126 results about "Robot leg" patented technology

The utility model provides a robot leg structure and a robot, and relates to the technical field of robots, the robot leg structure comprises a driver, a shear fork mechanism and a horizontal supporting platform, the driver is in driving connection with the control end of the shear fork mechanism, and the horizontal supporting platform is connected with the lifting end of the shear fork mechanism; the driver is used for driving the horizontal supporting platform to move in the vertical direction through the shear fork mechanism. Compared with a traditional multi-driver structure, lifting motion of the horizontal supporting platform can be achieved only through one driver, the number of the drivers and complexity of related control circuits are remarkably reduced, and therefore the manufacturing cost and debugging difficulty of the system are effectively reduced. Moreover, the shear fork mechanism can keep the horizontal state of the horizontal supporting platform in the whole lifting process, so that the posture of the upper body of the robot is more stable, and the operation precision or stability is prevented from being affected by inclination or shaking. In addition, due to the fact that the scissor fork mechanism and the driver are simple in structure, the maintenance requirement of the system is remarkably reduced.

The low-inertia small robot leg structure comprises a first connecting piece, a second connecting piece and a shank, the first connecting piece is provided with a first joint motor, the first joint motor is connected with the second connecting piece, and the axis of the first joint motor is perpendicular to the axis of the second connecting piece; a second joint motor is arranged on the second connecting piece, and a thigh clamping plate is connected to the second joint motor; a third joint motor is arranged between the thigh clamping plates, the shanks are rotationally arranged between the bottoms of the thigh outer clamping plates and the thigh inner clamping plates to form knee joints, and connecting rods are rotationally connected between the positions, lower than the knee joints, of the shanks and the third joint motor. According to the leg compact structure design suitable for the small robot, the number of transmission mechanisms at the knee joints is reduced, the rotational inertia of the legs of the robot is reduced, the energy consumption intensity is reduced under the condition that the battery energy of the small robot is low, and the standby time of the small robot is prolonged.

The application discloses a robot leg structure and a control method thereof. The structure comprises a hip joint module, a thigh module, a knee joint module, a shank module and a foot end module. A flat plate stopper is arranged on a structure connecting surface of each of the hip joint module, the thigh module, the knee joint module, the shank module and the foot end module, and the modules are connected based on the flat plate stopper. The hip joint module comprises a first driving unit, a second driving unit and a third driving unit. The first driving unit controls a roll freedom degree, the second driving unit controls a pitch freedom degree, and the third driving unit controls a yaw freedom degree. Driving axes of the first driving unit, the second driving unit and the third driving unit are perpendicular to each other and intersect at the same point. The knee joint module is driven based on a torque motor. A rotor of the torque motor is connected with the thigh module, and a stator of the torque motor is connected with the shank module. The robot leg structure has the advantages of improving motion stability, enhancing joint control precision and optimizing dynamic response capability.

The utility model discloses a robot foot sole, a robot leg and a robot. The foot sole comprises a foot sole supporting piece, a foot sole mounting piece and an elastic piece. The plantar supporting piece comprises a plantar supporting outer surface far away from one side of the robot and a plantar supporting inner surface close to one side of the robot, and a plantar supporting mounting part is arranged on the plantar supporting inner surface; the plantar mounting piece is detachably connected with the plantar supporting mounting part; the elastic piece is arranged in the sole supporting piece; the foot sole mounting piece is detachably connected with the foot sole supporting mounting part, so that the foot sole supporting piece is convenient to disassemble and assemble, the operation time is greatly shortened, and the maintenance efficiency is greatly improved; the elastic piece is arranged in the sole supporting piece, the mechanical damping function is achieved, the sole supporting piece can be made of a hard material, then the abrasion resistance of the sole supporting piece is improved, meanwhile, it is guaranteed that the sole has the good buffering performance through the arrangement of the elastic piece, and the selection contradiction problem of damping performance and durability in a traditional structure is solved.

The utility model discloses a leg structure with a vibration reduction function and a robot, and the leg structure comprises a leg assembly and further comprises a vibration reduction assembly; the leg assembly comprises a first rotating disc, a second rotating disc, a first connecting rod, a second connecting rod, a third connecting rod, a triangular plate and a fourth connecting rod, one end of the first rotating disc and one end of the second rotating disc are used for being connected with an external power source, the other end of the first rotating disc is hinged to one end of the first connecting rod, and the other end of the second rotating disc is hinged to one end of the second connecting rod; one end of a third connecting rod parallel to the first connecting rod is hinged to the middle of the second connecting rod, the other end of the third connecting rod is hinged to the first corner end of a triangular plate, the other end of the first connecting rod is hinged to the second corner end of the triangular plate, and the third corner end of the triangular plate is hinged to the middle of a fourth connecting rod. One end of the fourth connecting rod is connected with one end of the damping assembly, and the other end of the damping assembly is connected with the first connecting rod. Through ingenious combination of the damping assembly and the multi-connecting-rod leg assembly, effective hardware support is provided for efficient buffering of the leg structure.

