CN109533081B

CN109533081B - Robot and foot structure thereof

Info

Publication number: CN109533081B
Application number: CN201811646488.XA
Authority: CN
Inventors: 熊友军; 刘梅春
Original assignee: Ubtech Robotics Corp
Current assignee: Beijing Youbixuan Intelligent Robot Co ltd; Ubtech Robotics Corp
Priority date: 2018-12-29
Filing date: 2018-12-29
Publication date: 2021-01-08
Anticipated expiration: 2038-12-29
Also published as: CN109533081A

Abstract

The invention belongs to the technical field of robots and aims to provide a robot and a foot structure thereof. According to the invention, on the premise of not greatly increasing the production cost and not complicating the structure of the foot, the buffer wall of the base plate is arranged to be of the middle concave structure, so that the middle part of the buffer wall of the base plate is not contacted with the connecting wall of the bottom plate, and the base plate is correspondingly deformed in the walking process of the foot main body, thereby further enhancing the absorption or buffering of the reaction impact force on the ground. The robot and the foot structure thereof have the advantages that the impact force absorption capacity is enhanced, and walking gait is more stable and natural.

Description

Robot and foot structure thereof

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a robot and a foot structure thereof.

Background

Besides having a shape similar to that of a human being, such as two arms, two legs, a trunk, a head and the like, the humanoid robot is characterized by having a flexible walking system and being capable of walking with two feet like a human being. It is known that the walking speed, stability and gait flexibility of the walking mechanism of the humanoid robot directly influence the working capacity and efficiency of the robot. In the walking process, the foot can produce the impact force with ground contact time, and this impact force is conveyed the truck through ankle joint on, leads to humanoid robot's gait unstable, takes place easily to rock, can lose balance and fall down even when serious, and these will directly lead to inside motor of robot, precision device etc. to receive the damage, so, the impact force to the foot when alleviating the walking is particularly important. However, the conventional robot has a poor impact absorption effect in the foot structure.

Disclosure of Invention

The invention aims to provide a foot structure of a robot, which is used for solving the technical problem of poor impact absorption effect of the foot of the robot.

In order to solve the technical problems, the invention adopts the technical scheme that: the foot structure of the robot comprises a foot main body and a switching bracket for driving the foot main body to move; the foot body includes:

the instep shell is provided with a cavity for mounting components, and the middle part of the instep shell is connected with the switching bracket;

the bottom plate is provided with a bearing wall and a connecting wall, and the bearing wall is connected to the instep shell and covers the cavity; and the number of the first and second groups,

the base plate is provided with a buffer wall and a ground contact wall which is in contact with the ground, the buffer wall is connected to the connecting wall of the bottom plate, and the buffer wall is of a middle concave structure in the front-back advancing direction of the foot.

Further, in the forward and backward traveling direction of the foot, the middle part of the buffer wall of the cushion plate and the corresponding two ends form a step with a low middle part and high ends.

Furthermore, a plurality of buffer bosses arranged in a clearance manner are convexly arranged on the buffer wall of the base plate, a plurality of limit grooves arranged in a clearance manner are arranged on the connecting wall of the base plate, and each buffer boss is accommodated in the corresponding limit groove.

Further, the top surface of each buffering boss is located on the same plane.

Furthermore, a plurality of counter bores are formed in the ground contact wall of the base plate, a plurality of first installation platforms are arranged on the connecting wall of the base plate in a protruding mode, screw holes are formed in the first installation platforms, the screw holes correspond to the counter bores one to one, and the base plate is sequentially inserted into the corresponding counter bores and the screw holes through connecting pieces to be connected to the base plate.

Furthermore, the backing plate is made of a buffer material, and the connecting piece is a meson head screw.

Further, an anti-skid structure is arranged on the ground contact wall of the base plate.

Furthermore, the component comprises a circuit board and a force sensor electrically connected with the circuit board, a second mounting table is convexly arranged on the middle part of the bearing wall of the bottom plate, and a mounting groove is formed in the second mounting table; the inner wall of the instep shell is provided with a mounting hole, one end of the force sensor is accommodated in the mounting groove, and the other end of the force sensor is accommodated in the mounting hole and is abutted against the switching support.

