CN206455655U - Foot structure and anthropomorphic robot - Google Patents
Foot structure and anthropomorphic robot Download PDFInfo
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- CN206455655U CN206455655U CN201621475836.8U CN201621475836U CN206455655U CN 206455655 U CN206455655 U CN 206455655U CN 201621475836 U CN201621475836 U CN 201621475836U CN 206455655 U CN206455655 U CN 206455655U
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- output shaft
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Abstract
The utility model is applied to robotic technology field, and there is provided a kind of foot structure and anthropomorphic robot.The foot structure is used to contact ground to play a supporting role and be connected to the leg structure of anthropomorphic robot, foot structure includes sole component, the first steering wheel, the connection component for being rotationally connected with sole component and the second steering wheel, and connection component is vertically arranged with sole component.The foot structure on sole component by installing the first steering wheel, and it is rotatably connected to connection component close to the position of ankle in sole component, connection component is driven to be rotated relative to sole component using the first steering wheel, leg structure is driven to be rotated relative to sole component, simultaneously, the second steering wheel for being connected to leg structure is installed on connection component, under the drive of the second steering wheel, connection component drives sole component and the first steering wheel to be rotated relative to leg structure, so, add the free degree of foot structure action so that the foot structure is more flexible.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of foot structure and with the humanoid of the foot structure
Robot.
Background technology
Robot technology is used primarily in Automation of Manufacturing Process for a long time, is sent out to improve production efficiency and processing precise
What exhibition was got up, this kind of robot is referred to as industrial robot.At the same time the another kind of robot grown up is exactly humanoid
Device people (also known as " anthropomorphic robot ", Humanoid Robot), although the ratio of this robot development is later, due to its appearance
It is similar with the mankind, such as there is both arms, both legs, body and head, while being also equipped with artificial intelligence, be able to can be completed respectively in family
The service of various kinds is planted, such as cleaning, amusement, nurse, house security thing will turn into human buddy, and change human life style.
This requires anthropomorphic robot to have the equally flexible joint of the mankind.
Existing anthropomorphic robot is only provided with a steering wheel in foot, causes whole anthropomorphic robot action not clever enough
It is living.
The content of the invention
It is an object of the invention to provide a kind of anthropomorphic robot, it is intended to solves the foot of anthropomorphic robot in the prior art
Only set a steering wheel and cause the technical problem of whole anthropomorphic robot action underaction.
The present invention is achieved in that a kind of foot structure, for contacting ground to play a supporting role and be connected to people
The leg structure of anthropomorphic robot, the foot structure is including being used to contact the sole component on ground, being installed on the sole component
On the first steering wheel, be rotationally connected with the sole component and for constituting the connection component of ankles bit and being installed on described
On connection component and for connecting the second steering wheel of the leg structure, first steering wheel has the first output shaft, and described the
Two steering wheels have second output shaft perpendicular with first output shaft；The connection component is vertical with the sole component to be set
Put, and including for first output shaft is installed and the first attachment structure for being rotationally connected with the sole component and with
First attachment structure is connected and is used for the second attachment structure for installing second output shaft.
Present invention also offers a kind of anthropomorphic robot, including head, the trunk that is connected with head and it is connected to trunk
On to imitate two legs and two arms of human limb；Each leg include connection waist structure foot structure and with institute
State foot structure and be connected for foot structure in standing, the foot structure is above-mentioned foot structure.
Having the technical effect that relative to prior art of the invention：The foot structure on the sole component by installing institute
The first steering wheel is stated, and the connection component is rotatably connected to close to the position of ankle in the sole component, described first is utilized
Steering wheel drives the connection component to be rotated relative to the sole component, that is, drives the leg structure relative to the sole group
Part is rotated, meanwhile, the second steering wheel for being connected to the leg structure is installed on the connection component, in second steering wheel
Drive under, the connection component drives the sole component and first steering wheel to be rotated relative to the leg structure, this
Sample, adds the free degree of the foot structure action so that the foot structure is more flexible.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to the embodiment of the present invention or prior art
The accompanying drawing used required in description is briefly described, it should be apparent that, drawings described below is only the present invention's
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other accompanying drawings.
