Humanoid robot foot structure and humanoid robot

Abstract

The utility model discloses a kind of humanoid robot foot structure, comprising: hard shell, upper portion is formed with the cavity for accommodating motor assembly, lower portion is formed with the convex portion protruding from its lower surface;Elastic sole, at least coated in the lower surface of hard shell, with convex portion form positioning cooperation, and have multiple mounting holes through its thickness direction;Connecting piece, extend into the mounting hole, it at least includes the connecting section body that can be connected with hard shell, the extension section body that is coated by elastic sole, and end head.The utility model further discloses a kind of humanoid robot.The utility model utilizes elastic sole to coat the lower surface of hard shell, forms good protective effect to hard shell, plays good buffering effect to hard shell, even humanoid robot, utilizes connecting piece to fix assembly, elastic sole is not easy to separate from hard shell, and connecting structure is stable and effective;Utilize convex portion and elastic sole to form positioning cooperation, facilitate the quick disassembly of connecting piece.

Description

Technical Field

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

[0002] Chinese patent CN216834005U discloses a "Footplate Mechanism and Robot," which includes a foot connector, a footplate shell, a footplate, and a footplate adhesive. The footplate adhesive is adhered to the footplate. The foot connector and the footplate shell are threadedly connected to the footplate. One end of the foot connector is connected to an ankle mechanism. The footplate shell does not have space to accommodate a motor, the foot connector is adapted to a traditional linkage mechanism, and the footplate adhesive is prone to detachment from the footplate. Utility Model Content

[0003] In order to overcome the shortcomings of the existing technology, this utility model provides a humanoid robot foot structure and a humanoid robot, which utilizes the elastic foot to form a good buffer and protection effect on the hard shell, and the hard shell and the elastic foot are easy to assemble and disassemble.

[0004] The technical solution adopted by this utility model to solve its technical problem is: a humanoid robot foot structure, comprising:

[0005] A rigid housing with a cavity formed in the upper part for accommodating the motor assembly and a protrusion formed in the lower part protruding from its lower surface;

[0006] The elastic foot covers at least the lower surface of the rigid shell, forms a positioning fit with the protrusion, and has multiple mounting holes extending through its thickness direction;

[0007] A connector, extending into the mounting hole, includes at least a connecting section that can be connected to a rigid housing, an extension section covered by an elastic foot, and an end.

[0008] This invention utilizes an elastic foot to cover the lower surface of a rigid shell, providing excellent protection for the shell and acting as a buffer for the shell and even the humanoid robot. A connector securely assembles the two, preventing the elastic foot from easily detaching from the shell, resulting in a stable and effective connection. A protrusion is provided at the bottom of the rigid shell, which, in conjunction with the elastic foot, facilitates positioning and installation, and allows for quick assembly and disassembly of the connector. The connecting section of the connector is assembled with the rigid shell, while the extension section abuts against the elastic foot. This ensures a secure connection between the elastic foot and the rigid shell while preventing damage to the elastic foot during assembly.

[0009] Furthermore, the mounting hole includes a first section, a second section, and a third section. The protrusion extends into the third section to form a positioning fit with the elastic foot sole, and the protrusion is hollow inside. The positioning fit between the third section of the mounting hole and the protrusion allows the protrusion to not only position itself with the elastic foot sole, facilitating the installation of the connector, but also to connect with the connector. This eliminates the need for a separate positioning protrusion outside the mounting hole, simplifying the overall structure and facilitating manufacturing.

[0010] Furthermore, the first, second, and third hole segments are concentrically and coaxially arranged. The mounting hole consists of three concentric and coaxial hole segments, which is a reasonable structural design that facilitates the assembly of connecting parts and enables stable positioning and installation of the rigid shell and the elastic foot.

[0011] Furthermore, the inner diameter of the first hole segment is larger than the inner diameter of the second hole segment, so as to form a first stepped surface between the first hole segment and the second hole segment. The connector includes an enlarged diameter portion that abuts against the first stepped surface. The enlarged diameter portion increases the contact area with the first stepped surface, reduces the pressure of the end on the elastic foot, and extends the service life of the elastic foot.

[0012] Furthermore, the inner diameter of the third hole segment is larger than that of the second hole segment but smaller than that of the first hole segment; a deformation gap exists between the end face of the end and the opening of the mounting hole. This deformation gap ensures that even if the elastic foot deforms during the robot's movement, the probability of direct contact between the end and the ground remains low. This not only guarantees the robot's smooth movement but also prevents damage to the connecting parts and avoids the rigid shell and elastic foot from detaching from each other.

[0013] Furthermore, the enlarged diameter section is separately disposed from the connecting section body, and its outer diameter is equivalent to the inner diameter of the first hole section.

