Humanoid robot foot structure and humanoid robot thereof
By using a modular foot structure, combined with hollow and cavity designs, the issues of weight and durability of the robot's foot structure have been resolved, achieving lightweighting and improved stability, adapting to different terrains, and reducing maintenance costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- GUANGDONG TIANTAI ROBOT CO LTD
- Filing Date
- 2025-06-20
- Publication Date
- 2026-07-10
AI Technical Summary
Existing robot leg structures struggle to reduce weight while maintaining functionality, and are prone to wear and fatigue during long-term use, especially for robots that frequently walk and perform complex tasks, resulting in insufficient durability and reliability.
The modular foot structure, including the front support, rear support, pivot, and removable pads, reduces weight through cutouts and cavities and mimics the structure of the human ankle joint to increase stability and adaptability, supporting multi-point support and removable maintenance.
This approach achieves weight reduction while maintaining stability and functionality, improves the robot's driving performance and durability, reduces maintenance costs, and enhances its adaptability and gait stability on different terrains.
Smart Images
Figure CN224476993U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of humanoid robot technology, and in particular to a humanoid robot foot structure and the humanoid robot thereof. Background Technology
[0002] In the design of humanoid robot foot structures, existing technologies have various approaches aimed at improving the robot's mobility and adaptability. Many robots employ complex foot structures, such as multi-axis designs, to achieve versatility and high stability, adapting to different walking environments and task requirements. However, complex structures often lead to increased overall weight, impacting the robot's energy consumption and endurance.
[0003] Currently, with technological advancements, the versatility of robot foot structures has been enhanced. However, how to further reduce weight while maintaining foot structure functionality remains a challenge. Especially during long-term use, foot structures are prone to wear and fatigue, making durability and reliability critical issues, particularly for robots that require frequent walking and complex tasks. Utility Model Content
[0004] To address the aforementioned shortcomings, the purpose of this invention is to propose a humanoid robot foot structure and a humanoid robot thereof, which solves the problem that the foot structure cannot reduce its weight while ensuring functionality, and at the same time achieve partial detachable replacement and maintenance.
[0005] To achieve this objective, the present invention adopts the following technical solution:
[0006] A humanoid robot foot structure includes a front support, a rear support, and a first rotating shaft. The first rotating shaft passes through the front support and the rear support, and the front support and the rear support can rotate relative to each other about the axis of the first rotating shaft.
[0007] The rear support is integrally formed from a front connector, a connecting part, and a rear foot part. The front connector is used to mate with the upper surface of the front support. The rear end of the front connector is connected to the front end of the rear foot part through the connecting part. The top of the front connector and the connecting part is provided with an upwardly extending protruding first shaft end mounting part. The top of the rear foot part is provided with an upwardly extending protruding second shaft end mounting part. The first shaft end mounting part and the second shaft end mounting part are arranged opposite to each other. The first shaft end mounting part and the second shaft end mounting part are respectively provided with coaxially arranged mounting holes. The first shaft end mounting part is provided with a downwardly inclined surface facing the second shaft end mounting part. The lower edge of the inclined surface is connected to the second shaft end mounting part.
[0008] The inclined surface has a hollowed-out portion that vertically penetrates the rear support from top to bottom and is located near the second shaft end mounting portion; the bottom of the rear foot portion has a cavity extending from bottom to top and is located away from the hollowed-out portion; the hollowed-out portion divides the inclined surface into a front contact surface, a connecting surface, and a transition surface; the front contact surface is connected to the transition surface through the connecting surface; with the inclination direction of the inclined surface as the length direction, the length of the front contact surface is greater than the length of the transition surface.
[0009] Preferably, it further includes a second rotating shaft and a third rotating shaft, the second rotating shaft passing through the mounting holes of the first shaft end mounting portion and the second shaft end mounting portion, and the third rotating shaft passing through the second shaft end mounting portion in a left-right direction.
[0010] Preferably, the bottom of the rear support is provided with a second bottom surface, and the angle between the second bottom surface and the axis of the second rotating shaft is 5 to 15°.