Fig. 1 is the structure that fits together of leg structure and foot structure of anthropomorphic robot provided in an embodiment of the present invention
Schematic diagram；
Fig. 2 is the structural representation of foot structure provided in an embodiment of the present invention；
Fig. 3 is the exploded view of foot structure in Fig. 2；
Fig. 4 be in Fig. 3 connection component in the exploded view in a direction；
Fig. 5 be in Fig. 3 connection component in the exploded view of other direction.
Description of reference numerals：
| 1 | Leg structure | 3246 | Second drive-connecting shaft |
| 2 | Foot structure | 34 | Second attachment structure |
| 20 | Sole component | 340 | Second host cavity |
| 22 | Bottom plate | 342 | Second side cover |
| 220 | Fixed part | 3420 | Second connecting portion |
| 222 | Limited block | 3422 | Second side end cap |
| 224 | Stopper slot | 3424 | First connecting hole |
| 226 | Fixed column | 344 | Second end cap |
| 228 | Installation portion | 3440 | Second side plate |
| 24 | Mounting blocks | 3442 | Second lid portion |
| 30 | Connection component | 3444 | Second connecting hole |
| 32 | First attachment structure | 36 | Reinforcement |
| 320 | First host cavity | 40 | First steering wheel |
| 322 | First side cover | 42 | First output shaft |
| 3220 | First connecting portion | 44 | Protruding block |
| 3222 | First side end cap | 46 | Contiguous block |
| 3224 | First drive-connecting shaft | 48 | First connection end |
| 3226 | First axis hole | 50 | Second steering wheel |
| 324 | First end cap | 52 | Second output shaft |
| 3240 | First side plate | 54 | Second connection end |
| 3242 | First lid portion | 56 | Power part |
| 3244 | Second axis hole | 58 | Spherical mechanism |
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
In the description of the invention, it is to be understood that term " length ", " width ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " is based on accompanying drawing institutes
The orientation or position relationship shown, is for only for ease of the description present invention and simplifies description, rather than indicate or imply signified dress
Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to the limit of the present invention
System.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.
Fig. 1 be refer to Fig. 5, foot structure 2 provided in an embodiment of the present invention is used to contact ground to play a supporting role
And the leg structure 1 of anthropomorphic robot is connected to, the foot structure 2 includes sole component 20, the installation for being used to contact ground
In the first steering wheel 40 on the sole component 20, it is rotationally connected with the sole component 20 and for constituting the company of ankles bit
Connected components 30 and it is installed on the connection component 30 and for connecting the second steering wheel 50 of the leg structure 1, described the
One steering wheel 40 has the first output shaft 42, and second steering wheel 50 has second output perpendicular with first output shaft 42
Axle 52；The connection component 30 is vertically arranged with the sole component 20, and including for install first output shaft 42 and
The first attachment structure 32 for being rotationally connected with the sole component 20 and being connected with first attachment structure 32 is used in combination
In the second attachment structure 34 for installing second output shaft 52.Foot structure 2 provided in an embodiment of the present invention is by described
First steering wheel 40 is installed on sole component 20, and is rotatably connected to close to the position of ankle in the sole component 20 described
Connection component 30, drives the connection component 30 to be rotated relative to the sole component 20, i.e. band using first steering wheel 40
The leg structure 1 is moved to rotate relative to the sole component 20, meanwhile, it is provided with and is connected on the connection component 30
Second steering wheel 50 of the leg structure 1, under the drive of second steering wheel 50, the connection component 30 drives the sole
Component 20 and first steering wheel 40 are rotated relative to the leg structure 1, so, add what the foot structure 2 was taken action
The free degree so that the foot structure 2 is more flexible.
In this embodiment, the sole component 20 is overall in substantially vertical setting, Ke Yishi with the connection component 30
Complete plumbness or deflected slightly than plumbness.
