A vibration-damping robot foot structure

Abstract

The utility model provides a kind of damping robot foot structure.The utility model includes pressure foot bottom, bionic skeleton, bionic skeleton is located the top of pressure foot bottom, the both ends of bionic skeleton are connection end and support end respectively, connection end is fixedly connected in the end part of pressure foot bottom, arch section is equipped on bionic skeleton, arch section is located between connection end and support end, arch section arches on pressure foot bottom, support end is abutted on pressure foot bottom side wall;Connection part is equipped on bionic skeleton, and connection part is used to connect bionic joint spare, it has stronger foot buffering performance.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular, to a vibration-damping robot foot structure. Background Technology

[0002] With the development of artificial intelligence and bodybuilding technology, bipedal bodybuilding robots have gradually entered the market. During walking, running, and even jumping, the soles of their feet need to effectively absorb impact vibrations to avoid damage to the robot's electronic components, joint motors, and structural parts. Among the existing foot vibration reduction solutions for bipedal bodybuilding robots, Chinese invention patent CN106828657A discloses a two-stage vibration reduction ankle-foot integrated parallel low-impact walking foot mechanism and control method. Although this technical solution can reduce walking impact through two-stage parallel vibration reduction and active control, it has the drawbacks of complex structure and large added weight, making it unsuitable for long-term exercise scenarios. Another solution is a variable-length humanoid robot vibration-reducing foot disclosed in Chinese invention patent CN114506401A. Its technical solution improves terrain adaptability through a circular arc-shaped foot end structure, but the foot's cushioning performance is limited and it is difficult to adapt to large impact loads.

[0003] In existing technologies, the feet of bipedal robots generally suffer from insufficient cushioning performance, failing to effectively absorb the large impact loads generated during walking, running, and jumping. This results in impact vibrations acting directly on the robot body, affecting the service life of related components. Therefore, there is an urgent need for a foot vibration damping structure with a reasonable structure and reliable cushioning effect to solve the technical problem of insufficient cushioning performance in the feet of existing bipedal robots. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide a vibration-damping robot foot structure, which has strong foot cushioning performance.

[0005] To solve the above-mentioned technical problems, the technical solution of this utility model is as follows: A vibration-damping robot foot structure includes a pressure-bearing foot sole and a bionic skeleton. The bionic skeleton is located above the pressure-bearing foot sole, and the two ends of the bionic skeleton are a connecting end and a supporting end, respectively. The connecting end is fixedly connected to the end of the pressure-bearing foot sole. The bionic skeleton has an arched section located between the connecting end and the supporting end. The arched section arches over the pressure-bearing foot sole, and the supporting end abuts against the side wall of the pressure-bearing foot sole. The bionic skeleton is provided with a connecting part, which is used to connect bionic joint components.

[0006] Through the above technical solution, the bionic skeleton is equipped with an arched section and adopts a bionic bow-shaped design. It mainly generates a composite deformation of vertical compression at the top of the bow and forward extension and contraction at the toes under the impact of large loads (such as jumping), which dissipates the impact vibration and ensures the structural toughness. Under vertical impact loads, the supporting end of the bionic skeleton undergoes horizontal sliding deformation with the side wall of the foot bearing the pressure, dissipating the impact. The supporting end of the bionic skeleton can also slide and rub horizontally with the side wall of the foot bearing the pressure during vibration reduction, absorbing and dissipating the impact energy. Therefore, it has strong foot cushioning performance.

[0007] Preferably, the connecting end is integrally formed at the end of the pressure foot.

[0008] Through the above technical solution, on the one hand, the pressure-bearing foot and the bionic skeleton can be integrally molded without the need for additional connecting structures, making the manufacturing process simpler; on the other hand, it can effectively improve the connection stability between the connecting end and the pressure-bearing foot.

[0009] Preferably, the support end is provided with a first arc-shaped flange, and the folding direction of the first arc-shaped flange is opposite to the side of the bottom of the pressure foot.

[0010] By using the above technical solution, the first arc-shaped flange can be set to form an arc-shaped surface at the end of the support end, which can effectively improve the wear resistance between the support end and the bottom of the pressure foot.

[0011] Preferably, the support end has a notch, and the support end with the notch is divided into two support pieces.

[0012] Through the above technical solution, two support plates are formed at the ends of the bionic skeleton, that is, the toe-separated design is adopted. While ensuring the support rigidity of the entire foot structure, the lateral torsional rigidity of the bionic skeleton is reduced, allowing the support end of the foot structure to have a certain torsional deformation during walking. This makes the bottom of the foot structure adapt to complex road conditions and reduces the robot's lateral swaying and "twisted ankle" impact.

