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CN-224225181-U - Self-adaptive foot and humanoid robot

CN224225181UCN 224225181 UCN224225181 UCN 224225181UCN-224225181-U

Abstract

The utility model provides a self-adaptive foot (100) and a humanoid robot, which relate to the field of robots, wherein the self-adaptive foot (100) is applied to the humanoid robot and comprises a sole part (1), a middle arch (2) which is arranged on the sole part (1) and is used for being connected with the lower leg part of the humanoid robot, a front arch (3) and a rear arch (4) which are respectively arranged at the front end and the rear end of the sole part (1) and are respectively hinged with the sole part (1) and the middle arch (2), and a first leaf spring (5) and a second leaf spring (6) which are respectively arranged at the front end and the rear end of the sole part (1) and are respectively fixedly connected with the sole part (1) and the middle arch (2), wherein the sole part (1), the middle arch (2), the front arch (3) and the rear arch (4) form a quadrilateral structure together from the side of the self-adaptive foot (100).

Inventors

  • Request for anonymity
  • Request for anonymity
  • Request for anonymity

Assignees

  • 深圳赛博格机器人有限公司

Dates

Publication Date
20260512
Application Date
20250623

Claims (10)

  1. 1. An adaptive foot (100) for use with a humanoid robot, comprising: a sole part (1); a mid-arch (2) located above the sole portion (1); A front arch (3) and a rear arch (4) which are respectively arranged at the front end and the rear end of the sole part (1), wherein the two ends of the front arch (3) and the two ends of the rear arch (4) are respectively hinged with the sole part (1) and the middle arch (2), and The foot sole comprises a first plate spring (5) and a second plate spring (6) which are respectively arranged at the front end and the rear end of a foot sole part (1), wherein the two ends of the first plate spring (5) and the two ends of the second plate spring (6) are fixedly connected with the foot sole part (1) and a middle arch (2) respectively, and the foot sole part (1), the middle arch (2), a front arch (3) and a rear arch (4) form a quadrilateral structure together.
  2. 2. The adaptive foot (100) according to claim 1, wherein the sole portion (1) comprises: a baseplate (11), a toe assembly (12) and a heel (13) fixedly arranged on the baseplate (11); -said toe-assembly (12) is configured to be hinged with said front arch (3) and to be solidly connected with said first leaf spring (5); the heel (13) is configured to be hinged with the rear arch (4) and to be fixedly connected with the second leaf spring (6).
  3. 3. The adaptive foot (100) of claim 2, wherein the toe assembly (12) comprises a console (121) and a connector (122), the console (121) being fixedly attached to the baseplate (11), the connector (122) being hinged to the console (121), the front arch (3) being hinged to the console (121), the first leaf spring (5) being fixedly attached to the connector (122).
  4. 4. The adaptive foot (100) according to claim 1, wherein the front arch (3) and the rear arch (4) each form an acute angle with the sole portion (1), and wherein the quadrilateral is trapezoidal.
  5. 5. The adaptive foot (100) according to claim 1, wherein the second leaf spring (6) is a bent plate.
  6. 6. The adaptive foot (100) according to claim 1, wherein the front arch (3) has a first lightening hole (33) and the rear arch (4) has a second lightening hole (43).
  7. 7. The adaptive foot (100) according to claim 2, wherein the number of the front arch (3) and the toe assembly (12) is two, the number of the rear arch (4) is two and the number of the rear heel (13) is one.
  8. 8. The adaptive foot (100) according to claim 7, wherein two of said front arches (3) are of unitary construction and two of said rear arches (4) are of unitary construction.
  9. 9. The adaptive foot (100) according to claim 7, wherein the number of first leaf springs (5) is two, and wherein two first leaf springs (5) are respectively arranged side by side with two front arches (3).
  10. 10. Humanoid robot, characterized by comprising an adaptive foot (100) according to any one of claims 1-9.