In this embodiment, first output shaft 42 of first steering wheel 40 is installed on the connection component 30,
And the first attachment structure 32 for being provided with first output shaft 42 of the connection component 30 is rotationally connected with the sole group
Part 20, causes first attachment structure 32 together with second attachment structure 34 and institute under the drive of first steering wheel 40
The second steering wheel 50 is stated to rotate relative to first output shaft 42.Second output shaft 52 of second steering wheel 50 is installed
In in second attachment structure 34, second attachment structure 34 is caused to connect institute under the drive of second steering wheel 50
State the first attachment structure 32, the sole component 20 and first steering wheel 40 to rotate relative to second output shaft 52, i.e.,
The foot structure 2 at least has the rotational freedom along first output shaft 42 and 52 two axial directions of the second output shaft,
Substantially increase the flexibility of the foot structure 2.
Fig. 2 to Fig. 5 is refer to, further, bottom plate 22 that the sole component 20 includes being used for trampling, along the bottom plate
22 protrude the fixed part 220 and installation portion 228 of extension towards the side of leg structure 1 and are fixedly installed in the bottom plate
On 22 and the mounting blocks 24 relative with the installation portion 228, the shell of first steering wheel 40 is fixedly installed in the fixed part
On 220, the both sides that first attachment structure 32 is provided with first output shaft 42 are respectively arranged in the He of installation portion 228
On the mounting blocks 24.The foot structure 2 by the way that the shell of first steering wheel 40 is fixed on the installation portion 228, with
First steering wheel 40 is set to be fixed together with the sole component 20 so that the two rotates simultaneously in rotation process.
The mounting blocks 24 be fixed on be installed on the bottom plate 22 and with the installation portion 228 it is facing set, for install in
The both sides of first attachment structure 32 equipped with first output shaft 42.It is to be appreciated that first output shaft 42
Two ends are installed in first attachment structure 32 so that first attachment structure 32 is rotated relative to first steering wheel 40,
And the both sides of first attachment structure 32 are separately mounted on the installation portion 228 and the mounting blocks 24, so that described
First attachment structure 32 can be rotated relative to the sole component 20, due to the sole component 20 and first steering wheel 40
Interfix, therefore, first attachment structure 32 can be rotated relative to the sole component 20 and first steering wheel 40.
In this embodiment, the bottom plate 22, the fixed part 220 and the installation portion 228 are made by being integrally formed.
The mounting blocks 24 are fixedly installed on the bottom plate 22 by fastener.
Refer to Fig. 3 to Fig. 5, further, the fixed part 220 include provided with stopper slot 224 limited block 222 and
Fixed column 226 positioned at the both sides of limited block 222, the outer side of first steering wheel 40, which is provided with, is embedded at the stopper slot
Protruding block 44 in 224 and it is oppositely arranged and is fixedly connected by fastener with the fixed column 226 with the fixed column 226
Contiguous block 46.The sole component 20 on the bottom plate 22 by setting limited block 222 and being set on the limited block 222
The stopper slot 224, to prevent first steering wheel 40 from being moved left and right relative to the bottom plate 22 and around 22 turns of the bottom plate
It is dynamic, and by projecting the fixed column 226 positioned at the both sides of limited block 222 on the bottom plate 22, on the one hand for it is described
Contiguous block 46 on the shell of first steering wheel 40 is fixedly connected, and the opposing party limits first steering wheel 40 relative to the bottom plate 22
Move left and right, it is ensured that fastness and stability that first steering wheel 40 is connected with the bottom plate 22, reduce in the two connection
Relative to rocking and move.
In this embodiment, the limited block 222, the fixed column 226 and the bottom plate 22 are made by being integrally formed.
The shell of first steering wheel 40 is made with the protruding block 44 and the contiguous block 46 by being integrally formed.
