A humanoid robot foot structure and a humanoid robot thereof

Abstract

The utility model relates to the technical field of humanoid robot, disclose a humanoid robot foot structure and humanoid robot thereof, including front support, rear support, first elastic part, second elastic part, third elastic part, first pivot, second pivot and third pivot, and the interval spacing of first pivot axial remains two buffer gaps between front support and rear support, and first elastic part, second elastic part and third elastic part are located in the interval region of two buffer gaps. Through increasing buffer gap at first pivot, the axial buffer between front support and rear support is realized to first elastic part, and second elastic part and third elastic part are coordinated to the rotation buffer between front support and rear support, solve the foot of conventional humanoid robot and can only realize the buffer support of single direction, can not effectively realize side surface buffer, reduce the overall impact force that foot received, can not effectively coordinate the problem of foot structure stability and buffer performance.

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] With the advancement of artificial intelligence and robotics, humanoid robots, as a technological carrier with broad application prospects, are playing an increasingly important role in industries such as manufacturing, healthcare, and services. As a key component of humanoid robots, the foot structure not only supports the weight of the entire robot but also ensures balance and stability during walking, thus having a decisive impact on the robot's overall performance.

[0003] Currently, most humanoid robot foot structures employ a unidirectional cushioning support design, primarily designed to absorb impacts perpendicular to the support surface. However, with the diversification of humanoid robot applications, especially in uneven terrain and fast-moving environments, higher demands are being placed on the cushioning performance, stability, and adaptability of foot structures.

[0004] However, existing humanoid robot foot designs have significant shortcomings. First, most foot structures can only provide cushioning support in the direction perpendicular to the support surface, lacking lateral cushioning mechanisms, resulting in insufficient stability when walking on irregular surfaces. Second, while some foot structures are highly functional, their complex structures and cumbersome mechanisms not only increase manufacturing and maintenance costs but also raise failure rates. Furthermore, complex foot structures are often heavy, increasing robot energy consumption and reducing endurance. These problems severely restrict the application and widespread use of humanoid robots in real-world environments, necessitating a foot structure design that combines multi-directional cushioning with a simple structure and lightweight design. Utility Model Content

[0005] To address the aforementioned shortcomings, the purpose of this invention is to propose a humanoid robot foot structure and a humanoid robot thereof, thereby solving the problem that the feet of conventional humanoid robots cannot provide cushioning in the lateral direction and cannot simultaneously coordinate cushioning performance and stability support.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A humanoid robot foot structure includes a front support, a rear support, a first elastic element, a second elastic element, a third elastic element, a first rotating shaft, a second rotating shaft, and a third rotating shaft;

[0008] The first rotating shaft passes through the front support, the rear support, the first elastic member, and the second elastic member. The front support and the rear support can rotate relative to each other around the axis of the first rotating shaft. The first elastic member is used for axial buffering between the front support and the rear support along the first rotating shaft. The second elastic member and the third elastic member are used for circumferential buffering between the front support and the rear support along the first rotating shaft. The third elastic member is located between the upper surface of the front support and the lower surface of the rear support.

[0009] The second and third rotating shafts are both disposed on the rear support. The first, second, and third rotating shafts are arranged parallel to each other. The second rotating shaft is used to drive the legs of the humanoid robot, and the third rotating shaft is used to drive the foot drive rod of the humanoid robot.

[0010] Two buffer gaps are provided between the front support and the rear support along the first rotating shaft. The width of the buffer gap is not less than 0.3 mm, and the ratio of the width of the buffer gap to the length of the first rotating shaft is 1:100 to 1:500. The first elastic element, the second elastic element and the third elastic element are located in the interval area between the two buffer gaps.

[0011] Preferably, the front support pair is provided with two first mounting parts, the rear support pair is provided with two second mounting parts, the two first mounting parts are disposed between the two second mounting parts, the first elastic element is disposed between the two first mounting parts, the first rotating shaft passes through the first mounting parts and the second mounting parts, and the buffer gap is the gap between the first mounting parts and the second mounting parts on the same side.

[0012] One end of the first elastic member is detachably connected to the rear support via a fixing member, and the other end of the first elastic member is sleeved on the first rotating shaft.

[0013] Preferably, the front support pair is provided with two first mounting parts, the rear support pair is provided with a second mounting part, the two second mounting parts are disposed between the two first mounting parts, the first elastic element is disposed between the two second mounting parts, the first rotating shaft passes through the first mounting part and the second mounting part, and the buffer gap is the gap between the first mounting part and the second mounting part on the same side.