Furthermore, a first through hole is formed in the bottom of the mounting groove, and a second through hole capable of being communicated with the first through hole is formed in the grounding wall of the base plate.

The invention also aims to provide a robot, which comprises a leg part and the foot part structure of the robot, wherein the leg part is connected to the foot part main body through the adapting bracket.

According to the robot and the foot structure thereof provided by the invention, on the basis that the switching bracket connected with the leg part is connected to the middle part of the foot back shell, and the cushion plate has a buffering function and can absorb the reaction impact force of the ground, the cushion wall of the cushion plate is arranged to be of the middle concave structure on the premise that the cushion plate has the buffering function and can absorb the reaction impact force of the ground, so that the middle part of the cushion wall of the cushion plate is not contacted with the connecting wall of the bottom plate, the cushion plate is correspondingly deformed in the walking process of the foot main body, the absorption or the buffering of the reaction force of the ground is further enhanced, the balance and the shake of the robot are further ensured when the robot walks, and the walking gait of the foot is ensured to be more stable and natural.

Drawings

To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic perspective view of a foot structure of a robot according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of a foot structure of a robot according to an embodiment of the present invention;

FIG. 3 is a perspective exploded view of the foot structure of the robot in an embodiment of the present invention;

FIG. 4 is a cross-sectional view of the foot structure of the robot in an embodiment of the present invention;

FIG. 5 is an enlarged view of a portion of FIG. 4 at A;

FIG. 6 is a perspective view of a foot plate with force sensors mounted thereon in an embodiment of the present invention;

FIG. 7 is a perspective exploded view of the sole of the foot of FIG. 6;

FIG. 8 is a schematic perspective view of an upper plate at a certain viewing angle according to an embodiment of the present invention;

FIG. 9 is a cross-sectional view of the upper base plate from another perspective in an embodiment of the present invention;

fig. 10 is a schematic perspective view of a instep cover of a foot structure of a robot in an embodiment of the present invention.

Wherein the reference numbers in the drawings are as follows:

10-a switching bracket, 11-a connecting bracket, 12-a connecting lug and 20-a foot main body;

100-instep shell, 110-cavity, 120-mounting hole, 130-connecting groove and 140-connecting column;

200-foot plate, 210-bottom plate, 211-bearing wall, 2111-second mounting platform, 2112-mounting groove, 2113-first through hole, 212-connecting wall, 2121-limiting groove, 2122-first mounting platform, 2123-screw hole and 213-connecting hole;

220-backing plate, 221-buffer wall, 2211-buffer boss, 222-grounding wall, 2221-counter sink, 2222-second through hole and 2223-step;

400-connector/meson head screw, 500-antiskid structure, 600-circuit board, 700-force sensor.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the specific drawings and specific embodiments. In the drawings of the embodiments of the present invention, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions. It should be understood that the following description of specific embodiments is intended to illustrate and not to limit the invention.

It will be understood that when an element is referred to as being "fixed to" or "mounted to" or "provided on" or "connected to" another element, it can be directly or indirectly located on the other element. For example, when an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "length," "width," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or position based on the orientation or position shown in the drawings, are for convenience of description only, and are not to be construed as limiting the present disclosure.

Furthermore, the terms "first" and "second" are used for convenience of description only and are not to be construed as indicating or implying relative importance or implying any number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise. In general, the specific meanings of the above terms will be understood by those of ordinary skill in the art as appropriate.

The following describes in detail an implementation of a foot structure of a robot according to the present invention with reference to fig. 1 to 10.

As shown in fig. 1, the foot structure of the robot includes a foot body 20 and a transfer bracket 10 for moving the foot body 20. As shown in fig. 1, the adaptor bracket 10 includes a connecting frame 11 and connecting lugs 12 provided at both ends of the connecting frame 11. Generally, the connecting frame 11 is connected to the foot main body 20, and the connecting ears 12 are connected to both sides of the ankle to connect the leg and the foot. It will be appreciated that the transit bracket 10 can be linked to the movement of the foot main body 20 with respect to the leg by the ankle. Specifically, in the present embodiment, the foot main body 20 can swing back and forth, and can also swing left and right. Therefore, the foot walking of human can be basically simulated.

