CN223253124U - Bionic foot end and robot - Google Patents

Abstract

The application is applicable to the technical field of robots, and provides a bionic foot end and a robot, wherein the bionic foot end comprises a front sole, a rear sole and an elastic component, the front sole is hinged with the rear sole, and the elastic component is matched with the front sole and the rear sole; under the action of the elastic force of the elastic component, the included angle between the bottom surface of the front sole and the bottom surface of the rear sole is smaller than 180 degrees. When the bionic foot end is supported on the ground, the elastic component is elastically deformed, and the included angle between the bottom surface of the front sole and the ground of the rear sole is changed, so that the front sole and the rear sole can be better adapted to the terrain, the ground grabbing of the front sole and the rear sole is firmer, and a certain buffering effect can be achieved on the ground touching force suffered by the bionic foot end. When the bionic foot end is applied to a robot, the balance and stability of the robot in the walking process are maintained, and the balance capacity of the robot is improved.

Description

Bionic foot end and robot

Technical Field

The application relates to the technical field of robots, in particular to a bionic foot end and a robot.

Background

With the rise of research on humanoid robots, bipedal robots are more emphasized by researchers because they are more in line with human images. Unlike a four-legged robot, the number of support legs of a biped robot is smaller, so that the biped robot has a higher performance requirement on leg balance. The foot-pointing type foot end of the four-foot robot is insufficient to meet the motion requirement of the biped robot, and although partial feet of the biped robot exist in the market at present to intentionally imitate human feet, the flexibility of the foot design of the biped robot is far lower than that of the human feet, so that the balance capability of the biped robot in the walking process is poor.

Disclosure of utility model

The embodiment of the application aims to provide a bionic foot end and a robot, and aims to solve the technical problem that the balance capacity of a biped robot in the prior art is poor in the walking process.

In order to achieve the above purpose, the technical scheme adopted by the application is that the bionic foot end comprises a front sole, a rear sole and an elastic component, wherein the front sole is hinged with the rear sole, the elastic component is matched with the front sole and the rear sole, and an included angle between the bottom surface of the front sole and the bottom surface of the rear sole is smaller than 180 degrees under the elastic force of the elastic component.

In one possible design, the bionic foot end further comprises an ankle joint piece and a leg rod, the front sole and the rear sole are hinged to the ankle joint piece around a first axis, the ankle joint piece and the leg rod are hinged around a second axis, and the first axis and the second axis are arranged in an included angle.

In one possible design, the bionic foot end further includes a lateral swing elastic structure located between the leg bar and the ankle joint member, and the lateral swing elastic structure is connected with the leg bar and the ankle joint member, respectively, and is configured to elastically deform when the ankle joint member swings about the second axis.

In one possible design, the lateral swing elastic structure includes at least two lateral swing elastic elements arranged at intervals along a first direction, the first direction and the second direction form an included angle, and two ends of each lateral swing elastic element are respectively connected with the leg rod and the ankle joint element.

In one possible design, the bionic foot end further comprises a telescopic assembly, a first universal joint and a second universal joint, one end of the telescopic assembly is connected with the leg rod through the first universal joint, and the other end of the telescopic assembly is connected with the rear sole through the second universal joint.

In one possible design, the telescopic assembly includes a pull rod, a guide rod and an elastic restoring structure, one of the pull rod and the guide rod is connected with the leg rod through the first universal joint, the other is connected with the rear sole through the second universal joint, the pull rod is in sliding connection with the guide rod, the elastic restoring structure is connected with the pull rod and the guide rod, and the elastic restoring structure can be elastically deformed when the pull rod slides relative to the guide rod.

In one possible design, the elastic reset structure comprises an upward pressing elastic piece and a downward pressing elastic piece, the pull rod is connected with a sliding block, the sliding block is slidably mounted on the guide rod, the upward pressing elastic piece is connected between the sliding block and one end of the guide rod in the sliding direction of the sliding block, and the downward pressing elastic piece is connected between the sliding block and the other end of the guide rod.

In one possible design, the number of the guide rods is multiple, the guide rods are arranged at intervals along a second direction, the second direction is arranged at an included angle with the sliding direction of the sliding block, the sliding block is provided with a plurality of sliding holes at intervals along the second direction, the sliding holes are arranged in one-to-one correspondence with the guide rods, and each guide rod penetrates through the corresponding sliding hole.

In one possible design, a cleat is mounted to the bottom surface of the forefoot and/or the bottom surface of the rear sole.

The application also provides a robot, which comprises a body mechanism and the bionic foot end provided by any one of the technical schemes, wherein the body mechanism is connected with the bionic foot end.

