CN119929015B - Mechanical legs and humanoid robots - Google Patents
Mechanical legs and humanoid robotsInfo
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- CN119929015B CN119929015B CN202510011339.XA CN202510011339A CN119929015B CN 119929015 B CN119929015 B CN 119929015B CN 202510011339 A CN202510011339 A CN 202510011339A CN 119929015 B CN119929015 B CN 119929015B
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Abstract
The application provides a mechanical leg and a humanoid robot, and relates to the technical field of robots. The mechanical leg comprises a shank component and a foot component. The lower leg assembly is connected with the script body, so that the lower leg assembly can drive the foot body to rotate relative to the lower leg assembly, and the mechanical leg can simulate the posture of the foot of a human body moving relative to the lower leg. The plurality of detection areas of foot body bottom can correspond to the script body and the different positions when ground contact, the size of external force that first detection spare detectable first area received when the pressure that a certain detection area received was too big, indicates that the height that this detection area corresponds is higher than the height of other detection areas, and the corresponding support piece of corresponding first force feedback compensator can drive the bottom removal of corresponding support piece towards the foot body for the height of this support piece promotes, thereby makes each support piece in the bottom of foot body keep same height, and the foot body can keep balanced like this.
Description
Technical Field
The application relates to a mechanical leg and a humanoid robot, and belongs to the technical field of humanoid robots.
Background
The humanoid robot is more similar to a human body in shape, and correspondingly, the actions which can be realized by the humanoid robot are more various and complex, so the humanoid robot is a project of great development in the robot industry at present. Particularly, the leg structure of the humanoid robot is a key part of the humanoid robot which can walk stably.
At present, in order to keep stable in the walking process of a humanoid robot, the stress condition of the foot is detected through the moment of a motor arranged at the ankle of a leg structure, and the robot is controlled to walk according to the stress condition of the foot. When the mode of detecting the foot stress condition through the moment of the motor at the ankle, the problem of poor detection precision exists, and then the stability of the humanoid robot is poor when the humanoid robot passes through complex terrains.
Disclosure of Invention
The application provides a mechanical leg and a humanoid robot, which solve the problem of complex structure of the humanoid robot in the related art.
In a first aspect, the present application provides a mechanical leg comprising:
a lower leg assembly;
the foot assembly comprises a foot body, a plurality of supporting pieces, a plurality of first detecting pieces and a plurality of first force feedback compensating pieces, wherein the foot body is rotatably connected with the lower leg assembly, the lower leg assembly is configured to drive the foot body to rotate around axes in at least two different directions, the bottom of the foot body comprises a plurality of detecting areas, the first detecting pieces are arranged in the detecting areas, the first force feedback compensating pieces are electrically connected with the first detecting pieces, the first force feedback compensating pieces are arranged in the detecting areas, and the supporting pieces are connected with one side, deviating from the foot body, of the first force feedback compensating pieces;
The first detection piece is configured to detect the pressure applied to the detection area, and the first force feedback compensation piece is configured to drive the support piece to move towards or back to the script body according to the pressure applied to the detection area.
In some embodiments, the plurality of detection regions are disposed sequentially along a length direction and a width direction of the script body.
In some embodiments, the support is an elastic structure.
In some embodiments, an orthographic projection of the support toward the script body covers the corresponding detection area.
In some embodiments, the lower leg assembly includes a lower leg body and a driver, one end of the lower leg body is rotatably connected with the script body, one end of the driver is rotatably connected with a side of the lower leg body facing away from the script body, and the driver is configured to drive the foot body to rotate about at least two axes of different directions relative to the lower leg body.
In some embodiments, the script body includes a toe portion and a heel portion, the driving member includes two linear actuators, one end of each linear actuator is rotatably connected to the lower leg body so that the lower leg body can rotate around at least two axes in different directions relative to the linear actuator, the other end of each linear actuator is rotatably connected to the heel portion so that the foot body can rotate around at least two axes in different directions relative to the linear actuator, and the two linear actuators are arranged between the script body and the lower leg body in parallel.