[0014] Furthermore, the connecting section includes a threaded connecting section and a smooth connecting section. The threaded connecting section passes through the protrusion and is threadedly connected to the rigid shell, while the smooth connecting section is fitted inside the protrusion. By configuring the connecting section into a threaded connecting section and a smooth connecting section, and by ensuring the smooth outer wall of the extended section, the tearing problem that is easily caused by the integral threaded connection between the connecting part and the rigid shell and the elastic foot sole is avoided, thus extending the service life of the elastic foot sole.

[0015] Furthermore, the bottom of the rigid housing is hollowed out to form an inspection port, which corresponds to the plug-in port of the motor assembly. The inspection port makes the inspection and maintenance of the motor assembly more convenient.

[0016] Furthermore, the elastic foot sole has a honeycomb-like hollow structure inside, and anti-slip texture is formed on the bottom of the elastic foot sole; the elastic foot sole is made of rubber material; there are multiple connectors, and the number of mounting holes corresponds to the number of connectors, which are distributed at the front, middle, and rear of the elastic foot sole. The honeycomb-like hollow structure can reduce the weight of the elastic foot sole, increase its elastic deformation, and facilitate better protection for rigid shells and humanoid robots.

[0017] This utility model also discloses a humanoid robot, which includes a torso, upper limbs, and legs, with the aforementioned foot structure connected to the legs.

[0018] The beneficial effects of this utility model are as follows: The elastic foot covers the lower surface of the rigid shell, providing excellent protection and cushioning for the rigid shell and even the humanoid robot. The connector securely assembles the two, preventing the elastic foot from easily detaching from the rigid shell, resulting in a stable and effective connection structure. A protrusion is provided at the bottom of the rigid shell, forming a positioning fit with the elastic foot, facilitating easy positioning and installation, and allowing for quick assembly and disassembly of the connector. The connecting section of the connector is assembled with the rigid shell, while the extended section abuts against the elastic foot, ensuring a stable connection between the elastic foot and the rigid shell while preventing damage to the elastic foot during assembly. The third hole of the mounting hole engages with the protrusion, allowing the protrusion to not only position the elastic foot and facilitate connector installation but also connect with the connector, eliminating the need for a separate positioning protrusion outside the mounting hole, simplifying the overall structure and facilitating manufacturing. Attached Figure Description

[0019] Figure 1 This is an exploded structural diagram of the foot structure related to this utility model. Figure 1 .

[0020] Figure 2 This is an exploded structural diagram of the foot structure related to this utility model. Figure 2 .

[0021] Figure 3 This utility model relates to a three-dimensional foot structure. Figure 1 .

[0022] Figure 4 This utility model relates to a three-dimensional foot structure. Figure 2 .

[0023] Figure 5 This is a cross-sectional view of the foot structure related to this utility model.

[0024] Figure 6 for Figure 5 Enlarged view of the structure at point A in the image.

[0025] Figure 7 This is a cross-sectional perspective view of the rigid shell that relates to this utility model.

[0026] Figure 8 for Figure 7 Enlarged view of the structure at point B in the image.

[0027] Figure 9 This is a cross-sectional view of the foot structure related to this utility model, with the connecting parts omitted.

[0028] Among them, 1-rigid shell, 11-cavity, 12-protrusion, 13-inspection port, 14-stop edge, 2-elastic foot, 21-mounting hole, 211-first hole section, 212-second hole section, 213-third hole section, 214-first step surface, 215-second step surface, 22-edge, 3-connector, 31-connecting section body, 311-threaded connecting section, 312-smooth connecting section, 32-extension section body, 33-end, 34-expanded diameter section, 35-honeycomb hollow structure, 36-anti-slip texture, 4-deformation gap. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0030] like Figures 1-5 As shown, a humanoid robot foot structure includes a rigid shell 1, an elastic foot sole 2 covering at least the lower surface of the rigid shell 1, and a connector 3 for connecting the rigid shell 1 and the elastic foot sole 2.

[0031] The upper part of the rigid shell 1 forms a cavity 11 for accommodating a motor assembly (not shown in the figure), and the lower part of the rigid shell 1 forms a protrusion 12 protruding from its lower surface. In this embodiment, there are multiple protrusions 12, which are distributed in the front, middle and rear parts of the rigid shell 1, where the front part refers to the direction in which the humanoid robot's face is facing.