Compared with the prior art, the bionic foot end provided by the application has the beneficial effects that the front sole and the rear sole which are hinged with each other are arranged, and the bottom surface of the front sole and the bottom surface of the rear sole are arranged at an included angle smaller than 180 degrees by arranging the elastic part, so that the bottom surface of the front sole and the bottom surface of the rear sole form an arch structure, and the arch structure is similar to the arch of a human foot. When the bionic foot end is supported on a certain surface (ground or table top and the like), the bionic foot end is subjected to the action of ground contact force, the elastic component can be elastically deformed, and the size of an included angle between the bottom surface of the front sole and the ground of the rear sole can be changed. When the bionic foot end is applied to a robot, the balance and stability of the robot in the walking process are maintained, and therefore the balance capacity of the robot is improved effectively.

Compared with the prior art, the robot provided by the application has at least all the beneficial effects due to the bionic foot end provided by any one of the technical schemes, and is not repeated herein.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic structural view of a bionic foot according to an embodiment of the present application in an initial state;

FIG. 2 is a schematic view of a bionic foot end according to an embodiment of the present application;

FIG. 3 is an enlarged partial schematic view at A in FIG. 2;

FIG. 4 is an enlarged partial schematic view at B in FIG. 1;

FIG. 5 is a schematic view of the structure of a rear sole of a bionic foot according to an embodiment of the present application when the rear sole contacts the ground;

fig. 6 is a schematic structural view of a forefoot of a bionic foot according to an embodiment of the present application when the forefoot contacts the ground.

Reference numerals related to the above figures are as follows:

100. The foot rest comprises a front sole, 110, a first limiting surface, 200, a rear sole, 210, a second limiting surface, 300, a torsion spring, 310, a first torsion arm, 320, a second torsion arm, 400, an ankle joint part, 500, a leg rod, 510, a second connecting part, 520, a first connecting part, 521, a connecting part, 522, a third hinging part, 600, a side swing elastic structure, 610, a side swing elastic part, 700, a telescopic component, 710, a pull rod, 720, a guide rod, 730, an elastic reset structure, 731, an upper pressing elastic part, 732, a lower pressing elastic part, 740, a sliding block, 811, a first universal joint, 812, a second universal joint, 820 and a non-slip mat.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the structures or elements being referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In order to explain the technical scheme of the application, the following is a detailed description with reference to the specific drawings and embodiments.

Example 1

Referring to fig. 1 and 2, the present embodiment provides a bionic foot end, which includes a front sole 100, a rear sole 200, and an elastic member, wherein the front sole 100 and the rear sole 200 are hinged, the elastic member is matched with the front sole 100 and the rear sole 200, and an included angle between a bottom surface of the front sole 100 and a bottom surface of the rear sole 200 is smaller than 180 degrees under the elastic force of the elastic member. The bionic foot end provided by the embodiment can be applied to robots, and the types of robots include, but are not limited to, bipedal robots, quadruped robots and the like.

The forefoot 100 and the hindfoot 200 are understood to be structures in which the ends of the bionic feet are supported on a surface, such as the ground or a stage surface, and for convenience of description, the forefoot 100 and the hindfoot 200 are described below as being supported on the ground. The surface of the front sole 100 that is used for contacting with the ground is the bottom surface of the front sole 100, and the surface of the front sole 100 opposite to the bottom surface thereof is the top surface of the front sole 100. Similarly, the surface of the rear sole 200 that contacts the ground is the bottom surface of the rear sole 200, and the surface of the rear sole 200 opposite to the bottom surface thereof is the top surface of the rear sole 200. Alternatively, forefoot 100 and hindfoot 200 may be plate-like structures, block-like structures, or other irregularly shaped structures, without limitation.

The elastic member is a structure that can be elastically deformed, such as a spring, a torsion spring 300, or a rubber column. When the elastic member is a spring, the elastic member may be connected between the front sole 100 and the rear sole 200, and the elastic force (the elastic force may be a tensile force or a pushing force) acting on the front sole 100 and the rear sole 200 through the elastic member may be such that an included angle between the front sole 100 and the rear sole 200 is smaller than 180 degrees. When the bionic foot end is supported on the ground, the front sole 100 and the rear sole 200 receive reaction forces from the ground (hereinafter, forces acting on the front sole 100 and the rear sole 200 will be referred to as ground contact forces), so that the front sole 100 and the rear sole 200 relatively rotate, and the magnitude of an included angle between the bottom surface of the front sole 100 and the bottom surface of the rear sole 200 changes.