Fig. 3 to Fig. 5 is refer to, further, first attachment structure 32 includes being mutually permanently connected and being formed first
The first side cover 322 and the first end cap 324 of host cavity 320, second attachment structure 34 include being mutually permanently connected and being formed
The second side cover 342 and the second end cap 344 of second host cavity 340, first side cover 322 is with second side cover 342 by one
Body formed and be made, first steering wheel 40 is partially housed in first host cavity 320, and the part of the second steering wheel 50 is received
It is dissolved in second host cavity 340.In this embodiment, the connection component 30 uses integrally formed first side cover
322 and second side cover 342 to constitute the structure of a monoblock type, it is ensured that connect first steering wheel 40 and second rudder
Machine 50 securely and stability, it is to avoid first side cover 322 and first end cap 324 are relative to first steering wheel 40
During rotation, first attachment structure 32 exists and the rotation between second side cover 342 or rocked, for described second
Steering wheel 50 is also similar.First steering wheel 40 be partially housed in first side cover 322 and first end cap 324 formation
In first host cavity 320, second steering wheel 50 is partially housed in second side cover 342 and second end cap 344
In second host cavity 340 formed, it is to avoid first steering wheel 40 and second steering wheel 50 are when rotating along respective axle
To occurring mobile and rocking, certain position-limiting action is played.
In this embodiment, the length side of first side cover 322 and second side cover 342 along the leg structure 1
To being stacked, the ankles bit of the foot structure 2 is formed.
In other embodiments, first side cover 322 and second side cover 342 can also be the structures of two-piece type,
And unloaded and/or non-removable fixed form achieves a fixed connection using opening.
Fig. 3 to Fig. 5 is refer to, further, first side cover 322 includes being fixedly connected with first end cap 324
First connecting portion 3220 and extend and be equipped with the first side of the first drive-connecting shaft 3224 along the first connecting portion 3220
Lid 3222, first side end cap 3222 is provided with the first axis hole 3226；First end cap 324 includes and the first connecting portion
3220 the first side plates 3240 being fixedly connected and extend along first side plate 3240 and be equipped with the second drive-connecting shaft 3246
First lid portion 3242, the first lid portion 3242 be provided with it is relative with first axis hole 3226 and with first axis hole
3226 the second axis holes 3244 being coaxially disposed, the two ends of first output shaft 42 are respectively arranged in the He of the first axis hole 3226
In second axis hole 3244, first drive-connecting shaft 3224 and second drive-connecting shaft 3246 are relative located at the described first connection
The outside of structure 32 is simultaneously pivotally connected with the sole component 20.The first connecting portion 3220 and institute in first side cover 322
First side plate 3240 for stating the first end cap 324 is screwed connection, to be formed relative to 40 turns of first steering wheel
Guide groove when dynamic, i.e., enclose to be formed and first rudder using the first connecting portion 3220 and first side plate 3240
The similar guide groove of the profile of machine 40, the profile of first steering wheel 40 refers to the department being contained in first host cavity 320
Profile.The two ends of the first output shaft 42 of first steering wheel 40 are respectively arranged in the first of first side end cap 3222
In axis hole 3226 and second axis hole 3244 in the first lid portion 3242, so that first side end cap 3222 and described
The axle of one lid portion 3242 can be rotated relative to first steering wheel 40 around the described first output.
In this embodiment, first side end cap 3222 and the facing setting in the first lid portion 3242, and described
First axis hole 3226 and second axis hole 3244 are to be coaxially disposed.
In this embodiment, the first connecting portion 3220 is made with first side end cap 3222 by being integrally formed.
First side plate 3240 is made with the first lid portion 3242 by being integrally formed.
In this embodiment, it is equipped with the installation portion 228 and the mounting blocks 24 and first side cover 322 is installed
Mounting hole (is not indicated).First drive-connecting shaft 3224 and second drive-connecting shaft 3246 are inserted in mounting hole described in two respectively
It is interior, so that first side cover 322 can be rotated relative to the sole component 20.
Fig. 3 to Fig. 5 is refer to, further, the first connecting portion 3220 and first side plate 3240 enclose to be formed
The inwall of first host cavity 320 of arc surfaced, the first connecting portion 3220 and first side plate 3240 and described the
There is gap between the shell of one steering wheel 40.It is to be appreciated that first steering wheel 40 is contained in first host cavity 320
Part along perpendicular to the direction of the first output shaft 42 section be in arc-shaped, specifically the exterior cross-section of the part be in
Arc-shaped, houses first host cavity 320 of this part-structure of the first steering wheel 40 along perpendicular to first output shaft
The section in 42 directions is also into arc-shaped, to ensure the stability of first steering wheel 40 rotation in first host cavity 320
And reliability.The leg structure 1 passes through between the inwall of the shell of first steering wheel 40 and first host cavity 320
Gap is set, to ensure that first steering wheel 40 can be rotated successfully in first host cavity 320.