[0014] One end of the first elastic element is detachably connected to the front support via a fixing member, and the other end of the first elastic element is sleeved on the first rotating shaft.

[0015] Preferably, the ratio of the width of the first elastic element along the axial direction of the first rotating shaft to the length of the first rotating shaft is 1:3 to 1:5.

[0016] Preferably, the second elastic element is a double torsion spring, with its two ends respectively disposed on both sides of the first elastic element. The double torsion spring is sleeved on the first rotating shaft, with one supporting edge of the double torsion spring abutting against the rear support and the other supporting edge of the double torsion spring abutting against the front support.

[0017] Preferably, the rear support has a first bottom surface, and the third elastic element is disposed between the top of the front support and the first bottom surface.

[0018] Preferably, it also includes two pads, the rear support has a second bottom surface, and the two pads are detachably connected to the bottom of the front support and the second bottom surface, respectively.

[0019] Preferably, it further includes a cover plate, which is detachably disposed on the rear support, and an inner cavity is formed between the cover plate and the rear support for mounting the sensor.

[0020] Preferably, the rear support has two limiting protrusions facing each other, the limiting protrusions are used to install the third rotating shaft, and the ratio of the length of the third rotating shaft to the length of the second rotating shaft is 1:3 to 1:5.

[0021] 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 drively connected to a second rotating shaft and a third rotating shaft.

[0022] The technical solution provided by this utility model can include the following beneficial effects:

[0023] 1. To simultaneously achieve the needs of precise control and lateral cushioning, a buffer gap is added at the first pivot point, and the size of the buffer gap is limited. This, combined with the first elastic element, achieves axial cushioning between the front and rear supports, enabling the foot structure to simultaneously possess lateral cushioning capability and controllable support stability. Furthermore, the second and third elastic elements work together to buffer rotation between the front and rear supports, increasing the foot mechanism's cushioning capability perpendicular to the support surface. This allows the foot structure to achieve multi-directional cushioning support, effectively reducing the impact force on the foot structure during humanoid robot walking. This solves the problem that conventional humanoid robots' feet can only achieve unidirectional cushioning support, cannot effectively achieve lateral cushioning, reduce the overall impact force on the foot, and cannot effectively coordinate the stability and cushioning performance of the foot structure.

[0024] 2. By limiting the size of the buffer gap and reserving buffer space, the problems of insufficient cushioning due to an excessively small buffer gap leading to easy wear of the foot structure, or insufficient overall support stability of the foot structure due to an excessively large buffer gap, are solved. The buffer gap is further stabilized by a third elastic element located between the upper surface of the front support and the lower surface of the rear support. This reduces unnecessary relative movement between the front and rear supports during installation, ensuring the buffer gap is retained after final assembly. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of one embodiment of the present invention.

[0026] Figure 2 This is an exploded view of one embodiment of the present invention.

[0027] Figure 3 This is an exploded view of another embodiment of the present invention.

[0028] Figure 4 This is a top view of one embodiment of the present invention.

[0029] Among them: front support 1, first mounting part 11, rear support 2, first bottom surface 201, second bottom surface 202, second mounting part 21, limiting protrusion 22, first elastic element 31, second elastic element 32, third elastic element 33, first rotating shaft 41, second rotating shaft 42, third rotating shaft 43, pad block 5, cover plate 7, inner cavity 71. 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, a first elastic element 31, a second elastic element 32, a third elastic element 33, a first rotating shaft 41, a second rotating shaft 42, and a third rotating shaft 43;

[0037] The first rotating shaft 41 passes through the front support 1, the rear support 2, the first elastic element 31, and the second elastic element 32. The front support 1 and the rear support 2 can rotate relative to each other around the axis of the first rotating shaft 41. The first elastic element 31 is used for buffering between the front support 1 and the rear support 2 along the axial direction of the first rotating shaft 41. The second elastic element 32 and the third elastic element 33 are used for buffering between the front support 1 and the rear support 2 along the circumferential direction of the first rotating shaft 41. The third elastic element 33 is located between the upper surface of the front support 1 and the lower surface of the rear support 2.

[0038] The second rotating shaft 42 and the third rotating shaft 43 are both disposed on the rear support 2. The first rotating shaft 41, the second rotating shaft 42 and the third rotating shaft 43 are arranged parallel to each other. The second rotating shaft 42 is used to drive the legs of the humanoid robot, and the third rotating shaft 43 is used to drive the foot drive rod of the humanoid robot.