Alternatively, the angle between the bottom surface of forefoot 100 and the bottom surface of hindfoot 200 may be 120 °, 130 °, 163 °, 175 °, or the like. When the bionic foot end is supported on the ground, the included angle between the bottom surface of the front sole 100 and the bottom surface of the rear sole 200 will become larger, so that the front sole 100 and the rear sole 200 better fit with the ground, so as to improve the ground grabbing effect of the front sole 100 and the rear sole 200, and further improve the balancing capability of the robot to which the foot end is applied.

Compared with the related art, the bionic foot end provided by the embodiment of the application has the advantages that the front sole 100 and the rear sole 200 are hinged with each other, and the elastic component is arranged to enable the bottom surface of the front sole 100 and the bottom surface of the rear sole 200 to be arranged at an included angle smaller than 180 degrees, namely, the bottom surface of the front sole 100 and the bottom surface of the rear sole 200 form an arch structure, and the arch structure is similar to the arch of a human foot. When the bionic foot end is supported on a certain surface (ground or table top and the like), the bionic foot end is subjected to the action of ground contact force, the elastic component can be elastically deformed, and the size of an included angle between the bottom surface of the front sole 100 and the ground of the rear sole 200 can be changed, so that on one hand, the front sole 100 and the rear sole 200 can be better adapted to the terrain, the front sole 100 and the rear sole 200 can grip the ground more firmly, and on the other hand, the ground contact force applied to the bionic foot end can be buffered to a certain extent. When the bionic foot end is applied to a robot, the balance and stability of the robot in the walking process are maintained, and therefore the balance capacity of the robot is improved effectively.

In some embodiments, referring to fig. 3 and 4, a first limiting surface 110 is disposed on a side of the front sole 100 adjacent to the rear sole 200, and a second limiting surface 210 is disposed on a side of the rear sole 200 adjacent to the front sole 100. In the initial state, under the action of the first torsion arm 310 on the front sole 100 and the action of the second torsion arm 320 on the rear sole 200, the first limiting surface 110 contacts with the second limiting surface 210, so that the included angle between the bottom surface of the front sole 100 and the lost surface of the rear sole 200 is smaller than 180 degrees. After the front sole 100 and the rear sole 200 are contacted to the ground, the front sole 100 and the rear sole 200 are rotated relatively, and the first limiting surface 110 and the second limiting surface 210 are separated.

In some alternative embodiments, the elastic member includes a torsion spring 300, the torsion spring 300 is mounted at the hinge of the front sole 100 and the rear sole 200, the torsion spring 300 includes a first torsion arm 310 and a second torsion arm 320, the first torsion arm 310 is in contact with the top surface of the front sole 100, the second torsion arm 320 is in contact with the top surface of the rear sole 200, and in the initial state, under the thrust of the first torsion arm 310 to the front sole 100 and the thrust of the second torsion arm 320 to the rear sole 200, the bottom surface of the front sole 100 and the bottom surface of the rear sole 200 are disposed at an angle smaller than 180 degrees. By abutting the first torsion arm 310 of the torsion spring 300 against the top surface of the front sole 100 and the second torsion arm 320 against the top surface of the rear sole 200, under the action of the first torsion arm 310 and the second torsion arm 320, the bottom surface of the front sole 100 and the bottom surface of the rear sole 200 form an included angle smaller than 180 degrees

The torsion spring 300 is mainly formed by winding a metal wire (such as spring steel), and is provided with a spiral main body and end parts respectively extending out of two opposite sides of the main body, wherein one end part is a first torsion arm 310 of the torsion spring 300, and the other end part is a second torsion arm 320 of the torsion spring 300. It should be noted that, in the embodiment of the present application, the initial state specifically refers to a state when the bionic foot end is not supported on the ground. When the bionic foot end is supported on the ground, the front sole 100 and the rear sole 200 are subjected to the ground contact force, so that the front sole 100 and the rear sole 200 relatively rotate, and the size of an included angle between the bottom surface of the front sole 100 and the bottom surface of the rear sole 200 changes. Meanwhile, the torsion spring 300 is elastically deformed, specifically, the first torsion arm 310 and the second torsion arm 320 of the torsion spring 300 are elastically deformed relative to the main body of the torsion spring 300 along with the relative rotation of the front sole 100 and the rear sole 200, so that the first torsion arm 310 and the second torsion arm 320 store energy. When the front sole 100 and the rear sole 200 are separated from the ground, the first torsion arm 310 and the second torsion arm 320 release energy and recover the state before elastic deformation, and in the process of recovering elastic deformation of the first torsion arm 310 and the second torsion arm 320, the first torsion arm 310 and the second torsion arm 320 respectively push the front sole 100 and the rear sole 200 to rotate relatively, so that the size of an included angle between the bottom surface of the front sole 100 and the bottom surface of the rear sole 200 is recovered to the size when the initial state is recovered.