The invention discloses a driving joint of a robot. The driving joint drives legs of the robot to achieve posture conversion. The driving joint comprises a speed reducer assembly, a stator shell, a stator assembly, a rotor assembly, a driving plate and a driving cover; a stator assembly and a rotor assembly which is accommodated in the stator assembly and can rotate relative to the stator assembly are fixed in the stator shell; a central gear is arranged at one end, facing the speed reducer assembly, of the rotor assembly; the speed reducer assembly comprises a planetary speed reducing mechanism which is in meshing transmission with the sun gear; the rotor assembly is arranged in an annular space formed by the stator assembly, and the projections of the speed reducer assembly, the driving plate and the driving cover in the axial direction are at least partially overlapped with the radial projection of the stator assembly; according to the driving joint for the robot, installation is convenient, the space utilization rate is extremely high, a wire harness can be arranged in the driving joint, compact layout is achieved, and motion interference is avoided.

The application relates to the technical field of robot equipment, and particularly discloses a high-load humanoid robot leg exoskeleton structure and a processing method thereof. The application comprises the following steps: S1, preliminary preparation and optimization: adopting a titanium alloy ingot as raw material, performing topology optimization and lightweight design on the leg exoskeleton structure based on CAE finite element analysis, and generating an optimized processing model; then performing forging or rolling treatment on the titanium alloy ingot to obtain a titanium alloy blank; S2, precision mechanical processing: clamping the titanium alloy blank, and sequentially performing rough machining, semi-finishing and finishing based on the optimized processing model to obtain a processed piece; S3, heat treatment and stress control; and S4, post-processing and detection. The humanoid robot leg exoskeleton structure can be used for high-dynamic and high-load humanoid robots, and has the advantages of light structure weight, high bearing efficiency, fast dynamic response and long fatigue life.

The application relates to a low-energy-consumption hexapod robot based on nonlinear rope geometric constraints and a foot end linearization compensation method thereof, and relates to the field of robot design. In order to solve the problem that the robot leg makes circular arc motion with the hip joint as the center, resulting in transverse displacement of the foot end and affecting the motion precision of the robot, the leg mechanism is arranged on both sides of the fuselage in six pairs and is symmetrically arranged left and right, three leg mechanisms on the same side are sequentially arranged from front to back and are arranged as front legs, middle legs and rear legs, each leg mechanism comprises a thigh, a shank and a foot which are sequentially connected, the thigh is rotatably installed on the fuselage through a hip joint shaft, the thigh and the shank are rotatably connected through a knee joint shaft, and the thigh and the shank form an inverted V shape, and the shank is a telescopic leg; the hip joint driving mechanism can drive the thigh to rotate around the Z axis to control the front and back swing of the thigh; the knee joint driving mechanism can transmit power in the process of the front and back swing of the thigh, convert the rotary motion of the thigh into the extension and contraction motion of the shank, and correct the motion track of the foot end.

The control device (10) according to this disclosure switches parameters that affect the ground reaction force at the feet of the robot's (20) legs (22) in response to a change in the robot's (20) gait pattern, and outputs control information used to control the legs (22) based on the parameters.

The invention discloses a robot leg and foot structure capable of reversing front and back based on double-connecting-rod transmission. The leg and foot structure comprises a thigh component, a hip joint, a shank component and a knee joint. The thigh component comprises a thigh component outer side piece and a thigh component inner side piece; the thigh component outer side piece and the thigh component inner side piece are fixedly connected, and other parts in the thigh component are enveloped by the thigh component outer side piece and the thigh component inner side piece; the hip joint is arranged at the upper end of the thigh component and is a rotational degree of freedom joint, and the knee joint is arranged at the lower end of the thigh component and is a rotational degree of freedom joint; the upper end of the shank component is of a three-axis hinged structure connected with the thigh component and the double-connecting-rod structure, the lower end of the shank component is a part making contact with the ground, and the position making contact with the ground is a semi-cylinder. The large-range forward and backward movement of the shank component relative to the thigh component is achieved through the double-connecting-rod structure, that is, the knee joint can bend forwards or backwards, and no dead point position exists.