Fig. 3 to Fig. 5 is refer to, further, second side cover 342 includes being fixedly connected with second end cap 344
And the second connecting portion 3420 that is wholely set with the first connecting portion 3220 and extend along the second connecting portion 3420
Second side end cap 3422, second side end cap 3422 is provided with the first connecting hole 3424；Second end cap 344 includes and institute
State the second side plate 3440 that second connecting portion 3420 is fixedly connected and the second lid portion extended along second side plate 3440
3442, the second lid portion 3442 is provided with relative and coaxial with first connecting hole 3424 with first connecting hole 3424
The second connecting hole 3444 set, the two ends of second output shaft 52 are respectively arranged in first connecting hole 3424 and institute
State in the second connecting hole 3444.The second connecting portion 3420 and second end cap 344 in second side cover 342
Second side plate 3440 is screwed connection, to form guide groove when second steering wheel 50 is rotated, that is, utilizes institute
Second connecting portion 3420 is stated to enclose to form the guide groove similar to the profile of second steering wheel 50 to second side plate 3440,
The profile of second steering wheel 50 refers to the profile for the department being contained in second host cavity 340.Second steering wheel 50
The two ends of second output shaft 52 are respectively arranged in the first connecting hole 3424 and second lid of second side end cap 3422
In second connecting hole 3444 in body portion 3442 so that second side end cap 3422 and the axle of the second lid portion 3442 relative to
Second steering wheel 50 can be rotated around second output shaft 52.
In this embodiment, second side end cap 3422 and the facing setting in the second lid portion 3442, and described
First connecting hole 3424 and second connecting hole 3444 are to be coaxially disposed.
In this embodiment, the second connecting portion 3420 and second side end cap 3422 are body formed by two and be made.
Second side plate 3440 and the second lid portion 3442 are body formed by two and are made.
Fig. 3 to Fig. 5 is refer to, further, the second connecting portion 3420 and second side plate 3440 enclose to be formed
The inwall of second host cavity 340 of arc surfaced, the second connecting portion 3420 and second side plate 3440 and described the
There is gap between the shell of two steering wheels 50.It is to be appreciated that second steering wheel 50 is contained in second host cavity 340
Part along perpendicular to the direction of the second output shaft 52 section be in arc-shaped, specifically the exterior cross-section of the part be in
Arc-shaped, houses second host cavity 340 of this part-structure of the second steering wheel 50 along perpendicular to second output shaft
The section in 52 directions is also into arc-shaped, to ensure the stability of second steering wheel 50 rotation in second host cavity 340
And reliability.The leg structure 1 passes through between the inwall of the shell of second steering wheel 50 and second host cavity 340
Gap is set, to ensure that second steering wheel 50 can be rotated successfully in second host cavity 340.
Fig. 4 and Fig. 5 are refer to, further, the connection component 32 also includes multiple interval settings and along described first
The outer surface of connecting portion 3220 protrudes the reinforcement 36 of extension towards the outer surface of second connecting portion 3420.The connector passes through
The reinforcement 36 is set in the outer surface of the first connecting portion 3220 and the second connecting portion 3420, to ensure described the
Bonding strength between one connecting portion 3220 and the second connecting portion 3420, it is to avoid the two is deformed.It is to be appreciated that institute
Reinforcement 36, the first connecting portion 3220 and the second connecting portion 3420 is stated to be made by being integrally formed.
In this embodiment, the reinforcement 36 has a plurality of, and is equally distributed in the He of first connecting portion 3220
Between the second connecting portion 3420, so that distribution of force is uniform.