In one possible design, as shown in fig. 1, the bionic foot end further includes an ankle joint 400 and a leg bar 500, the forefoot 100 and the hindfoot 200 are both hinged to the ankle joint 400 about a first axis, the ankle joint 400 is hinged to the leg bar 500 about a second axis, and the first axis and the second axis are disposed at an angle. Alternatively, the first axis and the second axis may be disposed at any angle. For example, the angle between the first axis and the second axis may be 60 °, 73 °, 90 °, or the like. For convenience of description, the following description will take an example in which the first axis and the second axis form an angle of 90 °. In the initial state, the extending direction of the first axis is a horizontal direction, and the extending direction of the second axis may be any direction that is perpendicular to the extending direction of the first axis. In the embodiment of the present application, the extending direction of the first axis and the extending direction of the second axis are both disposed at an angle with respect to the extending direction of the leg 500. In the embodiment of the application, the first axis is used as a pitch axis of the bionic foot end, and the second axis is used as a roll axis of the bionic foot end.

In this kind of setting, through setting up ankle joint spare 400 for not only have between forefoot 100 and the back sole 200 and the leg pole 500 around first axis pivoted degree of freedom, still have around the pivoted degree of freedom of second axis, effectively improved the flexibility ratio of bionical foot end, thereby be favorable to bionical foot end to adapt to different topography better, with the balancing ability of improvement applied robot.

Alternatively, referring to fig. 1 and 2, the ankle joint may be hinged to the forefoot 100 and the hindfoot 200 by a pin, respectively. Illustratively, ankle joint 400 is hinged to forefoot 100 and hindfoot 200 via first pins, respectively, and ankle joint 400 is provided with a first through-hole, the axis of which coincides with the first axis. The front sole 100 is provided with a first hinge portion near one side of the rear sole 200, the rear sole 200 is provided with a second hinge portion near one side of the front sole 100, the first hinge portion and the second hinge portion are all provided with through holes in a penetrating manner along the extending direction of the first axis, the first hinge portion and the second hinge portion are arranged at intervals along the extending direction of the first axis, the through holes in the first hinge portion and the through holes in the second hinge portion are also overlapped with the first axis, and the first pin is arranged through the through holes in the first hinge portion, the first through holes and the through holes in the second hinge portion in a penetrating manner, so that the front sole 100 and the rear sole 200 are hinged with the ankle joint piece 400 around the first axis, and the front sole 100 and the rear sole 200 rotate relative to the ankle joint piece 400, namely, the front sole 100 and the rear sole 200 rotate around the leg rod 500. Optionally, the body of the torsion spring 300 is wound around the first pin.

Alternatively, the ankle member 400 may be hinged to the leg shaft 500 via a pin. Specifically, ankle joint 400 is hinged to leg shaft 500 via a second pin. Illustratively, the ankle joint 400 may be directly hinged to the leg shaft 500. Alternatively, referring to fig. 1 and 2, the bottom of the leg bar 500 is connected to a first connecting member 520, and the first connecting member 520 and the leg bar 500 may be connected by welding, screwing, clamping or any other method. The first connection member 520 is provided with two third hinge portions 522 protruding toward a side facing away from the leg bar 500, and the two third hinge portions 522 are spaced apart along the extending direction of the second axis. The ankle joint 400 is provided with the second through hole along the extending direction of the second axis, the structure that the ankle joint 400 is provided with the second through hole is located between two third articulated portions 522, two third articulated portions 522 are provided with the via hole along the extending direction of the second axis in a penetrating way respectively, the axis of the second through hole and the axis of the via hole of each third articulated portion 522 all coincide with the second axis, and the second pin penetrates the via hole on one of the third articulated portions 522, the second through hole and the via hole on the other third articulated portion 522 in proper order.

In one possible design, as shown in fig. 1, the prosthetic foot end further comprises a lateral swing elastic structure 600, the lateral swing elastic structure 600 being located between the leg bar 500 and the ankle member 400, and the lateral swing elastic structure 600 being connected to the leg bar 500 and the ankle member 400, respectively. The lateral swing elastic structure 600 is configured to elastically deform when the ankle joint 400 swings about the second axis, and in particular, the lateral swing elastic structure 600 is configured to elastically deform when the ankle joint 400 swings about the second axis with respect to the leg shaft 500. In this kind of setting mode, through setting up side pendulum elastic structure 600 to when ankle joint spare 400 swings around the second axis, side pendulum elastic structure 600 takes place elastic deformation and carries out the energy storage, and this moment side pendulum elastic structure 600 is used with the elasticity that makes ankle joint spare 400 reset to ankle joint spare 400, so, on the one hand, can restrict ankle joint spare 400 and for leg pole 500 pivoted angle, prevent taking place excessive relative motion between ankle joint spare 400 and the leg pole 500, on the other hand, can make ankle joint spare 400 in time reset, be favorable to keeping the balance of the robot that is applied to. Alternatively, the roll elastic structure 600 may include springs, rubber members, or other structures having elastic deformation capability.