[0013] Preferably, each of the support pieces has the first arc-shaped flange at its end.

[0014] By using the above technical solution, the first arc-shaped flange can be set so that the end of each support piece forms an arc-shaped surface, which can further enhance the wear resistance between the support end and the bottom of the pressure foot.

[0015] Preferably, the inner wall of the notch has an arc-shaped sidewall.

[0016] Through the above technical solution, the arc-shaped sidewall of the notch can reduce the stress concentration formed by the arc-shaped sidewall when the two support plates deform, thus making the structural stability of the support plates higher.

[0017] Preferably, the end of the pressure foot near the support end is provided with a second arc-shaped flange, and the second arc-shaped flange is turned up in a direction close to the side of the bionic skeleton.

[0018] Through the above technical solution, in actual use, firstly, a foamed shock-absorbing layer will be placed under the pressure foot, and the second arc-shaped flange can minimize the damage to the foamed shock-absorbing layer caused by the end of the pressure foot; secondly, the second arc-shaped flange can also limit the extreme sliding position of the support end to a certain extent, and improve the overall stability of use.

[0019] Preferably, the connecting part includes a first connector and a second connector, wherein the first connector is located on the side of the second connector closer to the connecting end; the bionic joint includes a first joint rod and a second joint rod; The first connector includes a first mounting base, and the first joint rod is rotatably connected to the first mounting base; The second connector includes a second mounting base, and the second joint rod is connected to the second mounting base via a cross-hinged assembly.

[0020] Through the above technical solution, the cross-hinged assembly bears the main load, while the rotational connection between the first joint rod and the first mounting base bears a small portion of the load and plays a role in pulling and adjusting the foot posture. This allows the main and secondary interfaces to simulate the torsional and swaying degrees of freedom of the human foot and ankle joint. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of an embodiment; Figure 2 This is a side view structural diagram of an embodiment; Figure 3 This is a schematic diagram of the installation structure between the cross-hinged assembly and the second mounting base.

[0022] Reference numerals: 1. Pressure-bearing foot sole; 2. Bionic skeleton; 21. Connecting end; 22. Arched section; 23. Supporting end; 3. First arc-shaped flange; 4. Notch; 5. Arc-shaped sidewall; 6. Second arc-shaped flange; 7. Connecting part; 71. First connecting piece; 711. First mounting base; 72. Second connecting piece; 721. Second mounting base; 8. Bionic joint component; 81. First joint rod; 82. Second joint rod; 9. Cross hinge assembly; 10. Support plate. Detailed Implementation

[0023] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings, so that the technical solution of this utility model can be more easily understood and mastered.

[0024] A vibration-damping robot foot structure includes a pressure-bearing foot sole 1 and a bionic skeleton 2.

[0025] The pressure-bearing sole 1 uses a flat, flat surface to ensure full contact with the shoe sole, uniformly bear pressure, and ensure excellent support.

[0026] The bionic skeleton 2 is located above the pressure foot 1. The two ends of the bionic skeleton 2 are a connecting end 21 and a supporting end 23, respectively. The connecting end 21 is fixedly connected to the end of the pressure foot 1. The connecting end 21 and the end of the pressure foot 1 are preferably made by an integral molding process.

[0027] The bionic skeleton 2 adopts a bionic bow-shaped design. That is, the bionic skeleton 2 is provided with an arched section 22, which is located between the connecting end 21 and the supporting end 23, and the arched section 22 arches on the bottom of the pressure foot 1.

[0028] The support end 23 is provided with a first arc-shaped flange 3, and the flange 3 is turned up in a direction away from the side of the pressure foot bottom 1.

[0029] The support end 23 abuts against the side wall of the bearing foot 1.

[0030] The support end 23 has a notch 4, and the support end 23 with the notch 4 is divided into two support plates 10. Each support plate 10 has the first arc-shaped flange 3 at its end. That is, the toes of the bionic skeleton 2 adopt a split toe design, which reduces the lateral torsional stiffness of the arch of the foot while ensuring the foot support stiffness. It allows the forefoot to have a certain torsional deformation during walking, so that the sole of the foot can adapt to complex road conditions and reduce the robot's lateral swaying and "twisted ankle" impact.

[0031] An arc-shaped sidewall 5 is provided on the inner sidewall of the gap 4.