[0011] Preferably, with the front-to-back direction as the length direction, the ratio of the length of the transition surface to the length of the front contact surface is 1:3 to 1:5.
[0012] Preferably, the connecting part and the left and right sides of the rear palm part are symmetrically provided with narrowing recesses, and a strip-shaped support rib is formed between the hollow part and the recesses.
[0013] Preferably, with the left-right direction as the width direction, the ratio of the bottom width of the support rib to the width of the rear support is 1:4 to 1:5.
[0014] Preferably, with the left-right direction as the width direction, the ratio of the width of the recess to the width of the rear palm is 1:6 to 1:7.
[0015] Preferably, both the hollow portion and the cavity are provided with an arc-shaped chamfer, the radius of which is 3-5 mm.
[0016] Preferably, it further includes a front pad and a rear pad, the front pad being detachably disposed at the lower part of the front support, the rear pad being detachably disposed in the cavity, and the upper part of the rear pad being provided with a protrusion that matches the opening shape of the cavity.
[0017] A humanoid robot includes an upper body, legs, and the aforementioned humanoid robot foot structure. The upper body is connected to one end of the legs, and the other end of the legs is coaxially provided with two mounting shafts. The mounting shafts are rotatably mounted on a mounting block. The legs also include two foot transmission rods, which are tractively connected to the two ends of the third mounting shaft.
[0018] The technical solution provided by this utility model can include the following beneficial effects:
[0019] 1. Through the first and second axle-end mounting sections, the foot structure forms a multi-point support structure for the humanoid robot, increasing its stability and ensuring smooth and efficient walking. The hollow sections and cavities reduce the weight of the rear support, making it easier for the humanoid robot to maintain balance. Simultaneously, the foot structure is located at the end of the robot's drive mechanism; the reduced weight of the foot structure effectively decreases the rotational torque, improving the overall driving performance and durability of the humanoid robot. The second axle-end mounting section is positioned lower than the first axle-end mounting section and has a larger volume to provide sufficient support strength. The hollow sections are located close to the second axle-end mounting section, while the cavities are located away from the hollow sections, maintaining a balanced overall structural strength and solving the problem of the foot structure being unable to reduce weight while ensuring support stability and overall strength.
[0020] 2. By tilting the second pivot at a higher front and lower rear, the structure of the human ankle joint is mimicked, which improves the gait stability and naturalness of the humanoid robot. At the same time, it helps to optimize the center of gravity control, enhance the humanoid robot's adaptability to different terrains, and reduce the risk of falling.
[0021] 3. The front support, rear support, buffer, first pivot, second pivot, third pivot and mounting block can all be replaced or repaired independently. The detachable modular design makes maintenance and upgrades more convenient, reduces maintenance costs and increases the overall service life of the foot structure.
[0022] 4. The fourth mounting part supports both the second and third pivots. Its overall thickness is greater than that of the third mounting part. The hollow part is close to the fourth mounting part and far away from the third mounting part, which balances the overall structural strength and ensures maximum reduction of the weight of the rear support.
[0023] The recessed sections on both sides further reduce the weight of the rear support, while the structure forming the support ribs ensures sufficient structural strength for the rear support as a whole. The width of the support ribs and the recessed sections matches the overall width of the rear support, ensuring a balance between overall structural strength and lightweight design. Attached Figure Description
[0024] Figure 1 This is an exploded view of one embodiment of the present invention.
[0025] Figure 2 This is a three-dimensional structural diagram of one embodiment of the present invention.
[0026] Figure 3 This is a cross-sectional view of the rear support according to an embodiment of the present invention.
[0027] Figure 4 This is a bottom view of the rear support according to an embodiment of the present invention.
[0028] Figure 5 This is a three-dimensional structural diagram of the rear support according to an embodiment of the present invention.
[0029] Among them: front support 1, front pad block 11, rear support 2, second bottom surface 201, inclined surface 203, front connecting surface 2031, connecting surface 2032, transition surface 2033, rear pad block 21, front connecting part 22, connecting part 23, rear palm part 24, first shaft end mounting part 25, second shaft end mounting part 26, buffer 3, first rotating shaft 41, second rotating shaft 42, third rotating shaft 43, mounting block 5, hollow part 71, recessed part 72, support rib 73, cavity 74. Detailed Implementation
[0030] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.