In some embodiments, the calf assembly further comprises a spherical joint and a ball bearing, one end of the calf body is connected with the script body through the spherical joint, one end of the driving member is connected with the calf body through the ball bearing, and the other end of the driving member is connected with the script body through the ball bearing.
In some embodiments, the foot assembly further comprises a toe member rotatably connected to the toe portion, a second detection member coupled to the foot body and the toe member, the second force feedback compensation member configured to drive the toe member to rotate relative to the script body to adjust an angle between the script body and the toe member, the second detection member disposed between the toe member and the script body, the second detection member configured to detect an angle between the toe member and the script body.
In some embodiments, the first and second sensing members are pressure sensors, the first force feedback compensator is a hydraulic damper, and the second force feedback compensator is a spring.
In a second aspect, based on the above mechanical leg, the present application provides a humanoid robot comprising the above mechanical leg.
In the mechanical leg provided by the application, the lower leg component is connected with the script body, so that the lower leg component can drive the foot body to rotate relative to the lower leg component, and the mechanical leg can simulate the gesture of the foot of a human body moving relative to the lower leg. The plurality of detection areas of foot body bottom can correspond to the script body and the different positions when ground contact, the size of external force that first detection spare detectable and its corresponding first area received when the pressure that receives in certain detection area was too big indicates that the height that this detection area corresponds is higher than the height of other detection areas, and the corresponding support piece of corresponding first force feedback compensator can drive to remove towards the bottom of foot body for the height of this support piece promotes, thereby makes the bottom each support piece of foot body keep same height, and the foot body can keep balanced like this. When the pressure applied to a certain detection area is too small, the height of the script body corresponding to the detection area is relatively lower, and the corresponding first force feedback compensation piece can drive the corresponding support piece to move back to the bottom of the script body, so that the height of the support piece is reduced, each part of the bottom of the foot body can adapt to different road surface conditions, and the foot body can be balanced. Therefore, the mechanical leg can be balanced and stable when contacting with uneven ground.
The humanoid robot provided by the application is applied with the mechanical legs, so that the humanoid robot can be kept stable when encountering uneven pavement in the walking process.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a mechanical leg according to an embodiment of the present application;
FIG. 2 is a schematic view of a detection area of a foot body of a mechanical leg according to an embodiment of the present application;
FIG. 3 is a schematic top view of a foot assembly of a mechanical leg according to an embodiment of the present application;
FIG. 4 is a schematic cross-sectional view of A-A of FIG. 3;
FIG. 5 is a schematic bottom view of a foot assembly of a mechanical leg according to an embodiment of the present application;
fig. 6 is a schematic side view of a mechanical leg according to an embodiment of the application.
Reference numerals:
100-calf assembly, 110-calf body, 120-driving element, 121-linear actuator, 122-spherical joint, 123-ball bearing,
200-Foot assembly, 210-foot body, 211-detection area, 220-support, 230-first detection member, 240-first force feedback compensator, 250-toe member, 260-second detection member, 270-second force feedback compensator.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. The following embodiments and features of the embodiments may be combined with each other without conflict.
The humanoid robot is more similar to a human body in shape, and correspondingly, the actions which can be realized by the humanoid robot are more various and complex, so the humanoid robot is a project of great development in the robot industry at present. Particularly, the leg structure of the humanoid robot is a key part of the humanoid robot which can walk stably.
At present, in order to keep stable in the walking process of a humanoid robot, the stress condition of the foot is detected through the moment of a motor arranged at the ankle of a leg structure, and the robot is controlled to walk according to the stress condition of the foot. When the mode of detecting the foot stress condition through the moment of motor, there is the relatively poor problem of detection precision, and then leads to humanoid robot stability relatively poor when passing through complicated topography.