Fig. 2 and Fig. 3 are refer to, further, first steering wheel 40 and second steering wheel 50 are spherical steering wheel, institute
Stating the first steering wheel 40 and second steering wheel 50 includes power part 56 and for the power of the power part 56 is defeated
The spherical mechanism 58 gone out, the spherical mechanism 58 of first steering wheel 40 has first output shaft 42, second rudder
The spherical mechanism 58 of machine 50 has second output shaft 52.It is to be appreciated that first steering wheel 40 and described second
Steering wheel 50 along the leg structure 1 length direction arrangement, and the two spherical mechanism 58 it is facing setting and respectively be located at institute
State the both sides of connector.
Fig. 2 and Fig. 3 are refer to, further, first steering wheel 40 has first be connected with the sole component 20
Connection end 48, first connection end 48 is located at the remote spherical mechanism of the power part 56 of first steering wheel 40
58 side；Second steering wheel 50 has the second connection end 54 being connected with the foot structure 2, second connection end
54 are located at the side away from the spherical mechanism 58 of the power part 56 of second steering wheel 50, first connection end
48 axis and the axis of second connection end 54 are vertically arranged.It is to be appreciated that first steering wheel 40 and described second
Steering wheel 50 along the leg structure 1 length direction arrangement, and the two spherical mechanism 58 it is facing setting and respectively be located at institute
The both sides of connector are stated, first connection end 48 and second connection end 54 of the two are located remotely from the two of the connector
Side, the axis of first connection end 48 and the axis of second connection end 54 are vertically arranged, to ensure that the leg structure 1 is lived
It is dynamic free, and with the function of support waist structure.First connection end 48 and second connection end 54 of the two are located at
Both sides away from the connector, the axis of first connection end 48 and the diameter parallel of second connection end 54 are set,
To ensure the freedom of movement of foot structure 2, and the function with leg-supporting structure 1.
Fig. 1 to Fig. 5 is refer to, in the various embodiments described above, first steering wheel 40 and second steering wheel 50 are ball
One end of shape steering wheel, i.e. its shell is generally cylindrical in spherical and opposite side, and inside is provided with power part 56, by described dynamic
The reducing gear and the output shaft located at the reducing gear output end of its rotation of the driving of power part 56.The reducing gear
Realized using stage-geared.It is to be appreciated that the internal motivation structure of first steering wheel 40 and second steering wheel 50
Form not limited to this, can arbitrarily provide the structure type of power.
Fig. 1 to Fig. 5 is refer to, present invention also offers a kind of anthropomorphic robot, including head, the trunk that is connected with head
And be connected on trunk with two legs for imitating human limb and two arms；Each leg includes the pin of connection waist structure
Portion's structure 2 and it is connected for the foot structure 2 in standing with the foot structure 2, the foot structure 2 is above-mentioned foot
Structure 2.Foot structure 2 in the embodiment has identical design feature, and institute with the foot structure 2 in the various embodiments described above
Work also identical, do not repeat this time.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (12)
1. a kind of foot structure, for contacting ground to play a supporting role and be connected to the leg structure of anthropomorphic robot, its
It is characterised by, the foot structure includes being used for the sole component for contacting ground, the first rudder being installed on the sole component
Machine, be rotationally connected with the sole component and for constitute ankles bit connection component and be installed on the connection component
And for connecting the second steering wheel of the leg structure, first steering wheel has the first output shaft, and second steering wheel has
The second perpendicular output shaft with first output shaft；The connection component is vertically arranged with the sole component, and including
For the first attachment structure for installing first output shaft and being rotationally connected with the sole component and with described first
Attachment structure is connected and is used for the second attachment structure for installing second output shaft.
2. foot structure as claimed in claim 1, it is characterised in that the sole component includes bottom plate, the edge for being used to trample
The bottom plate protrudes the fixed part and installation portion of extension towards the leg structure side and is fixedly installed on the bottom plate
And the mounting blocks relative with the installation portion, the shell of first steering wheel is fixedly installed on the fixed part, and described first
The both sides that attachment structure is provided with first output shaft are respectively arranged on the installation portion and the mounting blocks.
3. foot structure as claimed in claim 2, it is characterised in that the fixed part include the limited block provided with stopper slot with
And the fixed column positioned at the limited block both sides, the outer side of first steering wheel is convex in the stopper slot provided with being embedded at
Contiguous block that is bittiness and being oppositely arranged and be fixedly connected by fastener with the fixed column with the fixed column.