[0031] In the description of this utility model, it should be understood that the terms "longitudinal" and "lateral" are used interchangeably.
[0032] The orientations or positional relationships indicated by terms such as "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They 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, and therefore should not be construed as a limitation on this utility model. In addition, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish and describe features, without any order or emphasis.
[0033] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.
[0034] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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.
[0035] The embodiments of this utility model are described below with reference to the accompanying drawings.
[0036] A humanoid robot foot structure includes a front support 1, a rear support 2, and a first rotating shaft 41. The first rotating shaft 41 passes through the front support 1 and the rear support 2, and the front support 1 and the rear support 2 can rotate relative to each other around the axis of the first rotating shaft 41.
[0037] The rear support 2 is integrally formed from a front connector 22, a connecting part 23, and a rear foot part 24. The front connector 22 is used to mate with the upper surface of the front support 1. The rear end of the front connector 22 is connected to the front end of the rear foot part 24 through the connecting part 23. The top of the front connector 22 and the connecting part 23 is provided with an upwardly protruding first shaft end mounting part 25. The top of the rear foot part 24 is provided with an upwardly protruding second shaft end mounting part 26. The first shaft end mounting part 25 and the second shaft end mounting part 26 are arranged opposite to each other. The first shaft end mounting part 25 and the second shaft end mounting part 26 are respectively provided with coaxial mounting holes. The first shaft end mounting part 25 is provided with a downwardly inclined surface 203 facing the second shaft end mounting part 26. The lower edge of the inclined surface 203 is connected to the second shaft end mounting part 26.
[0038] The inclined surface 203 has a hollow portion 71, which vertically penetrates the rear support 2 from top to bottom and is located near the second shaft end mounting portion 26. The bottom of the rear foot portion 24 extends from bottom to top and has a cavity 74, which is located away from the hollow portion 71. The hollow portion 71 divides the inclined surface 203 into a front contact surface 2031, a connecting surface 2032, and a transition surface 2033. The front contact surface 2031 is connected to the transition surface 2033 through the connecting surface 2032. With the inclination direction of the inclined surface 203 as the length direction, the length D1 of the front contact surface 2031 is greater than the length D2 of the transition surface 2033.
[0039] like Figure 1 , Figure 2 and Figure 5As shown, the mounting holes of the first shaft end mounting portion 25 and the second shaft end mounting portion 26 are used to mount the second rotating shaft, and the two ends of the second shaft end mounting portion 26 are used to mount the third rotating shaft 43 composed of two flange shafts. Through the first shaft end mounting portion 25 and the second shaft end mounting portion 26, the foot structure forms a multi-point support structure for the humanoid robot, increasing the stability of the foot structure and ensuring the smoothness and efficiency of the humanoid robot's walking. The weight of the rear support 2 is reduced by the hollow portion 71 and the cavity 74, making it easier for the humanoid robot to maintain balance. At the same time, the foot structure is located at the end of the humanoid robot's drive, and the weight reduction of the foot structure effectively reduces the rotational torque, improving the overall driving performance and durability of the humanoid robot. The second shaft end mounting portion 26 is positioned lower than the first shaft end mounting portion 25 and has a larger volume to provide sufficient support strength. At the same time, the hollow portion 71 is set close to the second shaft end mounting portion 26, and the cavity 74 is set away from the hollow portion 71, maintaining the overall structural strength balance and solving the problem that the foot structure cannot reduce weight while ensuring support stability and overall strength.
[0040] In a specific embodiment, the cutout portion 71 and the cavity 74 are rectangular to maximize weight reduction and facilitate processing.
[0041] Preferably, it also includes a second rotating shaft 42 and a third rotating shaft 43, wherein the second rotating shaft 42 passes through the mounting holes of the first shaft end mounting portion 25 and the second shaft end mounting portion 26, and the third rotating shaft 43 passes through the second shaft end mounting portion 26 in the left-right direction.