In the mechanical leg provided by the application, the lower leg component is connected with the script body, so that the lower leg component can drive the foot body to rotate relative to the lower leg component, and the mechanical leg can simulate the gesture of the foot of a human body relative to the lower leg. The plurality of detection areas of foot body bottom can correspond to the script body and the different positions when ground contact, the size of external force that first detection spare detectable and its corresponding first area received when the pressure that receives in certain detection area was too big indicates that the height that this detection area corresponds is higher than the height of other detection areas, and the corresponding support piece of corresponding first force feedback compensator can drive to remove towards the bottom of foot body for the height of this support piece promotes, thereby makes the bottom each support piece of foot body keep same height, and the foot body can keep balanced like this. When the pressure applied to a certain detection area is too small, the height of the script body corresponding to the detection area is relatively lower, and the corresponding first force feedback compensation piece can drive the corresponding support piece to move back to the bottom of the script body, so that the height of the support piece is reduced, each part of the bottom of the foot body can adapt to different road surface conditions, and the foot body can be balanced. Therefore, the mechanical leg can be balanced and stable when contacting with uneven ground.
The humanoid robot provided by the application is applied with the mechanical legs, so that the humanoid robot can be kept stable when encountering uneven pavement in the walking process.
The mechanical leg and the humanoid robot provided by the application are described in detail below with reference to specific embodiments.
The present application proposes a mechanical leg, as shown with reference to fig. 1 to 4, comprising a calf assembly 100 and a foot assembly 200. The mechanical leg can be applied to the humanoid robot and serves as a leg structure of the humanoid robot.
Wherein the calf assembly 100 is the basic component of the machine leg of the present application, the calf assembly 100 can provide a mounting basis for other at least partial components of the machine leg. The calf assembly 100 can be made of a metal material so that the calf assembly 100 has better structural strength, thereby making the calf assembly 100 more durable and reliable. Of course, the calf assembly 100 can also be partially fabricated from polymeric materials such that the calf assembly 100 is relatively lightweight while having a certain structural strength.
Foot assembly 200 includes a foot body 210, a plurality of support members 220, a plurality of first check members 230, and a plurality of first force feedback compensator 240. The script body 210 is a basic component of the foot assembly 200, the script body 210 may provide an installation foundation for other at least partial components of the foot assembly 200, and the script body 210 may be made of a metal material, so that the script body 210 has a better structural strength, thereby making the durability and reliability of the foot body 210 better. The foot body 210 is rotatably coupled to the lower leg assembly 100, and the lower leg assembly 100 is configured to drive the foot assembly 200 to rotate about at least two axes of different directions, such that the script body 210 can rotate about multiple directions to achieve complex motions.
Wherein the first detecting members 230 and the detecting regions 211 are disposed in one-to-one correspondence. The first sensing element 230 and the first force feedback compensator 240 are arranged in a one-to-one correspondence. The sensing areas 211 and the first force feedback compensator 240 are arranged in a one-to-one correspondence. The support members 220 and the first force feedback compensator 240 are disposed in a one-to-one correspondence. The support 220 and the detection area 211 are in one-to-one correspondence.
The sole area of the script body 210 is disposed at one side of the bottom of the foot body 210, and the sole area of the foot body 210 may include a plurality of detection areas 211, and the plurality of detection areas 211 may form a complete sole area after being combined. Each of the first force feedback compensators 240 is disposed at the corresponding detection area 211, and each of the first force feedback compensators 240 is further connected to the corresponding support 220. Specifically, one end of each of the first force feedback compensators 240 may be respectively connected to the corresponding detection region 211 in the script body 210, and the other end of the first force feedback compensators 240 may be respectively connected to the corresponding support 220. When the mechanical leg of the present application walks on the ground, the supporting member 220 is positioned between the ground and the corresponding detection area 211 in the script body 210, so that the supporting member 220 can support the foot body 210 to contact with the ground, thereby protecting the foot body 210. The support member 220 and the first force feedback compensator 240 may be detachably connected such that the corresponding support member 220 may be replaced when the support member 220 is damaged, thereby reducing the maintenance costs of the mechanical leg of the present application.
