A humanoid robot's foot structure

Abstract

This invention provides a foot structure for a humanoid robot, including a leg connecting rod. The lower end of the leg connecting rod is connected to a connecting seat mounted above a rear foot plate via a cross shaft. Two ear plates are provided at one end of the rear foot plate, and these ear plates are connected to a connecting frame mounted on the rear side of the leg connecting rod via a back motor. A front foot plate is movably connected to one side of the rear foot plate. A rear motor connecting seat is provided at the other end of the rear foot plate opposite the ear plates, and a front motor connecting seat is provided at one end of the front foot plate. A front motor is located between the front motor connecting seat and the rear motor connecting seat. This invention increases the rotational freedom of the rear and front foot plates, improves the terrain adaptability of the humanoid robot, and is more conducive to the robot standing and walking on uneven ground. Furthermore, the 6-dimensional force sensor can measure the force and torque in the X, Y, and Z directions in real time, which is more beneficial for the control of the humanoid robot.

Description

Technical Field

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

[0002] With the development of humanoid robot technology, the need for motion stability and human-like gait in complex terrain environments is becoming increasingly prominent. Traditional humanoid robot foot structures have certain shortcomings: 1. The connection between the foot and leg is mostly a single rotation axis, which cannot achieve multi-directional posture adjustment and is difficult to adapt to standing and walking on uneven ground; 2. They lack precise ground force perception capabilities and cannot provide real-time feedback on the force and torque on the soles of the feet, resulting in insufficient gait control precision and difficulty in simulating the natural walking posture of humans. Utility Model Content

[0003] To solve the above-mentioned technical problems, this utility model provides a foot structure for a humanoid robot, and the technical solution adopted is as follows:

[0004] A foot structure for a humanoid robot includes a leg connecting rod. The lower end of the leg connecting rod is connected to a connecting seat mounted on the upper part of the rear foot plate via a cross shaft. Two ear plates are provided at one end of the upper part of the rear foot plate. The ear plates are connected to a connecting frame mounted on the rear side of the leg connecting rod via a back motor.

[0005] A front foot plate is movably connected to one side of the rear foot plate. A rear motor connecting seat is provided above the rear foot plate and at the other end opposite to the ear plate. A front motor connecting seat is provided at one end above the front foot plate. A front motor is provided between the front motor connecting seat and the rear motor connecting seat.

[0006] Furthermore, a rear connecting plate is provided on both sides of the rear foot plate facing the front foot plate, and a front connecting plate is provided on both sides of the front foot plate facing the rear foot plate. The rear connecting plates and the front connecting plates are movably connected by a rotating shaft.

[0007] Furthermore, the two ear plates have a symmetrical figure-eight structure and are connected to one end of a back motor. The symmetrical figure-eight ear plates and the back motor can form a triangular support structure.

[0008] Furthermore, both rear motors and the front motor are linear motors, which can directly convert electrical energy into linear motion.

[0009] Furthermore, rubber pads are provided under the front and rear foot plates, which can absorb the impact force of the ground when the robot walks through elastic deformation; several grooves are provided under the rubber pads, which increase the friction coefficient between the sole of the foot and the ground, effectively preventing the foot from slipping.

[0010] Furthermore, 6-dimensional force sensors are installed at the connection points between the front foot plate and the rubber pad, as well as at the connection points between the rear foot plate and the rubber pad. Based on the force and torque data of the X, Y, and Z axes, the controller can dynamically adjust the motion parameters of each joint motor, enabling the robot to maintain balance on terrains such as slopes and steps, and achieve a more natural and efficient walking gait.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] The rear foot plate of this invention is connected to the leg via a cross shaft, and with the help of two back motors, it can rotate in two directions: forward and backward pitching and left and right tilting. The front foot plate is connected to the rear foot plate via a rotating shaft, and the front motor drives the front foot plate to pitch up and down, which can simulate the human "tiptoeing" and "pressing down" movements. Based on the above structure, the rotational degrees of freedom of the rear foot plate and the front foot plate can be increased. The coordinated movement of the three degrees of freedom can enhance the terrain adaptability of the humanoid robot, making it more conducive to standing and walking on uneven ground, and at the same time making the gait of the humanoid robot more human-like.