[0039] Two buffer gaps are provided between the front support 1 and the rear support 2 along the first rotating shaft 41. The width D1 of the buffer gap is not less than 0.3mm, and the ratio of the width D1 of the buffer gap to the length L1 of the first rotating shaft is 1:100 to 1:500. The first elastic element 31, the second elastic element 32 and the third elastic element 33 are located in the interval area between the two buffer gaps.

[0040] In conventional technologies, especially in humanoid robot structures with high precision requirements, it is usually necessary to reduce the gap between the front and rear supports to prevent the foot structure from becoming loose, which would affect the stability of the support and the overall control accuracy.

[0041] like Figure 1 and Figure 4 As shown, to simultaneously achieve the needs of precise control and lateral buffering, a buffer gap is added at the first pivot 41, and the size of the buffer gap is limited. This, together with the first elastic element 31, achieves axial buffering between the front support 1 and the rear support 2, enabling the foot structure to simultaneously possess lateral buffering capability and controllable support stability. Furthermore, the second elastic element 32 and the third elastic element 33 work together to buffer the rotation between the front support 1 and the rear support 2, increasing the foot mechanism's buffering capability in the direction perpendicular to the support surface. This allows the foot structure to achieve multi-directional buffering support, effectively reducing the impact force on the foot structure when the humanoid robot walks. This solves the problem that conventional humanoid robots' feet can only achieve unidirectional buffering support, cannot effectively achieve lateral buffering, reduce the overall impact force on the foot, and cannot effectively coordinate the stability and buffering performance of the foot structure.

[0042] By limiting the size of the buffer gap and reserving buffer space, the problems of insufficient cushioning due to an excessively small buffer gap leading to easy wear of the foot structure, or insufficient overall support stability of the foot structure due to an excessively large buffer gap, are solved. The buffer gap is further stabilized by a third elastic element located between the upper surface of the front support 1 and the lower surface of the rear support 2. This reduces unnecessary relative movement between the front support 1 and the rear support 2 during installation, ensuring the buffer gap is retained after final assembly.

[0043] By linking the first pivot 41, the second pivot 42, and the third pivot 43 in a multi-axis linkage configuration, the adaptability and stability of the foot structure when used in complex terrains and environments can be significantly improved.

[0044] Preferably, the front support 1 is provided with two first mounting parts 11, the rear support 2 is provided with two second mounting parts 21, the two first mounting parts 11 are disposed between the two second mounting parts 21, the first elastic member 31 is disposed between the two first mounting parts 11, the first rotating shaft 41 passes through the first mounting parts 11 and the second mounting parts 21, and the buffer gap is the gap between the first mounting parts 11 and the second mounting parts 21 on the same side;

[0045] One end of the first elastic member 31 is detachably connected to the rear support 2 via a fixing member, and the other end of the first elastic member 31 is sleeved on the first rotating shaft 41.

[0046] In one embodiment, by placing a first elastic member 31 between the first mounting portions 11, the first elastic member 31 provides elastic support to the first mounting portions 11 on both sides from the middle, while the second mounting portions 21 rigidly limit the first mounting portions 11 from both ends, so that the foot structure has good cushioning ability while ensuring support stability. This solves the problem that when the elastic members are respectively placed between the first mounting portions 11 and the second mounting portions 21 at both ends, only the elastic member on one side can play a cushioning role, resulting in low overall cushioning performance.

[0047] Preferably, the front support 1 is provided with two first mounting parts 11, the rear support 2 is provided with two second mounting parts 21, the two second mounting parts 21 are disposed between the two first mounting parts 11, the first elastic member 31 is disposed between the two second mounting parts 21, the first rotating shaft 41 passes through the first mounting parts 11 and the second mounting parts 21, and the buffer gap is the gap between the first mounting parts 11 and the second mounting parts 21 on the same side;

[0048] One end of the first elastic member 31 is detachably connected to the front support 1 via a fixing member, and the other end of the first elastic member 31 is sleeved on the first rotating shaft 41.

[0049] In another embodiment, the first mounting part 11 and the second mounting part 21 are positioned opposite to each other along the axial direction of the first pivot 41, and the foot mechanism has the same cushioning performance by mounting the first elastic member 31 to the front support 1.

