CN-224225182-U - Foot of humanoid robot

CN224225182UCN 224225182 UCN224225182 UCN 224225182UCN-224225182-U

Abstract

The utility model relates to the technical field of humanoid robots, in particular to a humanoid robot foot which comprises a shank, an adapter, a foot bow, a rear sole and a front sole; the foot of the traditional humanoid robot is split into three modules of an arch, a rear sole and a front sole, so that the real supporting phase, the swinging phase and the mutual conversion process of the two phases are better simulated, the gait of a real human is simulated, and the balance, the stability and the walking speed of the humanoid robot are improved. Meanwhile, by means of the first rotating shaft, the front and back foot lifting actions of the ankle joint of a real human can be simulated. By means of the second rotating shaft, the left and right foot skimming actions of the ankle joint of a real human can be simulated. The third rotating shaft enables the rear sole to rotate relative to the arch. The fourth rotating shaft enables the front sole to rotate relative to the arch. The adaptability of the foot of the humanoid robot to the terrain and the flexibility of the motion are improved, and the application scene is widened.

Inventors

ZHOU CHAONAN
LIU GUANGMING
LI LI
GU ZHIWEI
WANG JUNWEI
GONG LIN
ZHEN YI
QIU XINLIANG

Assignees

云港陪伴新智人(廊坊)科技有限公司

Dates

Publication Date: 20260512
Application Date: 20250627

Claims (10)

1. A humanoid robot foot, comprising: Shank bone; The adapter is rotationally connected with the bottom of the lower leg bone through a first rotating shaft; The foot bow is rotationally connected with the adapter seat through a second rotating shaft, and the axes of the second rotating shaft and the first rotating shaft are mutually perpendicular; The rear sole is rotationally connected with the rear side of the foot arch through a third rotating shaft, and the axes of the third rotating shaft and the first rotating shaft are mutually parallel; the front sole is rotationally connected with the front side of the foot arch through a fourth rotating shaft, and the axes of the fourth rotating shaft and the first rotating shaft are parallel to each other.
2. The humanoid robot foot of claim 1, further comprising: the rear torsion spring is sleeved on the third rotating shaft; and the front torsion spring is sleeved on the fourth rotating shaft.
3. The humanoid robot foot according to claim 1, wherein the rear side of the calf bone is provided with a first connection shaft; Further comprises: The linear drivers are two and are arranged in parallel, the fixed ends of the linear drivers are respectively arranged on the first connecting shaft, and the output ends of the linear drivers are respectively arranged on the second connecting shaft.
4. The humanoid robot foot according to claim 1, wherein the front sole is formed with a brake hole; Further comprises: And the brake is arranged at the front side of the foot arch, and the output shaft can be inserted into or separated from the braking hole so as to limit the relative rotation of the front sole and the foot arch or release the limit of the front sole.
5. The humanoid robot foot according to claim 1, wherein the rear sole is formed with a rear mounting hole; Further comprises: A rear pressure sensor mounted in the rear mounting hole; and the front pressure sensor is arranged in the front mounting hole.
6. The humanoid robot foot of claim 1, further comprising: And the inertial measurement unit is arranged on the foot arch.
7. The humanoid robot foot of claim 1, further comprising: a first contact switch mounted to a lower portion of the calf bone; And the second contact switch is arranged on the foot bow.
8. The humanoid robot foot according to claim 1, wherein the arch is a hollow structure.
9. The humanoid robot foot according to claim 1, wherein the ratio of the length of the forefoot to the length of the humanoid robot foot is 1/3, the forefoot being rotatable 0-30 ° with respect to the arch.
10. The humanoid robot foot of claim 1, further comprising: the fixing box is detachably arranged at the bottom of the foot bow, and the two opposite sides are respectively provided with a yielding hole; the bidirectional linear actuator is arranged in the fixed box; The two support plates are respectively arranged on two opposite sides of the fixed box, one support plate is fixedly connected with one output shaft of the bidirectional linear actuator, and the other support plate is fixedly connected with the other output shaft of the bidirectional linear actuator; The bidirectional linear actuator can drive the two supporting plates to extend out of the fixed box or retract into the fixed box.