[0042] By using the second pivot 42 with its front-high and rear-low tilt setting to mimic the structure of the human ankle joint, the gait stability and movement naturalness of the humanoid robot are improved. At the same time, it helps to optimize the center of gravity control, enhance the humanoid robot's adaptability to different terrains, and reduce the risk of falling.
[0043] Preferably, it also includes a buffer 3 and a mounting block 5, wherein the buffer 3 is disposed between the front support 1 and the rear support 2, and the mounting block 5 is sleeved on the first rotating shaft 41.
[0044] The front support 1, rear support 2, buffer 3, first pivot 41, second pivot 42, third pivot 43 and mounting block 5 can all be replaced or repaired independently. The detachable modular design makes maintenance and upgrades more convenient, reduces maintenance costs and improves the overall service life of the foot structure.
[0045] Preferably, the bottom of the rear support 2 is provided with a second bottom surface 201, and the angle α between the second bottom surface 201 and the axis of the second rotating shaft is 5 to 15°.
[0046] When the tilt angle of the second axis is too large, the humanoid robot will find it difficult to maintain overall balance. When the tilt angle of the second axis is insufficient, it will not be able to effectively improve the center of gravity control.
[0047] Preferably, with the front-to-back direction as the length direction, the ratio of the length D2 of the transition surface 2033 to the length D1 of the front contact surface 2031 is 1:3 to 1:5.
[0048] like Figure 3 As shown, the fourth mounting part supports both the second and third rotating shafts 43. Its overall thickness is greater than that of the third mounting part. The hollow part 71 is close to the fourth mounting part and far away from the third mounting part, which balances the overall structural strength and ensures maximum weight reduction of the rear support 2.
[0049] Preferably, the connecting portion 23 and the rear palm portion 24 are symmetrically provided with narrower recesses 72 on their left and right sides, and a strip-shaped support rib 73 is formed between the hollow portion 71 and the recesses 72.
[0050] like Figure 4 As shown, the recesses on both sides further reduce the weight of the rear support 2, while the structure forming the support ribs 73 ensures that the rear support 2 as a whole has sufficient structural strength.
[0051] Preferably, with the left-right direction as the width direction, the ratio of the bottom width D3 of the support rib 73 to the width D4 of the rear support 2 is 1:4 to 1:5.
[0052] Preferably, with the left-right direction as the width direction, the ratio of the width D5 of the recessed portion 72 to the width D4 of the rear palm portion 24 is 1:6 to 1:7.
[0053] The width of the support rib 73 and the recessed part matches the overall width of the rear support 2, ensuring a balance between the overall structural strength and lightweight of the rear support 2.
[0054] Preferably, both the hollow portion 71 and the cavity 74 are provided with an arc-shaped chamfer, the radius of which is 3 to 5 mm.
[0055] By setting a rounded chamfer, stress concentration is prevented from causing local cracking of the rear support 2, which would affect the overall strength.
[0056] Preferably, it also includes a front pad 11 and a rear pad 21. The front pad 11 is detachably disposed at the lower part of the front support 1, and the rear pad 21 is detachably disposed in the cavity 74. The upper part of the rear pad 21 is provided with a protrusion that matches the opening shape of the cavity 74.
[0057] In a specific embodiment, the front pad 11 and the rear pad 21 are made of rubber and are bolted to the front support 1 and the rear support 2 respectively. Together with the buffer 3, they enable the foot structure to have anti-slip performance and better cushioning ability. At the same time, a protrusion is provided on the upper part of the rear pad 21 to increase the lateral support strength between the rear pad 21 and the rear support 2, and to prevent the rear pad 21 from accidentally falling off due to excessive lateral force.
[0058] In one embodiment, the cavity 74 is also used to install a sensor, which can be easily installed and maintained by removing the rear pad 21.
[0059] A humanoid robot includes an upper body, legs, and the aforementioned humanoid robot foot structure. The upper body is connected to one end of the legs, and the other end of the legs is coaxially provided with two mounting shafts. The mounting shafts are rotatably mounted on the mounting block 5. The legs also include two foot transmission rods, which are tractively connected to the two ends of the third mounting shaft.