In one example, the roll elastic structure 600 includes at least two roll elastic members 610 disposed at intervals along a first direction, the first direction being disposed at an angle to a second axis, and both ends of each roll elastic member 610 being connected to the leg bar 500 and the ankle member 400, respectively. The first direction may be disposed at any angle with respect to the second axis, and optionally, the angle between the first direction and the second axis may be 45 °, 63 °, 71 °, 90 ° or the like. In one example, the first direction is the same as the direction of extension of the first axis.

Alternatively, the side swing elastic 610 may be a spring, a rubber column, or other structure having elastic deformation capability. The number of the side swing elastic members 610 may be two, three or even more, and for convenience of description, the following description will take two examples of the number of the side swing elastic members 610. Alternatively, the two side swing elastic members 610 may be located on the same side of the second axis in the first direction, or the two side swing elastic members 610 may be located on opposite sides of the second axis in the first direction, respectively. Alternatively, the lower portion of the leg bar 500 may be provided with a mounting portion extending in the first direction so as to mount the side swing elastic 610. Or as shown in fig. 1, when the first link 520 is connected to the lower side of the leg bar 500, the first link 520 is provided with two connection parts 521 spaced apart in the first direction, and the two connection parts 521 are respectively located at opposite sides of the two third hinge parts 522 in the first direction. The two connecting portions 521 are disposed in one-to-one correspondence with the two side swing elastic members 610, and each side swing elastic member 610 is connected to the corresponding connecting portion 521.

In this arrangement, when the two side swing elastic members 610 are located on the same side of the second axis in the first direction, the two side swing elastic members 610 may extend or retract simultaneously when the ankle joint member 400 rotates around the second axis with respect to the leg shaft 500, and a pulling force or a pushing force is applied to the ankle joint member 400 simultaneously through the two side swing elastic members 610, which is advantageous for improving the stability of the relative movement between the ankle joint member 400 and the leg shaft 500, thereby being advantageous for improving the balancing capability of the robot to which the bionic foot end is applied. When the two side swing elastic members 610 are respectively located at opposite sides of the second axis in the first direction, one of the side swing elastic members 610 is elongated and applies a tensile force to the ankle member 400, and the other side swing elastic member 610 is compressed and applies a pushing force to the ankle member 400 when the ankle member 400 rotates about the second axis with respect to the leg shaft 500. Since the two side swing elastic members 610 are respectively located at two opposite sides of the second axis in the first direction, the forces acting on the ankle member 400 by the two side swing elastic members 610 are forces driving the ankle member 400 to rotate in the same direction about the second axis. For example, when the ankle joint member 400 rotates clockwise about the second axis, the force applied to the ankle joint member 400 by the two side swing elastic members 610 is a force for driving the ankle joint member 400 to rotate counterclockwise about the second axis, and thus the same advantageous effects as those obtained when the two side swing elastic members 610 are located on the same side of the second axis in the first direction can be obtained. In addition, since the two side swing elastic members 610 are respectively located at two opposite sides of the second axis in the first direction, the stability of the side swing elastic structure 600 supporting the leg bar 500 is advantageously improved, thereby improving the balancing capability of the robot.

In one possible design, as shown in fig. 1 and 2, the prosthetic foot end further comprises a telescoping assembly 700, a first universal joint 811 and a second universal joint 812, wherein one end of the telescoping assembly 700 is connected to the leg bar 500 via the first universal joint 811 and the other end is connected to the rear sole 200 via the second universal joint 812. The telescopic assembly 700 corresponds to the achilles tendon of the human leg for connecting the calf and the heel, and the telescopic assembly 700 can store and release energy according to different stress conditions of the rear sole 200 and the front sole 100. Specifically, when the rear sole 200 or the front sole 100 is subjected to the ground contact force, both the rear sole 200 and the front sole 100 rotate around the first axis with respect to the leg bar 500, so that the angle between the rear sole 200 and the leg bar 500 is changed. When the included angle between the rear sole 200 and the leg bar 500 becomes large, the telescopic assembly 700 is extended to store energy, and simultaneously the elastic members are elastically deformed to store energy, and when the rear sole 200 and the front sole 100 are separated from the ground, so that the ground contact force applied to the rear sole 200 and the front sole 100 is zero, the telescopic assembly 700 and the elastic members simultaneously release energy, and drive the rear sole 200 and the front sole 100 to gradually return to the positions where they were in the initial state. Similarly, when the angle between the rear sole 200 and the leg bar 500 becomes smaller, the telescopic assembly 700 contracts to store energy, and the elastic members elastically deform to store energy, and when the rear sole 200 and the front sole 100 are separated from the ground, so that the ground contact force applied to the rear sole 200 and the front sole 100 is zero, the telescopic assembly 700 and the elastic members simultaneously release energy and drive the rear sole 200 and the front sole 100 to gradually return to the initial positions. Alternatively, the retraction assembly 700 may include a spring, cylinder, or other structure having retraction capability.