The first force feedback compensator 240 can drive the corresponding support 220 to move toward or away from the foot body 210, and when the first force feedback compensator 240 drives the support 220 to move toward the foot body 210, the distance between the support 220 and the script body 210 can be reduced. When the feedback compensator drives the support 220 to move away from the script body 210, the distance between the support 220 and the script body 210 can be increased. When one of the plurality of first force feedback compensators 240 drives the support member 220 to move away from the foot body 210, the distance between the support member 220 and the script body 210 is larger than the distance between the other support member 220 and the script body 210. When one of the plurality of first force feedback compensators 240 drives the support member 220 to move toward the foot body 210, the distance between the support member 220 and the script body 210 can be smaller than the distance between the other support member 220 and the script body 210.
The first detecting member 230 may be disposed between the supporting member 220 corresponding to the first detecting member 230 and the detecting region 211 corresponding to the first detecting member 230, respectively, when the mechanical leg of the present application walks on the ground, the supporting member 220 may contact the ground and generate an interaction force, and the first detecting member 230 may detect the interaction force generated by the contact of the supporting member 220 with the ground.
It should be understood that the plurality of detecting areas 211 may include a predetermined detecting area 211, the plurality of supporting members 220 may include a predetermined supporting member 220, the plurality of first detecting members 230 may include a predetermined first detecting member 230, the plurality of first force feedback compensating members 240 may include a predetermined first force feedback compensating member 240, and the predetermined detecting area 211, the predetermined supporting member 220, the predetermined first detecting member 230 and the predetermined first force feedback compensating member 240 are disposed correspondingly.
When the mechanical leg of the present application is on an uneven road surface, and the ground corresponding to the preset detection area 211 of the script body 210 is in a convex structure, and the height of the ground is higher than that of the surrounding ground, the ground of the convex structure acts on the preset support member 220, so that the preset support member 220 is lifted up, and the height of the preset support member 220 is higher than that of other support members 220, and the foot assembly 200 is tilted as a whole. Correspondingly, the pressure value detected by the preset first detecting member 230 is larger than the pressure values detected by the other first detecting members 230, so that the processing module of the mechanical leg can determine that the ground corresponding to the preset area of the foot body 210 is of a convex structure according to the value detected by the preset first detecting member 230, and the foot assembly 200 has a tendency to incline.
The preset first force feedback compensator 240 may drive the preset support 220 to move along a direction towards the preset detection area 211 of the foot body 210, so that the preset support 220 may be closer to the foot body 210 than other supports 220, so that a distance between the preset detection area 211 and the ground bump structure is reduced, so that a height of the script body 210 at the preset area is reduced, so that a height of the foot body 210 lifted by the ground bump structure can be compensated, and the script body 210 can be balanced as a whole.
When the mechanical leg of the present application is on an uneven road surface, and the ground corresponding to the preset detection area 211 of the script body 210 is in a concave structure, and the height of the ground is lower than that of the surrounding ground, the ground of the concave structure cannot act on the preset support 220. If the preset area is located at the edge of the foot body 210, the foot assembly 200 is inclined toward the concave structure of the ground, and if the preset area is located at the middle of the foot body 210, the preset support member 220 cannot be supported, so that the other support members 220 are stressed too much. Accordingly, the pressure value detected by the preset first detecting member 230 is smaller than the pressure values detected by the other first detecting members 230, so that the processing module of the mechanical leg can determine that the ground corresponding to the preset area of the foot body 210 is a concave structure according to the value detected by the preset first detecting member 230, and the foot assembly 200 may have a tendency to incline.
The preset first force feedback compensator 240 can drive the preset support 220 to move along a direction facing away from the preset detection area 211 of the foot body 210, so that the preset support 220 can be far away from the foot body 210 than other supports 220, and the preset support 220 can extend into the concave structure of the ground to contact the ground. If the predetermined area is located at the edge of the foot body 210, the script body 210 can be balanced as a whole. If the predetermined area is located at the middle portion of the foot body 210, the predetermined supporting members 220 can also contact the ground to support the foot body 210, so that the plurality of supporting members 220 can support the foot body 210, and the stability of the foot assembly 200 is better.
Therefore, the mechanical leg of the present application drives the support member 220 to move toward or away from the foot body 210 by providing the first force feedback compensation member 240, which is simpler and more efficient than the prior art in which the humanoid robot is balanced by the cooperation of the overall actuator of the humanoid robot.