Description

Foot of humanoid robot Technical Field The utility model relates to the technical field of humanoid robots, in particular to a humanoid robot foot. Background The normal gait of the human body should have a certain stability and rhythmicity. In normal gait, the gait is divided into two phases, a supporting phase and a swing phase. Typically, this phase is referred to as the supportive phase, beginning with the heel contacting the ground, transitioning to fifth and first metatarsal landing, and then toe off the ground. From the toe off the ground, to the heel contact the ground, this phase becomes the swing phase. At present, the foot of most humanoid robots adopts flat plates, so that the aim of separating toes and heels respectively cannot be realized, and the gait of a real human is difficult to restore. Disclosure of utility model The utility model provides a foot of a humanoid robot, which is used for solving the problems that the foot of the humanoid robot adopts a flat plate type, the aim of separating toes and heels respectively cannot be realized, and the gait of a real human is difficult to restore. The present utility model provides a humanoid robot foot comprising: Shank bone; The adapter is rotationally connected with the bottom of the lower leg bone through a first rotating shaft; The foot bow is rotationally connected with the adapter seat through a second rotating shaft, and the axes of the second rotating shaft and the first rotating shaft are mutually perpendicular; the rear sole is rotationally connected with the rear side of the foot bow through a third rotating shaft, and the axes of the third rotating shaft and the first rotating shaft are mutually parallel; The front sole is rotationally connected with the front side of the foot bow through a fourth rotating shaft, and the axes of the fourth rotating shaft and the first rotating shaft are mutually parallel. In some of these embodiments, further comprising: The rear torsion spring is sleeved on the third rotating shaft; The front torsion spring is sleeved on the fourth rotating shaft. In some of these embodiments, the posterior side of the calf bone is provided with a first connecting shaft; Further comprises: The linear drivers are two and are arranged in parallel, the fixed ends of the linear drivers are respectively arranged on the first connecting shaft, and the output ends of the linear drivers are respectively arranged on the second connecting shaft. In some of these embodiments, a braking hole is formed in the forefoot; Further comprises: The brake is arranged on the front side of the foot arch, and the output shaft can be inserted into or separated from the brake hole so as to limit the relative rotation of the front sole and the foot arch or release the limit of the front sole. In some embodiments, the rear sole is formed with a rear mounting hole; Further comprises: The rear pressure sensor is arranged in the rear mounting hole; and the front pressure sensor is arranged in the front mounting hole. In some of these embodiments, further comprising: and the inertial measurement unit is arranged on the foot arch. In some of these embodiments, further comprising: A first contact switch mounted on the lower portion of the lower leg bone; and the second contact switch is arranged on the foot bow. In some of these embodiments, the arch is a hollow structure. In some embodiments, the ratio of the length of the forefoot to the length of the foot of the humanoid robot is 1/3, and the forefoot can be rotated 0-30 ° relative to the arch. In some of these embodiments, further comprising: The fixing box is detachably arranged at the bottom of the foot bow, and the two opposite sides are respectively provided with a yielding hole; The bidirectional linear actuator is arranged in the fixed box; two support plates are respectively arranged on two opposite sides of the fixed box, wherein one support plate is fixedly connected with one output shaft of the bidirectional linear actuator, and the other support plate is fixedly connected with the other output shaft of the bidirectional linear actuator; the bidirectional linear actuator can drive the two support plates to extend out of the fixed box or retract into the fixed box. The foot of the humanoid robot has the beneficial effects that the foot of the humanoid robot is provided with the shank, the adapter, the arch, the rear sole and the front sole. The foot of the traditional humanoid robot is split into three modules of an arch, a back sole and a front sole, the aim of separating the front sole from the back sole can be well achieved, the real supporting phase, the swinging phase and the two-phase interconversion process can be better simulated, the gait of a real human can be simulated, and the balance, the stability and the walking speed of the humanoid robot during walking can be improved. Meanwhile, by means of the first rotating shaft, the front and back foot lifting actions of the ankle