In this arrangement, on the one hand, a certain supporting effect can be achieved between the leg bar 500 and the rear sole 200 through the telescopic assembly 700, and on the other hand, the angle between the leg bar 500 and the rear sole 200 can be adjusted by telescopic assembly 700. Therefore, the bionic foot end is more beneficial to adapting to different terrains and movement requirements, the gait stability of the robot in the walking process is improved, and the balancing capacity of the robot is further improved.

In one possible design, referring to fig. 1 and 2, the telescopic assembly 700 includes a pull rod 710, a guide rod 720, and an elastic restoring structure 730, one of the pull rod 710 and the guide rod 720 is connected to the leg rod 500 through a first universal joint 811, the other is connected to the rear sole 200 through a second universal joint 812, the pull rod 710 is slidably connected to the guide rod 720, the elastic restoring structure 730 connects the pull rod 710 and the guide rod 720, and the elastic restoring structure 730 is capable of being elastically deformed when the pull rod 710 slides with respect to the guide rod 720. Alternatively, the elastic restoring structure 730 may be specifically connected to an end of the pull rod 710 away from the rear sole 200 and an end of the guide rod 720 away from the leg rod 500, or the elastic restoring structure 730 may be connected to an end of the pull rod 710 away from the rear sole 200 and an end of the guide rod 720 near the leg rod 500. In this arrangement, when at least one of the front sole 100 and the rear sole 200 touches the ground, the rear sole 200 rotates about the first axis relative to the leg bar 500, the pull bar 710 slides relative to the guide bar 720, the elastic return structure 730 elastically deforms and stores energy, and after the front sole 100 and the rear sole 200 are both lifted off the ground, the elastic return structure 730 automatically releases energy to drive the pull bar 710 to slide relative to the guide bar 720 toward the initial position. By the arrangement, the motion process of the bionic foot end is more similar to the motion process of the foot of a human in the walking process, so that the balancing capacity of the robot in the walking process is improved. Alternatively, the resilient return structure 730 may comprise a spring, rubber post, or other structure having elastic deformation capability.

In a specific example, the drawbar 710 is coupled to the ball 200 via a second universal joint 812 and the guide bar 720 is coupled to the shank 500 via a first universal joint 811. Specifically, the foot lever 500 is mounted with the second link 510, and the guide lever 720 is connected with the second link 510 specifically through the first universal joint 811. Optionally, the second connector 510 is detachably connected with the leg bar 500. The second connecting piece 510 is provided with the mounting hole in a penetrating manner, the inner wall of the mounting hole is provided with a notch in a penetrating manner along the axial direction of the mounting hole, and the notch extends from the inner wall of the mounting hole to the outer surface of the second connecting piece 510 at one side far away from the mounting hole. The structure of the second connecting piece 510 located on two opposite sides of the notch is called a tensioning section, the notch is located between two tensioning sections, the two tensioning sections are respectively provided with through holes in a penetrating mode, and the through holes in the two tensioning sections are coaxially arranged, so that bolts can penetrate through the through holes in the two tensioning sections and are connected with nuts. The distance between the two tensioning sections can be adjusted by adjusting the position of the nut on the bolt, thereby adjusting the size of the mounting hole to adjust the fastening degree between the second connecting piece 510 and the leg bar 500, so that the second connecting piece 510 can be connected with the leg bar 500 by tightening the nut, and the mounting position of the second connecting piece 510 on the leg bar 500 can be adjusted by loosening the nut.