[0032] The elastic foot 2 and the protrusion 12 form a positioning fit, which in turn forms a positioning fit with the rigid shell 1, thus aligning the elastic foot 2 and the rigid shell 1 according to a specific relative position, making it convenient for the connector 3 to fix and assemble the elastic foot 2 and the rigid shell 1. The elastic foot 2 has multiple mounting holes 21 extending through its thickness direction. The connector 3 extends into the mounting holes 21, and the connector 3 includes at least a connecting section 31 that can be connected to the rigid shell 1, an extension section 32 covered by the elastic foot 2, and an end 33. When the connector 3 completes the fixed assembly of the rigid shell 1 and the elastic foot 2, there is a deformation gap 4 between the end face of the end 33 and the opening of the mounting hole 21. In other words, at this time, there is still a distance between the end face of the end 33 and the lower surface of the elastic foot 2. Even if the elastic foot 2 deforms when the humanoid robot walks, the probability of the end 33 directly contacting the ground is still low. This not only ensures the smooth walking of the humanoid robot, but also avoids damage to the connector 3 that could cause the rigid shell 1 and the elastic foot 2 to detach from each other.

[0033] like Figure 6 , Figure 8 As shown, the mounting hole 21 includes a first hole segment 211, a second hole segment 212, and a third hole segment 213. Taking the illustrated direction as an example, the first hole segment 211, the second hole segment 212, and the third hole segment 213 are arranged concentrically and coaxially from bottom to top. The inner diameter of the first hole segment 211 is larger than the inner diameter of the second hole segment 212, the inner diameter of the third hole segment 213 is larger than the inner diameter of the second hole segment 212, and the inner diameter of the third hole segment 213 is smaller than the inner diameter of the first hole segment 211. This forms a first stepped surface 214 between the first hole segment 211 and the second hole segment 212, and a second stepped surface 215 between the second hole segment 212 and the third hole segment 213.

[0034] In the above structure, the specific position where the protrusion 12 and the elastic foot 2 form a positioning fit is not limited. A groove structure for positioning the protrusion 12 can be formed at any position on the elastic foot 2, and the position of the mounting hole 21 is different from the position of the protrusion 12. In this embodiment, the protrusion 12 extends into the third hole segment 213, and the end face of the protrusion 12 abuts against the second step surface 215. The outer wall of the protrusion 12 fits against the inner wall of the third hole segment 213, thereby forming a positioning fit between the protrusion 12 and the elastic foot 2 in both the transverse and longitudinal directions. Furthermore, as... Figure 7 , Figure 8 As shown, the interior of the protrusion 12 is hollow, and the hollow portion continues to extend inward. At this time, the mounting hole 21 is connected to the interior of the protrusion 12, and at least a portion of the connecting section 31 can extend into the protrusion 12 and connect with it.

[0035] Specifically, the connecting section 31 includes a threaded connecting section 311 and a smooth connecting section 312. The threaded connecting section 311 passes through the protrusion 12 and is threadedly connected to other parts of the rigid housing 1. The smooth connecting section 312 is fitted inside the protrusion 12. Here, "fitted" means that the outer diameter of the smooth connecting section 312 is approximately equal to the inner diameter of the hollow interior of the protrusion 12.

[0036] Correspondingly, the number of connectors 3 and the number of mounting holes 21 correspond to the number of protrusions 12, and there are also multiple of them. The mounting holes 21 are distributed in the front, middle and rear parts of the elastic foot sole 2.

[0037] During assembly, the connector 3 passes through the first hole section 211 and the second hole section 212 in sequence, and enters the protrusion 12 in the third hole section 213 to be fixedly assembled with the rigid shell 1. Specifically, the threaded connection section 311 is threadedly connected to the rigid shell 1, which includes threaded connection to the rigid shell 1 other than the protrusion 12, and also includes partial threaded connection to the hollow interior of the protrusion 12, without any specific limitation; the smooth connection section 312 abuts against the hollow interior of the protrusion 12 of the rigid shell 1, the outer wall of the extension section 32 is smooth, it is located in the second hole section 212, and thus abuts against the elastic foot 2, and the end 33 abuts against the first step surface 214.

[0038] To increase the contact area between the end 33 and the first stepped surface 214, the connector 3 includes an enlarged diameter portion 34. The outer diameter of the enlarged diameter portion 34 is greatly increased. It can be separately set from the connecting section body 31 or integrally set with the connecting section body 31, and there is no specific limitation. In this embodiment, the two are separately set, and the outer diameter of the enlarged diameter portion 34 is equivalent to the inner diameter of the first hole section 211. It is clamped between the end 33 and the first stepped surface 214. By using the enlarged diameter portion 34 to abut against the first stepped surface 214, the damage to the elastic foot 2 caused by the excessive pressure of the end 33 is greatly reduced, the service life of the elastic foot 2 is extended, and the end 33 is prevented from entering or passing through the second hole section 212, which would prevent the connector 3 from clamping the elastic foot 2.