In the present embodiment, the foot main body 20 includes the instep case 100 and the foot board 200, wherein the foot board 200 includes a bottom plate 210 and a pad plate 220. As shown in fig. 3, the instep cover 100 forms a cavity 110, wherein the cavity 110 can be used to mount components such as a circuit board 600, a force sensor 700, and the like. As shown in fig. 1, the middle portion of the instep case 100 is connected to the adapter bracket 10, so that the gravity above the foot of the robot can be ensured to be concentrated in the middle of the foot main body 20 as much as possible, thereby being beneficial to ensuring the overall stability of the robot.

As shown in fig. 3 and 7, the base plate 210 is provided with a bearing wall 211 and a connecting wall 212, as the name implies, the bearing wall 211 is mainly used for supporting and bearing the gravity above the feet of the robot, and the connecting wall 212 is mainly used for connecting the backing plate 220, so that, generally, the base plate 210 is made of a rigid material, and particularly, the base plate 210 can be a hardware. As shown in fig. 3 and 4, the supporting wall 211 of the bottom plate 210 is connected to the instep casing 100, and the bottom plate 210 covers the cavity 110 to seal the cavity 110.

It will be appreciated that the size and shape of the load bearing walls 211 of the base plate 210 are adapted to the size and shape, respectively, of the opening of the cavity 110. Specifically, in the embodiment, in order to facilitate the connection of the bottom plate 210 to the instep casing 100, as shown in fig. 3, a connection post 140 is convexly disposed in the cavity 110 of the instep casing 100, a threaded hole (not shown) is formed on the connection post 140, a connection hole 213 is formed on the bottom plate 210, and the connection between the bottom plate 210 and the instep casing 100 can be achieved by sequentially inserting screws or screws into the connection hole 213 and the threaded hole.

As shown in fig. 7 to 9, the pad plate 220 is provided with a buffer wall 221 and a ground contact wall 222 contacting the ground. As shown in fig. 4 and 5, the buffer wall 221 of the pad 220 is connected to the connecting wall 212 of the base plate 210, and the buffer wall 221 has a central concave structure in the forward and backward traveling direction of the foot. In general, the wall surface of the ground contact wall 222 is flat to ensure stability. Thus, the foot main body 20 is in plane contact with the ground.

As can be understood from the above, when the adaptor bracket 10 is connected to the middle portion of the instep casing 100, the pad plate 220 is in plane contact with the ground, so as to ensure that the load borne by the foot main body 20 is concentrated on the middle portion of the foot plate 200, and on the premise that the pad plate 220 itself has the capability of absorbing the reaction impact force given by the ground, by setting the buffer wall 221 of the pad plate 220 to be a middle concave structure, that is, the middle portion of the buffer wall 221 of the pad plate 220 is not in contact with the connecting wall 212 of the base plate 210, so that when the foot main body 20 of the robot accelerates forward to walk backward or decelerates forward to deviate forward from the load gravity, the pad plate 220 can deform correspondingly in the forward and backward traveling direction of the foot, so as to absorb or buffer the reaction impact force of the ground, thereby ensuring that the trunk of the robot is always kept balanced, does not shake, and the gait of the foot is smooth, therefore, the service life of the robot foot is prolonged.

Further, as shown in fig. 4, 5 and 9, as an embodiment of the foot structure of the robot according to the present invention, in the forward and backward traveling direction of the foot, the middle portion of the buffer wall 221 of the pad 220 and the two ends of the pad 220 form a step 2223 with a low middle and a high two ends. Specifically, a slot (not shown) may be formed in the middle portion of the buffer wall 221 of the base plate 220, wherein, in order to further improve the walking stability of the foot, the major axis direction of the slot is the forward and backward traveling direction of the foot, and the minor axis direction of the slot is perpendicular to the forward and backward traveling direction of the foot.