The invention relates to the technical field of humanoid robots, and discloses a humanoid robot leg structure which comprises a hip structure and further comprises a thigh structure which comprises a rotating part and an extending part, the rotating part is connected with the hip structure, and the extending part is connected with the rotating part; the rotating part and the extending part are respectively used for driving the thigh to rotate and adjusting the length of the thigh; the knee structure is mounted on the extension part, can rotate relative to the thigh structure and can swing back and forth along the thigh structure; the shank structure is mounted on the knee structure and used for adjusting the length of the shank; the foot structure comprises an autorotation part, an adjusting part and a foot plate, the autorotation part is connected with the shank structure, the adjusting part is connected with the autorotation part, and the foot plate is connected with the adjusting part; according to the robot, more movement automation degrees, variable limb lengths and better bionic characteristics can be realized while compact structure and accurate control are ensured, and the movement performance and adaptive capacity of the robot are improved.

The invention relates to the technical field of advanced robot structures and driving, and discloses a half-horse robot leg structure integrated with a rapid tensioning mechanism, which comprises a thigh supporting component, a driving belt wheel assembly, a driven belt wheel assembly, a synchronous belt and a tensioning mechanism, the driving assembly mounting hole and the driven assembly mounting hole are formed in the thigh supporting component and are connected through a synchronous belt; the tensioning mechanism comprises a fixed base, an ejection screw, a tensioning sliding support and a tensioning wheel assembly. The fixed base is arranged in the thigh supporting component, a sliding hole is formed in the fixed base, the tensioning sliding support is arranged in the sliding hole in a sliding mode, the tensioning wheel assembly is connected with the tensioning sliding support, the ejection screw is in threaded connection with the tensioning sliding support, and the head of the ejection screw abuts against the thigh supporting component and right faces the tensioning mechanism maintenance hole. The ejection screw is rotated through the tensioning mechanism maintenance hole, the tensioning wheel assembly can be driven to move, and therefore the synchronous belt is tensioned or loosened.

This utility model relates to the field of robotics and discloses a narrow-legged robot. The narrow-legged robot includes a support plate with a baffle fixedly mounted on its top. A moving mechanism is provided on the support plate, and the moving mechanism includes a first hinge block. To achieve flexible and stable movement in complex terrain environments, this narrow-legged robot utilizes a moving mechanism that, in conjunction with the output of a first stepping motor, drives a connecting block to rotate around the first hinge block, enabling the robot to make initial directional adjustments. The output of a second stepping motor drives the second hinge block to rotate, which in turn causes a third hinge block to rotate, allowing for further angle changes in the robot's legs. The output of a third stepping motor drives a fourth hinge block, causing a support plate to rotate. Through the coordinated operation of the three stepping motors and each hinge block, the robot can flexibly adjust its posture and achieve stable movement in different terrains.

The utility model relates to the technical field of foot type robots, and discloses a robot leg structure and a foot type robot. The robot leg structure comprises a thigh rod piece, a shank rod piece and a shank power unit for driving the shank rod piece to rotate relative to the thigh rod piece, a containing cavity for fixing the shank power unit is formed in the thigh rod piece, and the shank power unit is arranged in the containing cavity. According to the leg structure of the robot, the shank power unit for driving the shank rod piece is arranged in the thigh rod piece, compared with a traditional structure in which the shank power unit and the thigh power unit are arranged side by side, the leg structure of the robot is small in occupied space and compact in structure, and the width of a robot body of the foot type robot is reduced; and therefore, the overall size of the foot type robot is more compact.

The invention discloses a leg mechanism and a robot, the leg mechanism comprises a thigh skeleton, a shank skeleton and a transmission assembly, and the thigh skeleton is provided with a first connecting part; the leg frame is provided with a second connecting part, and the second connecting part is rotationally connected to the first connecting part; the transmission assembly comprises a driving part, a first transmission part, a second transmission part and a transmission part, the driving part is arranged on the thigh skeleton, the first transmission part is connected to the output end of the driving part, the second transmission part is fixedly connected with the second connecting part, and the transmission part is wound on the first transmission part and the second transmission part; the driving part drives the first transmission part to drive the second transmission part to rotate, so that the shank skeleton moves relative to the thigh skeleton. By the adoption of the leg mechanism, the power transmission path is simple, the attenuation problem in the driving force transmission process can be effectively solved, the leg load capacity of the robot is improved accordingly, the connecting structure between the thigh skeleton and the shank skeleton is simple, design and machining are convenient, and the production cost can be reduced.