[0039] like Figure 1 , Figure 2 As shown, the bottom of the rigid housing 1 is hollowed out to form an inspection port 13. The position of the inspection port 13 corresponds to the plug-in port of the motor assembly, so the motor assembly can be inspected and maintained simply by removing the elastic foot 2, which is convenient.

[0040] In this embodiment, the elastic foot sole 2 is made of rubber. In order to reduce the overall weight of the foot structure and to increase the elasticity of the elastic foot sole 2, a honeycomb-shaped perforated structure 35 is formed inside the elastic foot sole 2, that is, the upper part of the elastic foot sole 2 near the rigid shell 1. The honeycomb-shaped perforated structure 35 extends to the front, middle and rear of the elastic foot sole 2, avoiding the position of the mounting hole 21.

[0041] To provide anti-slip functionality, anti-slip grooves 36 are formed on the bottom of the elastic foot sole 2. To protect the rigid shell 1, an upwardly and inwardly extending edging 22 is formed at the front of the elastic foot sole 2. This edging 22 prevents the foot structure from being kicked by the external environment, thus avoiding damage to components such as the motor assembly. To further protect the motor assembly, upper retaining edges 14 extend upwards from both sides of the rigid shell 1. These retaining edges 14 correspond to the installation position of the motor assembly, preventing impacts from external objects and providing some support and fixation for the motor assembly.

[0042] A humanoid robot includes a torso, upper limbs, and legs. The foot structure of the above-mentioned structure is connected to the legs. The specific connection method can be existing technology and will not be described in detail.

[0043] The above specific embodiments are used to explain and illustrate the present utility model, and are not intended to limit the present utility model. Any modifications and changes made to the present utility model within the spirit and scope of the claims shall fall within the protection scope of the present utility model.

Claims

1. A humanoid robot foot structure, characterized by, include: The rigid housing (1) has a cavity (11) formed in the upper part for accommodating the motor assembly and a protrusion (12) protruding from its lower surface in the lower part. The elastic foot (2) covers at least the lower surface of the rigid shell (1), forms a positioning fit with the protrusion (12), and has a plurality of mounting holes (21) extending through its thickness direction. The connector (3) extends into the mounting hole (21) and includes at least a connecting section (31) that can be connected to the rigid housing (1), an extension section (32) covered by the elastic foot (2), and an end (33).

2. The anthropomorphic robotic foot structure of claim 1, wherein: The mounting hole (21) includes a first hole segment (211), a second hole segment (212) and a third hole segment (213), the protrusion (12) extends into the third hole segment (213) to form a positioning fit with the elastic foot sole (2), and the protrusion (12) is hollow inside.

3. The humanoid robot foot structure according to claim 2, characterized in that: The first hole segment (211), the second hole segment (212), and the third hole segment (213) are arranged concentrically and coaxially.

4. The humanoid robot foot structure according to claim 2, characterized in that: The inner diameter of the first hole segment (211) is larger than the inner diameter of the second hole segment (212) to form a first stepped surface (214) between the first hole segment (211) and the second hole segment (212), and the connector (3) includes an enlarged diameter portion (34) that abuts against the first stepped surface (214).

5. The humanoid robot foot structure according to claim 4, characterized in that: The inner diameter of the third hole section (213) is greater than the inner diameter of the second hole section (212) and less than the inner diameter of the first hole section (211); there is a deformation gap (4) between the end face of the end head (33) and the opening of the mounting hole (21).

6. The humanoid robot foot structure according to claim 4, characterized in that: The enlarged diameter section (34) is separately disposed from the connecting section body (31), and its outer diameter is equivalent to the inner diameter of the first hole section (211).

7. The humanoid robot foot structure according to claim 2, characterized in that: The connecting section body (31) includes a threaded connecting section (311) and a smooth connecting section (312). The threaded connecting section (311) passes through the protrusion (12) and is threadedly connected to the rigid shell (1). The smooth connecting section (312) is fitted inside the protrusion (12).

8. The humanoid robot foot structure according to claim 1, characterized in that: The bottom of the rigid housing (1) is hollowed out to form an inspection port (13), which corresponds to the plug-in port of the motor assembly.

9. The humanoid robot foot structure according to claim 1, characterized in that: The elastic foot sole (2) has a honeycomb hollow structure (35) inside, and anti-slip texture (36) is formed at the bottom of the elastic foot sole (2); the elastic foot sole (2) is made of rubber; there are multiple connectors (3), and the number of mounting holes (21) corresponds to the number of connectors (3), which are distributed in the front, middle and rear of the elastic foot sole (2).

10. A humanoid robot comprising a torso, upper limbs, and legs, characterized in that: The foot structure according to any one of claims 1-9 is connected to the leg.

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