4. foot structure as claimed in claim 1, it is characterised in that first attachment structure includes being mutually permanently connected simultaneously
The first side cover and the first end cap of the first host cavity are formed, second attachment structure includes being mutually permanently connected and being formed second
The second side cover and the second end cap of host cavity, first side cover are made with second side cover by being integrally formed, and described
One steering wheel is partially housed in first host cavity, and second steering wheel is partially housed in second host cavity.
5. foot structure as claimed in claim 4, it is characterised in that first side cover includes fixing with first end cap
The first connecting portion of connection and the first side end cap for extending and being equipped with the first drive-connecting shaft along the first connecting portion, described
One side end cap is provided with the first axis hole；First end cap includes the first side plate and the edge being fixedly connected with the first connecting portion
First side plate extends and is equipped with the first lid portion of the second drive-connecting shaft, and the first lid portion is provided with and the first axle
Hole is relative and the second axis hole for being coaxially disposed with first axis hole, and the two ends of first output shaft are respectively arranged in described the
In one axis hole and second axis hole, first drive-connecting shaft and second drive-connecting shaft are relative located at first attachment structure
Outside and with the sole component be pivotally connected.
6. foot structure as claimed in claim 5, it is characterised in that the first connecting portion and first side plate enclose shape
Into first host cavity of arc surfaced, the inwall of the first connecting portion and first side plate is outer with first steering wheel
There is gap between shell.
7. foot structure as claimed in claim 5, it is characterised in that second side cover includes fixing with second end cap
Connection and the second connecting portion being wholely set with the first connecting portion and the second side extended along the second connecting portion
Lid, second side end cap is provided with the first connecting hole；Second end cap includes the be fixedly connected with the second connecting portion
Two side plates and the second lid portion extended along second side plate, the second lid portion is provided with and the first connecting hole phase
Pair and the second connecting hole for being coaxially disposed with first connecting hole, the two ends of second output shaft are respectively arranged in described
In one connecting hole and second connecting hole.
8. foot structure as claimed in claim 7, it is characterised in that the second connecting portion and second side plate enclose shape
Into second host cavity of arc surfaced, the inwall of the second connecting portion and second side plate is outer with second steering wheel
There is gap between shell.
9. foot structure as claimed in claim 7, it is characterised in that the connection component also includes multiple interval settings and edge
The outer surface of the first connecting portion protrudes the reinforcement of extension towards the second connecting portion outer surface.
10. the foot structure as described in claim 1 to 7 any one, it is characterised in that first steering wheel and described second
Steering wheel is spherical steering wheel, and first steering wheel and second steering wheel include power part and for by the power part
The spherical mechanism of the power output of part, the spherical mechanism of first steering wheel has first output shaft, described second
The spherical mechanism of steering wheel has second output shaft.
11. foot structure as claimed in claim 10, it is characterised in that first steering wheel has to be connected with the sole component
The first connection end connect, first connection end is located at the remote spherical mechanism of the power part of first steering wheel
Side；Second steering wheel has the second connection end being connected with the foot structure, and second connection end is located at described
The side away from the spherical mechanism of the power part of second steering wheel, the axis of first connection end and described second
The axis of connection end is vertically arranged.
12. a kind of anthropomorphic robot, including head, the trunk that is connected with head and it is connected on trunk to imitate human limb
Two legs and two arms；Each leg includes the foot structure of connection waist structure and is connected with the foot structure
In order to the foot structure of standing, it is characterised in that the foot structure is the pin as described in claim 1 to 11 any one
Portion's structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621475836.8U CN206455655U (en) | 2016-12-29 | 2016-12-29 | Foot structure and anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106826759A (en) * | 2016-12-29 | 2017-06-13 | 深圳市优必选科技有限公司 | Foot structure and anthropomorphic robot |
| CN106826759B (en) * | 2016-12-29 | 2024-02-09 | 深圳市优必选科技有限公司 | Foot structure and humanoid robot |
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