The present invention provides a leg for a bipedal robot with a simple structure, enabling the bipedal robot to walk well on two legs. [Solution] The leg for the bipedal robot comprises a base portion 10, a knee portion 50, a foot portion 90, an upper leg portion 30, and a lower leg portion 70. The upper leg portion 30 has a first parallel link mechanism that moves the knee portion 50 relatively parallel to the upper surface of the base portion 10 in the front-rear direction, and a second parallel link mechanism that moves the knee portion 50 relatively parallel to the upper surface of the base portion 10 in the left-right direction. The lower leg portion 70 has a third parallel link mechanism that moves the foot portion 90 relatively parallel to the knee portion 50 in the direction of travel while keeping the lower surface of the foot portion 90 horizontal, and a fourth parallel link mechanism that moves the foot portion 90 relatively parallel to the knee portion 50 in the left-right direction while keeping the lower surface of the foot portion 90 horizontal.

The utility model belongs to the related technical field of robots, and discloses a robot leg structure and a biped robot, a hip joint module in the leg structure comprises a side expansion driving module, a turnover driving module and a pitching driving module, one ends of the three modules are installed on a hip joint installation frame in a series connection mode, and the other ends of the three modules are installed on a hip joint installation frame. The other end of the connecting rod is connected with the thigh part; the knee joint module is located in the containing cavity of the thigh part, the knee joint module comprises a linear driving module, the fixed end of the linear driving module is rotationally connected with the upper portion of the thigh part, the movable end of the linear driving module is in transmission connection with the top of the shank part, and the linear driving module drives the shank part to do pitching motion through linear telescopic movement; the bottom of the shank part is hinged to the foot bottom part through a cross shaft structure, and the ankle joint module is arranged on the shank part and is in transmission connection with the foot bottom part so as to complete pitching and side stretching movement. The design of hybrid driving of the linear and rotary joint modules gives consideration to the requirements of high robustness and low energy consumption of the foot-type robot in a real scene.

The utility model discloses a leg structure of a robot, which belongs to the field of robots and can improve the moving stability of the robot and enable the robot to be easier to fall down by arranging an auxiliary leg component 4 outside a thigh component 2 and a shank component 3, and can overcome the defects in the prior art. The rehabilitation training device comprises a thigh mounting seat 1, at least two thigh components 2, at least two shank components 3 and at least one auxiliary leg component 4, the thigh assembly 2 comprises a thigh main body 21 and a thigh driving unit 22; the shank assembly 3 comprises a shank main body 31, a shank driving unit 32 and a shank moving unit 33; the auxiliary leg assembly 4 comprises an auxiliary leg main body 41, an auxiliary leg driving unit 42 and an auxiliary leg moving unit 43; a lower joint of the thigh main body 21 is provided with a connecting shaft 211; an upper joint of the auxiliary leg main body 41 is mounted on the connecting shaft 211; the auxiliary leg driving unit 42 comprises an auxiliary motor assembly 421, an auxiliary driving rod 422 and an auxiliary connecting rod 423 which are connected in sequence.

This invention provides a robot leg and ankle structure and a humanoid robot, comprising: a first motor, a second motor, a first telescopic rod, a second telescopic rod, a foot, a flexion mechanism, and a lateral movement mechanism; the first telescopic rod is mounted on the first motor; the second telescopic rod is mounted on the second motor; one end of the flexion mechanism is movably connected to the first telescopic rod, and the other end is movably connected to the foot; one end of the lateral movement mechanism is movably connected to both the second motor and the second telescopic rod, and the other end is fixedly connected to the foot; this application, through the direct drive of the first and second telescopic rods, greatly improves the accuracy of foot control, and simultaneously allows for adjustment of the foot's pitch and lateral movement directions by controlling the flexion and lateral movement mechanisms.

The invention relates to a robot leg mechanism and a robot, the robot leg mechanism comprises a leg assembly and a light-emitting assembly, the leg assembly comprises a shell, the shell is provided with a mounting cavity, a notch communicated with the mounting cavity is formed in the shell, the light-emitting assembly is arranged in the mounting cavity, and at least part of the light-emitting assembly is exposed out of the notch; therefore, light emitted by the light-emitting assembly can be transmitted to the outside of the shell. According to the robot leg mechanism, the light emitting effect is achieved, meanwhile, light emitted by the light emitting assembly can achieve the illumination effect, and the functions of the robot leg mechanism are enriched.