In one possible design, referring to fig. 1 and 2, the elastic restoring structure 730 includes an upper elastic member 731 and a lower elastic member 732, where the pull rod 710 is connected to a slider 740, and the slider 740 is slidably mounted on the guide rod 720. In the sliding direction of the slider 740, an upward pressing elastic member 731 is connected between the slider 740 and one end of the guide rod 720, and a downward pressing elastic member 732 is connected between the slider 740 and the other end of the guide rod 720. Specifically, the upper pressure elastic member 731 is located on the side of the slider 740 close to the leg bar 500 in the self-sliding direction, and the lower pressure elastic member 732 is located on the side of the slider 740 close to the rear sole 200 in the self-sliding direction. Alternatively, the pull rod 710 and the slider 740 may be connected by welding, screwing, clamping, or any other means. Alternatively, the pull rod 710 and the slider 740 may be integrally connected to each other by an integrally formed structure. For example, the pull rod 710 is connected to the slider 740 as a unitary structure by casting. Alternatively, the upper and lower elastic members 731 and 732 may be springs, rubber columns, or other structures having elastic deformability.

In the initial state, the upward pressing elastic member 731 may exert a certain tensile force on the slider 740, and the downward pressing elastic member 732 may exert a certain pushing force on the slider 740, so that the slider 740 may be relatively stably maintained at the current position, thereby playing a certain supporting role between the leg bar 500 and the rear sole 200 to maintain the balance when the robot stands.

In the walking process of the robot, if the rear sole 200 is first contacted with the ground, as shown in fig. 5, the included angle between the rear sole 200 and the leg bar 500 is reduced, the slider 740 moves upward relative to the guide bar 720, in the process that the slider 740 moves upward relative to the guide bar 720, the upward-pressing elastic member 731 is compressed and stores energy, the downward-pressing elastic member 732 is stretched and stores energy, and the whole telescopic assembly 700 is contracted and stores energy, so that the supporting force of the telescopic assembly 700 acting on the leg bar 500 is increased, so that the leg bar 500 can be stably supported, and the balance capability of the robot in the walking process is improved. If the forefoot 100 contacts the ground first, as shown in fig. 6, the angle between the forefoot 100 and the shank 500 becomes smaller, the angle between the rear foot 200 and the shank 500 becomes smaller, the slider 740 moves downward relative to the guide rod 720, the upper elastic member 731 is stretched and stores energy, the lower elastic member 732 is compressed and stores energy, and the whole telescopic assembly 700 is stretched and stores energy, so that the pulling force of the telescopic assembly 700 on the shank 500 can be increased to limit the maximum angle between the shank 500 and the rear foot 200, and the robot is prevented from losing balance due to overlarge relative rotation between the shank 500 and the rear foot 200, thereby improving the balance capability of the robot in the walking process. As can be seen from the above, during the walking process of the robot, whether the rear sole 200 is in contact with the ground or the front sole 100 is in contact with the ground, the telescopic assembly 700 can automatically expand and retract and store energy according to the change of the angle between the rear sole 200 and the leg bar 500, so as to maintain the balance during the walking process of the robot. When the bionic foot end is separated from the ground, the lower pressure elastic member 732 and the upper pressure elastic member 731 release energy and drive the slider 740 to reset, so as to prepare for the next contact of the bionic foot end with the ground, i.e., prepare for the next walking of the robot to which the bionic foot end is applied.

In one possible design, as shown in fig. 1 and 2, the number of the guide rods 720 is plural, the guide rods 720 are arranged at intervals along the second direction, the second direction forms an included angle with the sliding direction of the sliding block 740, the sliding block 740 is provided with a plurality of sliding holes at intervals along the second direction, the sliding holes are arranged in one-to-one correspondence with the guide rods 720, and each guide rod 720 is penetrated in the corresponding sliding hole. In this setting mode, through setting up a plurality of slide holes along the second direction interval on slider 740 to set up a plurality of guide bars 720 and a plurality of slide holes one-to-one and set up, can make telescopic assembly 700 atress more even, thereby improve telescopic assembly 700 to leg pole 500's supporting role, and then be favorable to improving the balancing ability of robot.

Optionally, the elastic restoring structure 730 may include a plurality of upper pressing elastic members 731 and a plurality of lower pressing elastic members 732, where the plurality of upper pressing elastic members 731 are disposed in one-to-one correspondence with the plurality of guide rods 720, the plurality of lower pressing elastic members 732 are also disposed in one-to-one correspondence with the plurality of guide rods 720, each upper pressing elastic member 731 is connected to an end of the corresponding guide rod 720 near the leg rod 500, and each lower pressing elastic member 732 is connected to an end of the corresponding guide rod 720 near the rear sole 200. Optionally, each of the pressing elastic members 732 and each of the pressing elastic members 731 are springs, each of the pressing elastic members 731 and each of the pressing elastic members 732 are sleeved on the corresponding guide rod 720, and each of the pressing elastic members 731 is located at one side of the slider 740 near the leg rod 500, and each of the pressing elastic members 732 is located at one side of the slider 740 near the rear sole 200.