[0013] The connecting frame, back motor, and ear plate of this utility model form a stable triangular support on the rear side of the legs, ensuring more precise power transmission when the cross shaft rotates, avoiding swaying caused by uneven force, and improving the stability of motion control.

[0014] The 6-dimensional force sensors located under the forefoot and hindfoot plates of this invention can measure the force and torque in the X, Y, and Z directions in real time, and can feed back the force signal on the sole of the foot to the controller of the humanoid robot, which is more conducive to the control of the humanoid robot. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the structure of the bottom rubber pad of this utility model;

[0017] Figure 3 This is a schematic diagram of the lower end connection structure of the leg connecting rod of this utility model;

[0018] Figure 4 This is a schematic diagram of the connection of the back motor of this utility model;

[0019] Figure 5 This is a schematic diagram of the installation structure in the forefoot plate of this utility model;

[0020] Figure 6 This is a schematic diagram of the installation structure in the hindfoot plate of this utility model;

[0021] Figure 7 This is a utility model Figure 1 Enlarged schematic diagram of the structure at point A in the middle.

[0022] In the picture:

[0023] 1-Leg connecting rod, 11-Connecting frame, 2-Back motor, 3-Rear foot plate, 31-Connecting seat, 32-Ear plate, 33-Rear motor connecting seat, 34-Rear connecting plate, 4-Front foot plate, 41-Front connecting plate, 42-Front motor connecting seat, 5-Rubber pad, 6-Front motor, 7-6-dimensional force sensor, 8-Cross shaft. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0025] As attached Figure 1-7 As shown.

[0026] A foot structure for a humanoid robot includes a leg connecting rod 1. The lower end of the leg connecting rod 1 is connected to a connecting seat 31 mounted above a hind foot plate 3 via a cross shaft 8, as shown in the attached figure. Figure 1 , 3 As shown in Figure 6, the connecting seat 31 is located at the center of the upper surface of the rear foot plate 3; two ear plates 32 are provided on the upper surface of the rear foot plate 3 and on one side of the connecting seat 31. The two ear plates 32 have a symmetrical figure-eight structure. The ear plates 32 are connected to the connecting frame 11 installed on the rear side of the leg connecting rod 1 through the back motor 2. The connecting frame 11, the two back motors 2 and the two ear plates 32 can form a stable triangular support structure on the rear side of the leg connecting rod 1 to ensure the power transmission accuracy when the cross shaft 8 rotates and avoid swaying caused by uneven force.

[0027] Furthermore, a rear motor connecting seat 33 is provided on the upper surface of the rear foot plate 3 and on the other side of the connecting seat 31, and a front foot plate 4 is provided on one side of the rear foot plate 3. The two are movably connected, as shown in the attached figure. Figure 3 , 5 As shown in Figures 6 and 7, the connection structure between the two is as follows: a rear connecting plate 34 is provided on both sides of the rear foot plate 3 facing the front foot plate 4, and a front connecting plate 41 is provided on both sides of the front foot plate 4 facing the rear foot plate 3. The rear connecting plate 34 and the front connecting plate 41 are movably connected by a rotating shaft.

[0028] A front motor connecting seat 42 is provided at the other end of the front foot plate 4 corresponding to the front connecting plate 41. A front motor 6 is provided between the front motor connecting seat 42 and the rear motor connecting seat 33. Under the operation of the front motor 6, the front foot plate 4 can rotate around the rotation axis between the rear connecting plate 34 and the front connecting plate 41.

[0029] The two back motors 2 and the front motor 6 mentioned above are all linear motors. Based on the above structure, the foot structure includes three degrees of freedom: 1. The rear foot plate 3 is connected to the leg connecting rod 1 through a cross shaft, and the movement of the two back motors 2 can realize rotation in two directions; 2. The rear foot plate 3 and the front foot plate 4 are connected through a rotation shaft, and the movement of the front motor 6 can realize the rotation of the front foot plate 4 relative to the rear foot plate 3.