Further, as a specific embodiment of the foot structure of the robot provided by the present invention, as shown in fig. 9, a plurality of buffering bosses 2211 are convexly provided on the buffering wall 221 of the pad plate 220, wherein the buffering bosses 2211 are arranged in a gap, that is, gaps exist between the buffering bosses 2211. Correspondingly, as shown in fig. 3, the connecting wall 212 of the bottom plate 210 has a plurality of limiting grooves 2121. Also, the respective limiting grooves 2121 are arranged at intervals. Each buffering boss 2211 is accommodated in the corresponding limiting groove 2121. In this way, each buffering boss 2211 can be limited in the limiting groove 2121, so as to prevent the backing plate 220 from twisting, which is beneficial to improving the connection firmness and stability between the backing plate 220 and the bottom plate 210; and secondly, the buffering and absorbing capacity of the reaction impact force of the base plate 220 on the ground is further improved, so that the gait stability of foot walking is further improved.

Further, as a specific embodiment of the foot structure of the robot provided by the present invention, the top surfaces of the buffering bosses 2211 in the base plate 220 are located on the same plane, that is, the top surfaces of the buffering bosses 2211 are flush with each other, which is beneficial to simplifying the structure of the foot plate 200, reducing the production cost, and ensuring the overall stability of the base plate 220 and the base plate 210 after installation, thereby improving the gait stability of foot walking.

As shown in fig. 8 and 9, as a specific embodiment of the foot structure of the robot according to the present invention, a plurality of countersunk holes 2221 are formed in the ground contact wall 222 of the pad plate 220. Correspondingly, as shown in fig. 3 to 5, a plurality of first mounting platforms 2122 are convexly disposed on the connecting wall 212 of the bottom plate 210, wherein each first mounting platform 2122 is provided with a screw hole 2123, and the screw holes 2123 correspond to the countersunk holes 2221 one to one. As shown in fig. 4 and 5, the pad plate 220 is sequentially inserted into the corresponding counter-sunk hole 2221 and the screw hole 2123 by the connection member 400, whereby the pad plate 220 is coupled to the base plate 210.

Typically, the backing plate 220 is made of a cushioning material. For example, the backing plate 220 may be a rubber product. Of course, in practice, the cushioning material is not limited to a rubber material. Accordingly, as shown in fig. 5, the connector 400 may be a head screw, which facilitates stable and reliable connection of the rubber pad 220 to the base plate 210. Specifically, the head screw 400 includes a head (not shown) with a washer and a screw (not shown) connected to the head, so that after the base plate 220 is mounted on the base plate 210, the head of the head screw 400 is located in the countersunk groove of the countersunk hole 2221, and the washer and the base plate 220 can be tightly pressed.

Further, as shown in fig. 2 and 8, as an embodiment of the foot structure of the robot provided by the present invention, in order to prevent the foot from slipping with the ground, the floor contact wall 222 of the pad 220 is provided with a slip prevention structure 500. In the present embodiment, the anti-slip structure 500 is an anti-slip groove formed on the ground-contacting wall 222. Of course, the structure of the anti-slip structure 500 is not limited to this, and for example, a layer of anti-slip layer or the like may be provided on the ground contact wall 222.

Further, as a specific embodiment of the foot structure of the robot provided by the present invention, as shown in fig. 3, the component includes a circuit board 600 and a force sensor 700 electrically connected to the circuit board 600, but actually, the component may also include other components. To facilitate the installation of the force sensor 700, as shown in fig. 4 and 7, a second installation platform 2111 is convexly disposed on a middle portion of the bearing wall 211 of the bottom plate 210, wherein an installation slot 2112 is disposed on the second installation platform 2111. Correspondingly, as shown in fig. 3 and 10, the inner wall of the instep case 100 is opened with a mounting hole 120. As shown in fig. 4 and 6, one end of the force sensor 700 is received in the mounting groove 2112, and the other end is received in the mounting hole 120 and abuts against the connecting frame 11 of the adaptor bracket 10. Thus, the force sensor 700 can be stably installed in the foot main body 20, and the force sensor 700 can accurately detect the force applied to each part of the foot main body 20, thereby accurately controlling the gait of the foot.