[0050] Preferably, the ratio of the width D2 of the first elastic element 31 along the axial direction of the first rotating shaft 41 to the length L1 of the first rotating shaft 41 is 1:3 to 1:5.

[0051] Preferably, the first elastic element 31 is a rubber block made of natural rubber or neoprene rubber.

[0052] In one embodiment, the first elastic element 31 is a rubber block made of natural rubber, with a thickness of 10 mm and a width of 20 mm. The length of the first rotating shaft 41 is 100 mm. One end of the first elastic element 31 is provided with two mounting holes. The first elastic element 31 is installed on the rear support 2 by bolts. The first elastic element 31 provides axial buffer support to the front support 1 by sleeved on one end of the first rotating shaft 41. With this structure, a larger solid first elastic element 31 can be used for support. During buffering, the overall deformation rate of the first elastic element 31 is small, and the buffering performance and durability of the first elastic element 31 are better. This avoids the problems of poor buffering performance and easy wear when using rubber washers or other supports directly between the first mounting part 11 and the second mounting part 21, due to the limitation of the foot structure width and the small thickness of the washer.

[0053] Preferably, the second elastic element 32 is a double torsion spring, with its two ends respectively disposed on both sides of the first elastic element 31. The double torsion spring is sleeved on the first rotating shaft 41, with one supporting edge of the double torsion spring abutting against the rear support 2 and the other supporting edge of the double torsion spring abutting against the front support 1.

[0054] The elastic support on both sides of the double torsion springs enables rotational buffering between the front support 1 and the rear support 2. At the same time, in conjunction with the structure with the rubber block in the center, the double torsion springs, the first mounting part 11 and the second mounting part 21 are set at both ends of the first rotating shaft 41 to achieve a symmetrical support structure. This increases the overall support stability of the foot structure and solves the problem that unbalanced buffer support leads to unbalanced force on the foot structure, easy deformation and wear of the foot structure, and easy instability of the overall support control of the humanoid robot.

[0055] Preferably, the rear support 2 has a first bottom surface 201, and the third elastic member 33 is disposed between the top of the front support 1 and the first bottom surface 201.

[0056] like Figure 2 As shown, the third elastic element 33 is used for buffering between the top surface and the first bottom surface 201, increasing the buffering performance of the foot structure.

[0057] Preferably, the third elastic element 33 is a rubber pad with a thickness of 1-20 mm. In a specific embodiment, the third elastic element 33 is a rubber pad made of natural rubber or neoprene rubber with a thickness of 10 mm, and the rubber pad is installed on the first bottom surface 201 of the rear support 2 by countersunk bolts.

[0058] Preferably, it also includes two pads 5, the rear support 2 is provided with a second bottom surface 202, and the two pads 5 are respectively detachably connected to the bottom of the front support 1 and the second bottom surface 202.

[0059] The foot structure contacts the support surface through pad 5, which is removable and easy to replace after wear.

[0060] Preferably, it also includes a cover plate 7, which is detachably disposed on the rear support 2, and an inner cavity 71 is formed between the cover plate 7 and the rear support 2, the inner cavity 71 being used to install the sensor.

[0061] like Figure 3 As shown, the removable cover 7 allows for convenient installation and replacement of the sensor, facilitating foot structure adjustment and subsequent maintenance. In one embodiment, a gyroscope sensor is installed in the inner cavity 71. As a simple alternative, an accelerometer, torque sensor, etc., can also be installed in the inner cavity 71.

[0062] Preferably, the front support 1, the rear support 2 and the cover plate 7 are all made of magnesium alloy, and the front pad 5 and the rear pad 5 are both made of rubber.

[0063] The selection of materials for each part of the foot structure takes into full consideration wear resistance and shock absorption performance. The combination of magnesium alloy and rubber can improve the overall durability and reliability of the foot structure. The rubber pad provides good shock absorption, while the magnesium alloy provides sufficient strength and rigidity to ensure the stability and durability of the foot structure in various environments.

[0064] Preferably, the rear support 2 is provided with two limiting protrusions 22 facing each other. The limiting protrusions 22 are used to install the third rotating shaft 43. The ratio of the length L3 of the third rotating shaft 43 to the length L2 of the second rotating shaft 42 is 1:3 to 1:5.