The utility model relates to the technical field of reuse clamps, and discloses a robot leg bone part reuse type clamp which comprises an operation face, the top of the operation face is fixedly connected with a clamping plate, a first sliding groove is formed in the middle of the right end of the clamping plate, and the right end of the outer wall of the first sliding groove is slidably connected with a first clamping groove. A large semicircular block is fixedly connected to the right end of the first clamping groove, a second sliding groove is formed in the middle of the right end of the large semicircular block, a second clamping groove is formed in the right end of the inner wall of the second sliding groove in a sliding mode, a small semicircular block is fixedly connected to the middle of the right end of the second clamping groove, and a movable column is fixedly connected to the rear end of the clamping plate. According to the clamp, the surface of a part extrudes the small semicircular block, then the large semicircular block rotates and moves, the small semicircular block is tightly attached to the surface of the part, meanwhile, the moving column moves in the sleeve till the part is clamped by the clamping plate, and the effect that the clamp can be tightly attached to the part in the part clamping process and cannot be loosened is achieved.

The utility model discloses a lower limb structure of a bionic humanoid robot, and aims to overcome the defects that the upper part of a leg structure of a robot is bloated, the inertia is large, and a force bearing arm is short. The thigh body and the shank body are hinged together, a thigh turnover seat is hinged to the upper portion of the thigh body, a knee joint assembly is installed on the thigh body and comprises a knee joint pusher and a knee joint connecting rod, the knee joint connecting rod is hinged to the shank body, and a knee joint ejector rod is hinged between the knee joint connecting rod and the thigh body; the knee joint pusher is hinged to the thigh body, and a telescopic rod of the knee joint pusher is hinged to the knee joint connecting rod. According to the bionic humanoid robot lower limb structure, the space utilization rate and mass inertia distribution are optimized, the upper portion is prevented from being bloated, and the bionic humanoid robot lower limb structure has good bionic performance, engineering practicability and expansibility.

The invention relates to a robot negative pressure suction cup foot bottom plate cavity and partition supporting partition. Comprising six panel bodies including an upper panel body, a lower panel body, a front panel body, a rear panel body, a left panel body and a right panel body of a bottom plate cavity, a plurality of sections of supporting partitions integrally connected with the upper panel body, the lower panel body, the left panel body and the right panel body, and touch sensors penetrating through the upper panel body, the lower panel body and the partitions. The vacuum generation system assembly, the robot leg connecting piece and the foot panel are attached to the upper portion of the robot negative pressure suction cup foot. And the rubber sponge is adhered to the bottom. A short gap is reserved between the supporting partition and the right plate body or the left plate body, the structural rigidity and the overall rigidity of the plate face are enhanced, meanwhile, the space integrity in a cavity is guaranteed, and airflow is smooth. When the cavity of the bottom plate is vacuumized or filled with air, the six surfaces of the bottom plate and the partitions play a role of supporting legs along with treading or lifting of the robot legs. And the sponge is compressed and released to form and release the grasping force to the wall surface. When the legs of the robot step down or lift up, the touch sensor is compressed and relaxed along with the sponge. During compression, the contact pin is lifted up, induction is performed before the sponge is completely compressed, and the controller is informed of compression in-place information. And when the sponge is relaxed, reverse triggering is carried out to inform the controller that the sponge is completely relaxed.

The utility model relates to the technical field of spring devices, in particular to a robot leg damping spring device. According to the technical scheme, the damping device comprises a damping base and further comprises a damping column, the damping column is detachably installed on the damping base, a connecting rod is slidably installed in the damping column, a connecting plate is fixedly installed at one end of the connecting rod, and a first spring is fixedly installed between the connecting plate and the damping base; an auxiliary mechanism for damping the damping base and the connecting plate is arranged on the damping base and comprises a buffer cavity formed in the damping column, and the buffer cavity is filled with hydraulic oil. The shock absorption effect is improved, object shaking is effectively reduced, the shock absorption curve is smoother, and maintenance is convenient.

This invention provides a motion control method and apparatus for a multi-legged robot. The method includes controlling the multi-legged robot to switch to a preset control mode when the force acting on the multi-legged robot changes. This invention solves the problem of motor idling and loss of control in multi-legged robots that are suspended in the air, a problem present in related technologies. It effectively controls the movement of the multi-legged robot's legs, improves the robot's intelligence, and reduces damage to the robot.