In some embodiments, referring to fig. 2,4 and 5, in order to enable the plurality of first detecting members 230 to detect the stress condition of the bottom of the foot body 210 more precisely, a plurality of detecting areas 211 on the bottom side of the script body 210 may be disposed along the length direction and the width direction of the script body 210. Specifically, among the plurality of detection regions 211, a portion of the detection regions 211 may be disposed along a length direction of the script body 210, such that the plurality of detection regions 211 may extend from a heel portion to a toe portion of the script body 210. Of the plurality of detection regions 211, another part of the detection regions 211 may be continuously disposed in the width direction of the script body 210. Correspondingly, the plurality of supporting members 220, the plurality of first detecting members 230 and the plurality of first force feedback compensating members 240 are also distributed on the bottom side of the script body 210 corresponding to the plurality of detecting areas 211.
In the present application, the number of the detection areas 211 may be specifically set to six, wherein two detection areas 211 are disposed adjacent to the heel of the foot body 210, two detection areas 211 are disposed adjacent to the toe of the foot body 210, and two detection areas 211 are disposed at the middle portion of the bottom of the script body 210 between the heel and the toe. The detection area 211 adjacent to the heel, the detection area 211 at the middle part of the script body 210, and the detection area 211 adjacent to the toe are disposed along the length direction of the script body 210. Two detection areas 211 adjacent to the heel may be disposed along the width direction of the script body 210, and two detection areas 211 adjacent to the toe may be disposed along the width direction of the script body 210. In this way, the plurality of detection areas 211 can cover each area of the bottom of the script body 210, when the pressure applied to any one detection area 211 of the foot body 210 is too high or too low, the corresponding first detection element 230 can detect the pressure value, and the corresponding first force feedback compensation element 240 drives the support element 220 to move towards or away from the foot body 210.
In some embodiments, in order for the first detecting member 230 of the present application to detect the pressure applied to each detecting region 211 of the script body 210, the first detecting member 230 may employ a pressure sensor. One end of the first detecting member 230 may be connected to the script body 210, and the detecting end of the first detecting member 230 may be connected to the supporting member 220. When the foot assembly 200 is located on the ground, the supporting member 220 is in direct contact with the ground, and the relative force between the supporting member 220 and the ground can be transmitted to the detecting end of the first detecting member 230, so that the magnitude of the interaction force between the supporting member 220 and the ground can be obtained.
In addition, the first detecting member 230 is disposed between the supporting member 220 and the script body 210, so that the detecting end of the first detecting member 230 is located on the supporting member 220, and the detecting end of the first detecting member 230 can be prevented from directly contacting with the ground, so that the detecting end of the first detecting member 230 can be prevented from being worn to a certain extent, and the purpose of protecting the first detecting member 230 is achieved.
In order to enable the first force feedback compensator 240 of the present application to drive the support member 220 toward or away from the foot body 210, the first force feedback compensator 240 may employ a hydraulic damper. The hydraulic damper can be fixedly installed at one side of the bottom of the script body 210, the output end of the hydraulic damper is connected with the supporting member 220, and the hydraulic damper drives the supporting member 220 to move towards or back to the script body 210 through hydraulic pressure. The driving force of the hydraulic damper is stronger than that of the motor, so that the first force feedback compensator 240 can drive the support 220 to move back or toward the foot body 210 more stably and reliably even if the dead weight of the mechanical leg is large.
In addition, when the hydraulic damper is adopted for the first force feedback compensator 240, the first force feedback compensator 240 can also have a certain damping and buffering function. Thus, when the mechanical leg of the present application is lifted to be lowered to bring the foot assembly 200 into contact with the ground, the first force feedback compensator 240 can absorb the impact force partially facing the foot assembly 200, thereby protecting the foot assembly 200 and the mechanical leg.
In some embodiments, to further stabilize the mechanical leg of the present application in operation, the support 220 may employ an elastic structure, such that the support 220 has a shock absorbing effect. Thus, when the mechanical leg of the present application is lifted to be lowered to contact the foot assembly 200 with the ground, the supporting member 220 can absorb the impact force partially facing the foot assembly 200, thereby protecting the foot assembly 200 and the mechanical leg.