Description

Self-adaptive foot and humanoid robot Technical Field The utility model relates to the field of robots, in particular to a self-adaptive foot and a humanoid robot. Background At present, the foot of the humanoid robot is taken as an important component part of the humanoid robot in the work and life of people, the whole body of the humanoid robot can bear the weight, the foot can bear larger impact force in the process of completing the actions of walking, jumping and the like, in addition, the humanoid robot can face the challenge of uneven pavement pits, the humanoid robot is extremely easy to topple when walking on uneven pavement pits, however, the current humanoid robot is limited by the foot structure, and the humanoid robot can only walk on flat pavement, so that the pavement environment adaptability of the humanoid robot is greatly limited, and the popularization and the application of the humanoid robot are not facilitated. Disclosure of utility model The utility model aims to provide a self-adaptive foot and a humanoid robot, which can adapt to non-flat pavement. In a first aspect, embodiments of the present utility model provide an adaptive foot (100) for use with a humanoid robot, comprising: a sole part (1); a mid-arch (2) located above the sole portion (1); A front arch (3) and a rear arch (4) which are respectively arranged at the front end and the rear end of the sole part (1), wherein the two ends of the front arch (3) and the two ends of the rear arch (4) are respectively hinged with the sole part (1) and the middle arch (2), and The foot sole comprises a first plate spring (5) and a second plate spring (6) which are respectively arranged at the front end and the rear end of a foot sole part (1), wherein the two ends of the first plate spring (5) and the two ends of the second plate spring (6) are fixedly connected with the foot sole part (1) and a middle arch (2) respectively, and the foot sole part (1), the middle arch (2), a front arch (3) and a rear arch (4) form a quadrilateral structure together. In some embodiments, the sole portion (1) comprises: a baseplate (11), a toe assembly (12) and a heel (13) fixedly arranged on the baseplate (11); -said toe-assembly (12) is configured to be hinged with said front arch (3) and to be solidly connected with said first leaf spring (5); the heel (13) is configured to be hinged with the rear arch (4) and to be fixedly connected with the second leaf spring (6). In some embodiments, the toe assembly (12) comprises a bearing table (121) and a connector (122), wherein the bearing table (121) is fixedly connected to the bottom plate (11), the connector (122) is hinged to the bearing table (121), the front arch (3) is hinged to the bearing table (121), and the first plate spring (5) is fixedly connected to the connector (122). In some embodiments, the included angles between the front arch (3) and the rear arch (4) and the sole part (1) are acute angles, and the quadrangle is trapezoid. In some embodiments, the second leaf spring (6) is a bent plate. In some embodiments, the front arch (3) has a first lightening hole (33) and the rear arch (4) has a second lightening hole (43). In some embodiments, the number of the front arches (3) and the toe assemblies (12) are two, the number of the rear arches (4) is two and the number of the rear heels (13) is one. In some embodiments, the two front arches (3) are integrally formed and the two rear arches (4) are integrally formed. In some embodiments, the number of the first leaf springs (5) is two, and the two first leaf springs (5) are respectively distributed side by side with the two front arches (3). In a second aspect, embodiments of the present utility model also provide a humanoid robot comprising the adaptive foot (100) described above. Drawings In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. FIG. 1 is a schematic view of a first view of an adaptive foot according to an embodiment of the present utility model; FIG. 2 is a schematic view of a second view of the adaptive foot of FIG. 1; FIG. 3 is a schematic view of the external configuration of the adaptive foot of FIG. 2 with the pressure sensor removed; FIG. 4 is a schematic view of the sole portion of FIG. 1; FIG. 5 is a schematic view of the structure of the carrying platform in FIG. 4; FIG. 6 is a schematic view of the structure of the connecting head in FIG. 4; FIG. 7 is a schematic view of the heel of FIG. 4; FIG. 8 is a schematic view of the mid-bow of FIG. 2; FIG. 9 is another view of the mid-bow of FIG. 8; Fig