The utility model relates to the technical field of robots, in particular to a robot leg component and a robot, which comprise a first leg, a second leg, a first driving piece, a second driving piece, a transmission piece, a connecting rod and a connecting component, one end of the second leg part is hinged with the first leg part; the first driving piece comprises a first shell and a first output shaft, and the first shell is in transmission connection with the side face of the other end of the second leg; the second driving part and the first driving part are coaxially arranged, the second driving part comprises a second shell and a second output shaft, and the second output shaft is in transmission connection with the first shell; the transmission part is fixedly connected with the first output shaft; one end of the connecting rod is hinged to the first leg part, the other end of the connecting rod is hinged to the transmission part, and the end of the connecting rod and the first output shaft are eccentrically arranged; the connecting assembly is arranged on the second shell, and the connecting assembly is configured to be capable of being connected with a robot body. The robot leg assembly is simple in structure, light, flexible, easy to assemble and convenient to control.

A multi-legged robot (1) with a footplate safety device is described, comprising a torso and a plurality of robot legs, each projecting from the torso. Each robot leg has at least two proximity sensors configured to measure the distance of the respective leg to a foothold on the floor.

The invention discloses a wheel-foot robot leg telescoping mechanism and a lightweight design method, and relates to the technical field of program control robots, the wheel-foot robot leg telescoping mechanism comprises a machine body, the machine body is connected with a connecting rod through a first rotating shaft, the other end of the connecting rod is connected with a connecting seat through a second rotating shaft, and a driving motor, a driving wheel and a swingable auxiliary leg are integrated on the connecting seat; auxiliary wheels are arranged at the bottoms of the auxiliary legs, fixing grooves with electromagnetic locks are formed in the outer wall of the fuselage and used for storing and locking the auxiliary wheels, a high-speed moving mode and a high-trafficability mode are defined through the method, and the control unit collects road surface information in real time to control the driving motor and the driving assembly to complete unfolding and storing of the auxiliary wheels and fuselage posture adjustment. Through the highly-integrated storable leg mechanism and double-connecting-rod inclined layout, in combination with the gravity center track and zero moment point real-time pre-estimation regulation and control, smooth, stable and self-adaptive rapid switching between modes is achieved, and the problems that a traditional wheel-foot robot is heavy in structure, switching lags, stability is poor, and energy consumption is high are solved.

The utility model provides a robot leg structure and a robot, and relates to the technical field of robos.The robot leg structure comprises a driver, a transmission assembly, a horizontal supporting platform, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, and the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are sequentially hinged to form a quadrangle; the horizontal supporting platform is hinged to the end, away from the third connecting rod, of the second connecting rod, and the driver is used for driving the first connecting rod and the fourth connecting rod to synchronously rotate in opposite directions so as to drive the horizontal supporting platform to move in the vertical direction through the second connecting rod. The lifting motion of the horizontal supporting platform can be achieved only through one driver, and the number and the manufacturing cost of the drivers are reduced. Moreover, the mode that the first connecting rod and the fourth connecting rod synchronously rotate reversely can ensure that the horizontal supporting platform is always kept horizontal in the lifting process, so that the posture of the upper body of the robot is more stable, and the operation precision or stability is prevented from being influenced by inclination or shaking.

The invention discloses a foot bionic device based on a humanoid robot, and relates to the technical field of robots, the foot bionic device comprises a flange joint piece, a top carbon fiber sheet is integrally arranged at the bottom of the flange joint piece, and the flange joint piece and the top carbon fiber sheet form a connecting piece of a robot leg. Compared with the prior art, the robot has the advantages that the Z-shaped spring buffer structure and the multi-layer composite buffer design are designed, vertical impact force is converted into elastic deformation of components, impact energy is effectively absorbed and reduced, then the robot body structure is protected, the deformation degree can be automatically adjusted according to the ground hardness through the multi-layer buffer structure, the terrain adaptability is improved, and the service life of the robot is prolonged. The top carbon fiber sheet, the middle carbon fiber sheet and the bottom carbon fiber sheet are connected through bolts, the formed modular design facilitates replacement of connecting pieces, the maintenance cost is reduced, the maintenance time is shortened, the top carbon fiber sheet, the middle carbon fiber sheet and the bottom carbon fiber sheet are made of carbon fiber materials, the strength is guaranteed, meanwhile, light weight is achieved, and energy consumption of the robot is reduced.