[0065] The second pivot 42 is responsible for driving the overall lateral rotation of the foot structure. It adopts a long axis design to increase the driving torque and reduce local stress. The third pivot 43 adopts a short axis design. One end of the transmission rod of the humanoid robot's leg is movably sleeved on the third pivot 43. The up and down movement of the transmission rod drives the foot structure to perform forward and backward rotation. Compared with the existing technology, the third pivot 43 has relatively less stress and does not require the use of flange structures for connection. This can reduce the overall weight of the foot structure, especially the weight of the rear support 2, so that the humanoid robot can maintain a stable center of gravity while reducing the burden and wear caused by walking.

[0066] 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 connected to the second rotating shaft 42 and the third rotating shaft 43.

[0067] By using multi-axis linkage and shock absorption design in the foot structure, the walking performance and stability of the humanoid robot are improved, while reducing wear, lowering operating costs, and increasing overall service life, providing reliable protection for the application of humanoid robots in various complex environments.

[0068] 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.

[0069] 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.

[0070] 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, characterized in that: It includes a front support, a rear support, a first elastic element, a second elastic element, a third elastic element, a first pivot, a second pivot, and a third pivot; The first rotating shaft passes through the front support, the rear support, the first elastic member, and the second elastic member. The front support and the rear support can rotate relative to each other around the axis of the first rotating shaft. The first elastic member is used for axial buffering between the front support and the rear support along the first rotating shaft. The second elastic member and the third elastic member are used for circumferential buffering between the front support and the rear support along the first rotating shaft. The third elastic member is located between the upper surface of the front support and the lower surface of the rear support. The second and third rotating shafts are both disposed on the rear support. The first, second, and third rotating shafts are arranged parallel to each other. The second rotating shaft is used to drive the legs of the humanoid robot, and the third rotating shaft is used to drive the foot drive rod of the humanoid robot. Two buffer gaps are provided between the front support and the rear support along the first rotating shaft. The width of the buffer gap is not less than 0.3 mm, and the ratio of the width of the buffer gap to the length of the first rotating shaft is 1:100 to 1:

500. The first elastic element, the second elastic element and the third elastic element are located in the interval area between the two buffer gaps.

2. The humanoid robot foot structure according to claim 1, characterized in that: The front support pair is provided with two first mounting parts, the rear support pair is provided with two second mounting parts, the two first mounting parts are disposed between the two second mounting parts, the first elastic element is disposed between the two first mounting parts, the first rotating shaft passes through the first mounting part and the second mounting part, and the buffer gap is the gap between the first mounting part and the second mounting part on the same side. One end of the first elastic member is detachably connected to the rear support via a fixing member, and the other end of the first elastic member is sleeved on the first rotating shaft.

3. The humanoid robot foot structure according to claim 1, characterized in that: The front support pair is provided with two first mounting parts, the rear support pair is provided with a second mounting part, the two second mounting parts are disposed between the two first mounting parts, the first elastic element is disposed between the two second mounting parts, the first rotating shaft passes through the first mounting part and the second mounting part, and the buffer gap is the gap between the first mounting part and the second mounting part on the same side. One end of the first elastic element is detachably connected to the front support via a fixing member, and the other end of the first elastic element is sleeved on the first rotating shaft.

4. A humanoid robot foot structure according to claim 2 or 3, characterized in that: The ratio of the width of the first elastic element along the axial direction of the first rotating shaft to the length of the first rotating shaft is 1:3 to 1:

5.

5. The humanoid robot foot structure according to claim 4, characterized in that: The second elastic element is a double torsion spring, with its two ends respectively disposed on both sides of the first elastic element. The double torsion spring is sleeved on the first rotating shaft, with one supporting edge of the double torsion spring abutting against the rear support and the other supporting edge of the double torsion spring abutting against the front support.

6. The humanoid robot foot structure according to claim 1, characterized in that: The rear support has a first bottom surface, and the third elastic element is disposed between the top of the front support and the first bottom surface.

7. The humanoid robot foot structure according to claim 1, characterized in that: It also includes two pads, and the rear support has a second bottom surface. The two pads are detachably connected to the bottom of the front support and the second bottom surface, respectively.

8. The humanoid robot foot structure according to claim 1, characterized in that: It also includes a cover plate, which is detachably disposed on the rear support, and an inner cavity is formed between the cover plate and the rear support for mounting the sensor.

9. The humanoid robot foot structure according to claim 1, characterized in that: The rear support has two limiting protrusions facing each other. The limiting protrusions are used to install the third rotating shaft. The ratio of the length of the third rotating shaft to the length of the second rotating shaft is 1:3 to 1:

5.

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 connected to the second rotating shaft and the third rotating shaft.

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