[0032] The pressure-bearing foot 1 has a second arc-shaped flange 6 at the end near the support end 23. The flange 6 is turned up towards the side of the bionic skeleton 2. That is, the front end of the flat plate is designed to curve upwards. The upward curve of the front end limits the forward sliding of the toes of the bionic skeleton 2 under extreme impact load, ensuring structural stability and forming a safety bottom.

[0033] In addition, the bionic skeleton 2 is provided with a connecting part 7, which is used to connect the bionic joint 8.

[0034] The connecting part 7 includes a first connecting member 71 and a second connecting member 72, with the first connecting member 71 located on the side of the second connecting member 72 near the connecting end 21; the bionic joint member 8 includes a first joint rod 81 and a second joint rod 82; the first connecting member 71 includes a first mounting base 711, with the first joint rod 81 rotatably connected to the first mounting base 711; the second connecting member 72 includes a second mounting base 721, with the second joint rod 82 connected to the second mounting base 721 via a cross hinge assembly 9.

[0035] The structure of the cross-hinged assembly 9 is as follows: Figure 3 As shown, it is provided with two intersecting hinge shafts, one of which is hinged to the second mounting base 721.

[0036] In practical use, a foamed shock-absorbing layer and a rubber layer are placed under the pressure-bearing sole 1, and a fully wrapped upper covers the entire foot structure. The foamed shock-absorbing layer uses sports shoe foamed shock-absorbing materials, which work in conjunction with the bionic skeleton 2 to achieve composite shock absorption. The foamed shock-absorbing layer can also filter high-frequency impacts during walking, allowing for a certain degree of angular deformation between the sole and the ground, enhancing ground adaptability. The rubber layer's main function is to prevent slipping and wear, and it also plays a role in composite shock absorption. The fully wrapped upper covers the entire shock-absorbing skeleton, eliminating interference from foreign objects, ensuring performance, and extending the foot's service life.

[0037] Of course, the above are just typical examples of this utility model. In addition, this utility model may have many other specific implementation methods. All technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of protection claimed by this utility model.

Claims

1. A vibration-damping robot foot structure, characterized in that: The device includes a pressure-bearing foot (1) and a bionic skeleton (2). The bionic skeleton (2) is located above the pressure-bearing foot (1). The two ends of the bionic skeleton (2) are a connecting end (21) and a supporting end (23), respectively. The connecting end (21) is fixedly connected to the end of the pressure-bearing foot (1). The bionic skeleton (2) is provided with an arched section (22). The arched section (22) is located between the connecting end (21) and the supporting end (23). The arched section (22) arches up on the pressure-bearing foot (1). The supporting end (23) abuts against the side wall of the pressure-bearing foot (1). The bionic skeleton (2) is provided with a connecting part (7), which is used to connect the bionic joint (8).

2. The vibration-damping robot foot structure according to claim 1, characterized in that: The connecting end (21) is integrally formed at the end of the pressure foot (1).

3. The vibration-damping robot foot structure according to claim 1, characterized in that: The support end (23) is provided with a first arc-shaped flange (3), and the first arc-shaped flange (3) is turned up in a direction away from the side of the pressure foot bottom (1).

4. The vibration-damping robot foot structure according to claim 3, characterized in that: The support end (23) is provided with a notch (4), and the support end (23) with the notch (4) is divided into two support pieces (10).

5. The vibration-damping robot foot structure according to claim 4, characterized in that: Each of the support pieces (10) is provided with the first arc-shaped flange (3) at its end.

6. The vibration-damping robot foot structure according to claim 5, characterized in that: The inner wall of the notch (4) is provided with an arc-shaped sidewall (5).

7. The vibration-damping robot foot structure according to claim 1, characterized in that: The pressure foot (1) is provided with a second arc-shaped flange (6) at the end near the support end (23), and the second arc-shaped flange (6) is turned up in the direction close to the side of the bionic skeleton (2).

8. A vibration-damping robot foot structure according to any one of claims 1-7, characterized in that: The connecting part (7) includes a first connecting member (71) and a second connecting member (72), wherein the first connecting member (71) is located on the side of the second connecting member (72) near the connecting end (21); the bionic joint (8) includes a first joint rod (81) and a second joint rod (82); The first connector (71) includes a first mounting base (711), and the first joint rod (81) is rotatably connected to the first mounting base (711); The second connector (72) includes a second mounting base (721), and the second joint rod (82) is connected to the second mounting base (721) via a cross hinge assembly (9).

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