[0060] The multi-axis linkage of the foot structure enables the humanoid robot to better simulate human gait, providing a more natural walking experience. Through multi-point support and lightweight design of the foot structure, a balance of overall performance is achieved, improving the walking performance and stability of the humanoid robot and providing reliable assurance for its application in various complex environments.
[0061] Other configurations and operations according to the embodiments of this utility model are known to those skilled in the art and will not be described in detail here.
[0062] In this specification, the terms "embodiment," "example," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. 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.
[0063] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.
Claims
1. A foot structure for a humanoid robot, comprising a front support, a rear support, and a first pivot, characterized in that: The first pivot is inserted through the front support and the rear support, and the front support and the rear support can rotate relative to each other about the axis of the first pivot. The rear support is integrally formed from a front connector, a connecting part, and a rear foot part. The front connector is used to mate with the upper surface of the front support. The rear end of the front connector is connected to the front end of the rear foot part through the connecting part. The top of the front connector and the connecting part is provided with an upwardly extending protruding first shaft end mounting part. The top of the rear foot part is provided with an upwardly extending protruding second shaft end mounting part. The first shaft end mounting part and the second shaft end mounting part are arranged opposite to each other. The first shaft end mounting part and the second shaft end mounting part are respectively provided with coaxially arranged mounting holes. The first shaft end mounting part is provided with a downwardly inclined surface facing the second shaft end mounting part. The lower edge of the inclined surface is connected to the second shaft end mounting part. The inclined surface has a hollowed-out portion that vertically penetrates the rear support from top to bottom and is located near the second shaft end mounting portion; the bottom of the rear foot portion has a cavity extending from bottom to top and is located away from the hollowed-out portion; the hollowed-out portion divides the inclined surface into a front contact surface, a connecting surface, and a transition surface; the front contact surface is connected to the transition surface through the connecting surface; with the inclination direction of the inclined surface as the length direction, the length of the front contact surface is greater than the length of the transition surface.
2. The humanoid robot foot structure according to claim 1, characterized in that: It also includes a second rotating shaft and a third rotating shaft. The second rotating shaft passes through the mounting holes of the first shaft end mounting part and the second shaft end mounting part, and the third rotating shaft passes through the second shaft end mounting part in the left-right direction.
3. The humanoid robot foot structure according to claim 2, characterized in that: The bottom of the rear support is provided with a second bottom surface, and the angle between the second bottom surface and the axis of the second rotating shaft is 5 to 15°.
4. The humanoid robot foot structure according to claim 1, characterized in that: With the front-to-back direction as the length direction, the ratio of the length of the transition surface to the length of the front contact surface is 1:3 to 1:
5.
5. The humanoid robot foot structure according to claim 1, characterized in that: The connecting part and the left and right sides of the rear palm part are symmetrically provided with narrowing recesses, and a strip-shaped support rib is formed between the hollow part and the recesses.
6. The humanoid robot foot structure according to claim 5, characterized in that: With the left-right direction as the width direction, the ratio of the bottom width of the supporting rib to the width of the rear support is 1:4 to 1:
5.
7. A humanoid robot foot structure according to claim 5 or 6, characterized in that: With the left-right direction as the width direction, the ratio of the width of the recess to the width of the rear palm is 1:6 to 1:
7.
8. The humanoid robot foot structure according to claim 1, characterized in that: Both the hollowed-out portion and the cavity are provided with arc-shaped chamfers, the radius of which is 3-5mm.
9. The humanoid robot foot structure according to claim 1, characterized in that: It also includes a front pad and a rear pad, the front pad being detachably disposed at the lower part of the front support, the rear pad being detachably disposed in the cavity, and the upper part of the rear pad having a protrusion that matches the opening shape of the cavity.
10. A humanoid robot, comprising an upper body, legs, and a humanoid robot foot structure as described in any one of claims 1-9, characterized in that: The upper body is connected to one end of the leg, and the other end of the leg is coaxially provided with two mounting shafts. The mounting shafts are rotatably mounted on the mounting block. The leg also includes two foot transmission rods, which are connected to the two ends of the third mounting shaft.