In some embodiments, the second direction may be parallel to the first direction or may be disposed at an angle to the first direction. Optionally, the second direction is parallel to the first direction, so that when the rear sole 200 rotates around the first axis relative to the leg bar 500, the elastic deformation degrees of the plurality of upper elastic members 731 are the same, and the elastic deformation degrees of the plurality of lower elastic members 732 are the same, which is beneficial to improving the support stability of the telescopic assembly 700 to the leg bar 500.

In one possible design, cleat 820 is mounted to the bottom surface of forefoot 100, or cleat 820 is mounted to the bottom surface of rear foot 200, or cleat 820 is mounted to each of the bottom surfaces of forefoot 100 and rear foot 200. In this embodiment, the friction force between the anti-slip pad 820 and the ground is increased, so that the ground grabbing effect of the bionic foot end is improved, which is beneficial to improving the balancing capability of the robot applied. Alternatively, cleat 820 may be a rubber-like or plastic-like flexible structure. Optionally, the bottom surface of the cleat 820 is provided with a cleat pattern to further increase the friction between the cleat 820 and the ground.

Example two

The embodiment provides a robot, which comprises a body mechanism and the bionic foot end provided by any one of the embodiments, wherein the body mechanism is connected with the bionic foot end. The robot provided by the embodiment of the application comprises the bionic foot end provided by any embodiment, so that the robot has at least all the beneficial effects and is not repeated herein.

Optionally, the body mechanism comprises a leg structure, and the bionic foot end is specifically connected with the leg structure. Specifically, the leg structure is a rod-like structure, and the leg structure is specifically connected to the leg bar 500 in the bionic foot end.

The above description is illustrative of the various embodiments of the application and is not intended to be limiting, but is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.

Claims (10)

1. A bionic foot end is characterized by comprising a front sole, a rear sole and an elastic component, wherein the front sole is hinged with the rear sole, the elastic component is matched with the front sole and the rear sole, and an included angle between the bottom surface of the front sole and the bottom surface of the rear sole is smaller than 180 degrees under the elastic force of the elastic component.

2. The biomimetic foot end of claim 1, further comprising an ankle member and a leg bar, wherein the forefoot and the hindfoot are both hinged to the ankle member about a first axis, wherein the ankle member is hinged to the leg bar about a second axis, and wherein the first axis and the second axis are disposed at an included angle.

3. The prosthetic foot end of claim 2, further comprising a lateral swing spring structure between the leg bar and the ankle member, the lateral swing spring structure being connected to the leg bar and the ankle member, respectively, the lateral swing spring structure being configured to elastically deform when the ankle member swings about the second axis.

4. The prosthetic foot end of claim 3, wherein the lateral swing spring structure comprises at least two lateral swing spring members spaced apart along a first direction, the first direction being disposed at an angle to the second axis, each of the lateral swing spring members having two ends connected to the leg bar and the ankle member, respectively.

5. The prosthetic foot end of claim 2, further comprising a telescoping assembly, a first universal joint and a second universal joint, wherein one end of the telescoping assembly is connected to the leg bar via the first universal joint and the other end is connected to the rear sole via the second universal joint.

6. The biomimetic foot end of claim 5, wherein the telescoping assembly comprises a pull rod, a guide rod and an elastic return structure, one of the pull rod and the guide rod being connected to the leg rod via the first universal joint and the other being connected to the rear sole via the second universal joint, the pull rod being slidably connected to the guide rod, the elastic return structure connecting the pull rod and the guide rod, the elastic return structure being capable of undergoing elastic deformation when the pull rod slides relative to the guide rod.

7. The bionic foot terminal according to claim 6, wherein the elastic restoring structure comprises an upward-pressing elastic member and a downward-pressing elastic member, the pull rod is connected with a sliding block, the sliding block is slidably mounted on the guide rod, the upward-pressing elastic member is connected between the sliding block and one end of the guide rod in the sliding direction of the sliding block, and the downward-pressing elastic member is connected between the sliding block and the other end of the guide rod.

8. The bionic foot terminal according to claim 7, wherein the number of the guide rods is plural, the guide rods are arranged at intervals along a second direction, the second direction is arranged at an included angle with the sliding direction of the sliding block, the sliding block is provided with a plurality of sliding holes at intervals along the second direction, the sliding holes are arranged in one-to-one correspondence with the guide rods, and each guide rod penetrates through the corresponding sliding hole.

9. A biomimetic foot end according to any one of claims 1 to 8, wherein a cleat is mounted to the underside of the front sole and/or the underside of the rear sole.

10. A robot comprising a body mechanism and a biomimetic foot end as claimed in any one of claims 1 to 9, the body mechanism being connected to the biomimetic foot end.