Specifically, since the supporting member 220 needs to contact with the ground for friction during the walking process of the mechanical leg, the supporting member 220 may be made of rubber, so that the supporting member 220 may have a certain structural strength and damping and shock-absorbing capability, and the wear resistance of the supporting member 220 is improved, so that the durability and reliability of the mechanical leg of the present application may be improved.
In the present application, referring to fig. 2 and 5, the orthographic projections of the plurality of supporting members 220 toward the foot body 210 can cover the plurality of detection areas 211 respectively, so that the plurality of supporting members 220 can cover the bottom side of the script body 210 completely, so that the contact area between the foot assembly 200 and the ground is larger, and the mechanical leg of the present application is more stable when walking on the ground.
In some embodiments, referring to fig. 1 and 6, in order for the calf assembly 100 to drive the foot assembly 200, the foot body 210 of the present application rotates about at least two axes of different directions. The calf assembly 100 can be configured to include a calf body 110 and a driver 120, one end of the calf body 110 is rotatably connected to a script body 210, and the script body 210 can rotate about at least two axes in different directions relative to the calf body 110. One end of the driving member 120 is rotatably connected to a side of the shank body 110 facing away from the foot body 210, and the driving member 120 is configured to drive the foot body 210 to rotate about at least two axes in different directions relative to the shank body 110.
The calf body 110 can provide a mounting base for the driver 120 and script body 210 such that the driver 120 and script body 210 can be fixedly mounted. An output end of the driving member 120 may be configured to be coupled to the script body 210, and the driving member 120 may output power such that the script body 210 rotates about at least two axes of different directions with respect to the lower leg body 110.
In some embodiments, referring to fig. 1 and 6, in order to enable the driving member 120 of the present application to drive the foot body 210 to rotate about at least two axes in different directions relative to the lower leg body 110, the script body 210 includes a toe portion and a heel portion, the driving member 120 includes two linear actuators 121, one end of each linear actuator 121 is rotatably connected to the lower leg body 110 so that the lower leg body 110 can rotate about at least two axes in different directions relative to the linear actuators 121, the other end of each linear actuator 121 is rotatably connected to the heel portion so that the foot body 210 can rotate about at least two axes in different directions relative to the linear actuators 121, the two linear actuators 121 are disposed in parallel between the foot body 210 and the lower leg body 110, and the linear actuators 121 are configured so as to change the length of the linear actuators 121.
The toe portion of the script body 210 is located at the front end of the foot body 210, and the heel portion of the foot body 210 is located at the tail end of the foot body 210. The two linear actuators 121 are disposed between the calf body 110 and the heel portion of the script body 210, and the lengths of the two linear actuators 121 are telescopically adjustable, i.e., the screw rods of the linear actuators 121 reciprocate in the cylinders thereof. Thus, by adjusting the lengths of the two linear actuators 121, respectively, the script body 210 connected to the linear actuators 121 can be deflected with respect to the lower leg body 110, so that the script body 210 can be rotated with respect to the lower leg body 110.
Specifically, the two linear actuators 121 include a first linear actuator 121 and a second linear actuator 121, when the length of the first linear actuator 121 is contracted, so that the length of the first linear actuator 121 is smaller than that of the second linear actuator 121, the distance between the portion of the script body 210 connected to the lower leg body 110 through the first linear actuator 121 may be reduced, and the distance between the portion of the script body 210 connected to the lower leg body 110 through the second linear actuator 121 may be increased, so that the script body 210 may rotate around at least two axes in different directions with respect to the lower leg body 110. The greater the difference in length between the first and second linear actuators 121, the greater the angle by which the foot body 210 rotates relative to the lower leg body 110. The angle between the foot body 210 and the calf body 110 is adjusted by controlling the length difference between the first and second linear actuators 121 and 121.