[0030] Specifically, when the two back motors 2 start synchronously, the cross shaft 8 will rotate around the X-axis, causing the rear foot plate 3 to pitch forward and backward relative to the leg connecting rod 1; when any one of the back motors 2 extends or retracts independently, it will push the cross shaft 8 to rotate around the Y-axis, achieving left and right tilting of the rear foot plate 3; through the bidirectional rotation of the cross shaft 8, the rear foot plate 3 can adapt to the undulations of the ground, making the rear foot plate 3 fit as closely as possible to the undulating ground, increasing the support area to keep the body balanced.

[0031] The front motor 6 is fixed between the front motor connecting seat 42 and the rear motor connecting seat 33. With the extension and retraction of the front motor 6, the front connecting plate 41 can be driven to rotate around the rotation axis between the rear connecting plate 34 and the front connecting plate 41, thereby driving the front foot plate 4 to perform up and down pitching movements relative to the rear foot plate 3. The rotation of the front foot plate 4 can simulate the human foot's "tiptoeing" or "pressing down" movements, such as raising the toes when crossing steps, or adjusting the ground contact angle on a slope, thereby improving the anthropomorphism of the gait and the adaptability to terrain.

[0032] Furthermore, rubber pads 5 are provided under the front foot plate 4 and the rear foot plate 3 respectively. The rubber pads 5 absorb the impact force of the ground when the robot walks through elastic deformation, reduce the impact on the joint motors, and extend the life of the equipment. Several grooves are provided under the rubber pads 5. The groove design increases the coefficient of friction with the ground, which can effectively prevent slipping, especially when walking on wet or rough ground.

[0033] A 6-dimensional force sensor 7 is installed at the connection between the front foot plate 4 and the rubber pad 5, and at the connection between the rear foot plate 3 and the rubber pad 5. The 6-dimensional force sensor 7 can measure the force and torque transmitted from the ground in the X, Y and Z directions in real time, which is convenient for the posture and gait control of the humanoid robot.

[0034] When the robot is on one leg, the 6-dimensional force sensor 7 can detect the vertical force along the Z-axis and determine the load-bearing status of the supporting leg.

[0035] When the foot slips during walking, the sensor can detect sudden changes in horizontal force along the X / Y axis and send feedback to the controller to adjust the motor output.

[0036] Any technical solution that achieves the above-mentioned technical effects by utilizing the technical solution described in this utility model, or by designing a similar technical solution inspired by the technical solution described in this utility model, falls within the protection scope of this utility model.

Claims

1. A foot structure for a humanoid robot, comprising a leg connecting rod (1), characterized in that: The lower end of the leg connecting rod (1) is connected to the connecting seat (31) installed above the rear foot plate (3) via a cross shaft (8). Two ear plates (32) are provided at one end above the rear foot plate (3). The ear plates (32) are connected to the connecting frame (11) installed on the rear side of the leg connecting rod (1) via the back motor (2). A front foot plate (4) is movably connected to one side of the rear foot plate (3). A rear motor connector (33) is provided above the rear foot plate (3) and at the other end opposite to the ear plate (32). A front motor connector (42) is provided at one end above the front foot plate (4). A front motor (6) is provided between the front motor connector (42) and the rear motor connector (33).

2. The foot structure of a humanoid robot as described in claim 1, characterized in that: The rear foot plate (3) is provided with a rear connecting plate (34) on both sides of the end facing the front foot plate (4), and a front connecting plate (41) is provided on both sides of the end facing the rear foot plate (3). The rear connecting plate (34) and the front connecting plate (41) are movably connected by a rotating shaft.

3. The foot structure of a humanoid robot as described in claim 1, characterized in that: The two ear plates (32) are symmetrical in a figure-eight shape and are connected to one end of a back motor (2).

4. The foot structure of a humanoid robot as described in claim 1, characterized in that: Both back motors (2) and the front motor (6) are linear motors.

5. The foot structure of a humanoid robot as described in claim 1, characterized in that: Rubber pads (5) are provided below the front foot plate (4) and the rear foot plate (3), and several grooves are provided below the rubber pads (5).

6. The foot structure of a humanoid robot as described in claim 5, characterized in that: A 6-dimensional force sensor (7) is provided at the connection between the forefoot plate (4) and the rubber pad (5) and at the connection between the rear foot plate (3) and the rubber pad (5).

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