It should be noted that, as shown in fig. 10, in order to facilitate the connection of the adaptor bracket 10 to the foot main body 20, a connection groove 130 is formed on the outer wall of the instep casing 100, wherein the connection bracket 11 of the adaptor bracket 10 is snapped onto the connection groove 130. In addition, in order to facilitate the force sensor 700 to accurately measure, the mounting hole 120 of the instep case 100 is opened on the bottom of the connecting groove 130, so that the other end of the force sensor 700 is conveniently abutted against the connecting frame 11.

Further, as a specific embodiment of the foot structure of the robot provided by the present invention, as shown in fig. 7, a first through hole 2113 is opened on the bottom of the mounting groove 2112 in the bottom plate 210, and correspondingly, as shown in fig. 7 to 9, a second through hole 2222 is opened on the ground contact wall 222 of the backing plate 220. As shown in FIG. 4, the second through hole 2222 can be communicated with the first through hole 2113, which is beneficial to ensure that the force sensor 700 can more accurately measure the stress of each part of the main foot body 20.

The present invention also provides a robot, which includes legs (not shown) for standing and feet structure for walking, wherein the legs are connected to the feet main body 20 through the adapter bracket 10 in this embodiment. The foot structure of the robot is the same as the foot structure of the robot, and the functions are also the same, which are not described herein again.

It should be noted that the robot generally further comprises a head, arms, and a torso connected to the head, wherein the legs and arms are connected to the torso to mimic the limbs of a human being. Of course, the specific structure of the robot is not limited to this.

Generally, this robot is through adopting foretell robot's foot structure, and simple structure is reliable, and low in production cost can absorb the impact force on ground effectively, reduces on the impact force is transmitted the truck to ensure the gait of robot stable, can not rock, incline and fall down even, obviously, do benefit to the important spare part in the protection robot, ensure its operation safely and stably, improve the safety in utilization and the reliability of robot.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. The foot structure of robot, include foot main part and be used for driving the switching support of foot main part motion, its characterized in that, foot main part includes:

the base plate is provided with a buffer wall and a ground contact wall which is in contact with the ground, the buffer wall is connected to the connecting wall of the bottom plate, and the buffer wall is of a middle concave structure in the front-back advancing direction of the foot;

a plurality of buffer bosses which are arranged at intervals are convexly arranged on the buffer wall of the base plate; in the front and rear advancing direction of the foot, the middle part of the buffer wall of the base plate and the two corresponding ends of the base plate form a step with a low middle part and high two ends, and the middle part of the buffer wall of the base plate and the connecting wall of the bottom plate are arranged at intervals;

the connecting wall of the bottom plate is provided with a plurality of spacing grooves which are arranged in a clearance mode, and each buffering boss is contained in the corresponding spacing groove.

2. The foot structure of a robot of claim 1, wherein top surfaces of the buffer bosses are located on the same plane.

3. The foot structure of a robot according to any one of claims 1 to 2, wherein the floor contact wall of the pad plate is provided with a plurality of countersunk holes, the connecting wall of the base plate is provided with a plurality of first mounting tables in a protruding manner, the first mounting tables are provided with screw holes, the screw holes correspond to the countersunk holes one to one, and the pad plate is sequentially inserted into the corresponding countersunk holes and the screw holes through connecting members so as to be connected to the base plate.

4. The foot structure of a robot of claim 3, wherein the pad is made of a buffer material, and the connecting member is a head screw.

5. A foot structure of a robot according to any one of claims 1 to 2, wherein a non-slip structure is provided on the floor-contacting wall of the pad plate.

6. The foot structure of the robot according to any one of claims 1 to 2, wherein the component includes a circuit board and a force sensor electrically connected to the circuit board, a second mounting table is convexly disposed on a middle portion of the bearing wall of the bottom plate, and a mounting groove is disposed on the second mounting table; the inner wall of the instep shell is provided with a mounting hole, one end of the force sensor is accommodated in the mounting groove, and the other end of the force sensor is accommodated in the mounting hole and is abutted against the switching support.

7. The foot structure of a robot of claim 6, wherein a first through hole is opened on a bottom of the mounting groove, and a second through hole capable of communicating with the first through hole is opened on the ground contact wall of the pad plate.

8. Robot comprising legs, characterized in that the robot further comprises a foot structure of the robot according to any of claims 1-7, the legs being connected to the foot body by means of the adapter bracket.