider 32, and a movable block 33;

[0057] The slide groove 31 is formed on the outside of the mounting frame 14, the slider 32 is slidably connected to the inside of the slide groove 31, and the movable block 33 is slidably connected to the inside of the slider 32.

[0058] The assembly and disassembly components also include mounting plate 34, retaining strip 35, and retaining slot 36;

[0059] The clip 35 is slidably connected to the inside of the mounting frame 14, the slot 36 is opened at one end of the clip 35, and the mounting piece 34 is fixedly connected to one end of the clip 35;

[0060] The slide groove 31 is used to provide sliding space for the slider 32, the slider 32 is used to provide sliding space for the movable block 33, there are three sets of mounting pieces 34, the grooves of the three sets of mounting pieces 34 are different in size, the retaining strip 35 is used to open the retaining groove 36, and the size of the retaining groove 36 is compatible with the size of the movable block 33.

[0061] With the auxiliary cooperation between the slide groove 31 and the slider 32, the position of the slider 32 can be slid according to the actual installation requirements, and at the same time, the sliding movable block 33 makes the movable block 33 and the slot 36 engage.

[0062] Working principle: When the staff installs the drive motor 15;

[0063] First, according to the specifications of the installed parts and drive motor 15, the staff slides the slider 32 inside the sliding groove 31 so that the slider 32 can slide to the appropriate position. Then, the staff slides the movable block 33 inside the slider 32 so that one end of the movable block 33 extends and engages with the inside of the slot 36.

[0064] Next, by sliding the movable block 33, the retaining strip 35 can be slid inside the mounting frame 14. This allows the retaining strip 35 to drive the mounting piece 34, which is fixedly connected at one end, to slide horizontally, aligning the groove on the mounting piece 34 with the mounting groove 16. The operator can then insert the parts...

[0065] The mounting slot 16 and mounting plate 34 are used for auxiliary installation;

[0066] This step can assist workers in installing the foot plate assembly and drive motors 15 of different specifications, and at the same time, it can make the installation process flexible without being limited by the specifications of the parts.

[0067] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will not be able to fully grasp its essence.

[0068] For those skilled in the art, modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. 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. A humanoid foot plate assembly for a bipedal robot, characterized in that, include: Main components: The main components include a foot plate (11), a heel shell (12), a forefoot shell (13), and a gravity sensor (17). The heel shell (12) is installed at the top rear end of the foot plate (11), the forefoot shell (13) is installed at the top front end of the foot plate (11), and the gravity sensor (17) is installed inside the heel shell (12). Repair component: The repair component includes a placement slot (21), a insertion frame (22), a rotating gear (23), and a threaded rod (24); The placement slot (21) is opened inside the foot plate (11), the insert frame (22) is fixedly connected to the inner bottom wall of the foot plate (11), the rotating gear (23) is rotatably connected to the inner side wall of the foot plate (11), and the threaded rod (24) is fixedly connected to one end of the rotating gear (23).

2. The humanoid foot plate assembly for a bipedal robot according to claim 1, characterized in that: The repair assembly also includes a screw block (25) and a toothed block (26); The screw block (25) is threaded to one end of the threaded rod (24), and the tooth block (26) is fixedly connected to both sides of the inner wall of the heel shell (12). The tooth block (26) and the rotating gear (23) are meshed.

3. The humanoid foot plate assembly for a bipedal robot according to claim 2, characterized in that, The threaded rod (24) and the screw block (25) are set on the same central axis, and the toothed block (26) is slidably connected to the inside of the insert frame (22).

4. The humanoid foot plate assembly for a bipedal robot according to claim 2, characterized in that, The gravity sensor (17) is placed inside the placement slot (21), and the rotating gear (23) and the tooth block (26) are set on the same central axis.

5. The humanoid foot plate assembly for a bipedal robot according to claim 1, characterized in that, The main component also includes a mounting frame (14), a drive motor (15), a mounting groove (16), and a spring block (18). The mounting frame (14) is fixedly connected to the top of the heel shell (12) and drives the motor (15). The elastic block (18) is installed on the bottom of the foot plate (11) and the mounting groove (16) is opened on the outside of the mounting frame (14).

6. The humanoid foot plate assembly for a bipedal robot according to claim 1, characterized in that, It also includes disassembly and assembly components; The assembly / disassembly assembly includes a slide (31), a slider (32), and a movable block (33); The groove (31) is located on the outside of the mounting frame (14), the slider (32) is slidably connected to the inside of the groove (31), and the movable block (33) is slidably connected to the inside of the slider (32).

7. The humanoid foot plate assembly for a bipedal robot according to claim 6, characterized in that, The assembly and disassembly assembly also includes an mounting plate (34), a retaining strip (35), and a retaining slot (36); The card strip (35) is slidably connected to the inside of the mounting frame (14), the card slot (36) is opened at one end of the card strip (35), and the mounting piece (34) is fixedly connected to one end of the card strip (35).

Images