When the lengths of the first linear actuator 121 and the second linear actuator 121 are synchronously extended or shortened, the first linear actuator 121 and the second linear actuator 121 can drive the foot body 210 to rotate around the axis of the other direction relative to the lower leg body 110. So that the first linear actuator 121 and the second linear actuator 121 cooperate to drive the foot body 210 to rotate about at least two axes in different directions relative to the calf body 110.
In some embodiments, referring to fig. 1 and 6, in order to rotatably connect the script body 210 with the lower leg body 110, and the first and second linear actuators 121 and 121 may be rotatably connected with the script body 210 and the lower leg body 110, the lower leg assembly 100 may further be provided to include a ball joint 122 and a ball bearing 123. One end of the shank body 110 is connected with the foot body 210 through a spherical joint 122, one end of the linear actuator 121 is connected with the shank body 110 through a ball bearing 123, and the other end of the linear actuator 121 is connected with the script body 210 through the ball bearing 123.
By providing the ball joint 122 and the ball bearing 123, the calf body 110, the script body 210 and the execution straight line can rotate around at least two axes in different directions. Specifically, the ball joint 122 is rotatably connected to the script body 210 through two ball bearings 123, and the ball joint 122 is also rotatably connected to the calf body 110 through two ball bearings 123.
In some embodiments, referring to fig. 4-6, the foot assembly 200 of the present application may also be provided to include a toe member 250 and a second detector 260. The toe member 250 is rotatably connected to the toe portion of the foot body 210, and the second detecting member 260 is disposed between the toe member 250 and the script body 210, and the second detecting member 260 is configured to detect an angle between the toe member 250 and the script body 210. In some embodiments, the second sensing element 260 may employ a pressure sensor. In this embodiment, the pressure value detected by the second detecting element 260 can be converted into an angle, so as to measure the included angle between the toe element 250 and the script body 210. When the pressure value is converted into the angle, multiple groups of data comprising the pressure value and the corresponding angle can be obtained based on experiments, then fitting is carried out based on the multiple groups of data, a functional relation between the pressure value and the corresponding angle is obtained, and the corresponding angle can be obtained according to the pressure value through calculation based on the functional relation.
Specifically, the toe piece 250 is connected to the script body 210 through a rotating shaft, the rotating shaft is connected to a driver, and the driver can drive the toe piece 250 to rotate relative to the foot body 210, so that the movement mode of the foot assembly 200 is further increased, and the toe movement mode of the foot of the human body can be simulated, so that the movement mode of the mechanical leg of the present application is closer to the movement mode of the leg of the human body.
The second sensing element 260 may be disposed between the toe element 250 and the script body 210, and when the toe element 250 contacts with the raised structure of the ground, the raised structure of the ground may jack up the toe element 250, thereby making the height of the toe element 250 higher than the height of the script body 210 and causing the foot assembly 200 to incline as a whole. Accordingly, the pressure detected by the second detecting member 260 increases, so that the processing module of the mechanical leg can determine that the ground corresponding to the toe member 250 is of a convex structure according to the pressure detected by the second detecting member 260, and the foot assembly 200 is inclined.
The second force feedback compensator 270 may rotate the toe member 250 away from the ground relative to the foot body 210 such that the toe member 250 may clear the raised structure of the ground such that the raised structure of the ground no longer lifts the toe member 250, such that the foot assembly 200 may remain balanced overall.
When the toe member 250 rotates relative to the foot body 210, facing away from the ground, the toe member 250 may press the second sensing member 260 such that the pressure value sensed by the second sensing member 260 increases. When the toe member 250 rotates relative to the foot body 210 while not facing away from the ground and is aligned with the foot body 210, the toe member 250 may not press the second detecting member 260 or the pressing force against the second detecting member 260 may be reduced, so that the value of the pressing force detected by the second detecting member 260 may be smaller. The second force feedback compensator 270 can be spring loaded such that the second force feedback compensator 270 can drive the toe member 250 to return after the toe member 250 is no longer rotated relative to the foot body 210 by an external force.
Based on the mechanical leg, the application further provides a humanoid robot, which comprises the mechanical leg.
It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.
Generally, terms should be understood at least in part by use in the context. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in a singular sense, or may be used to describe a combination of features, structures, or characteristics in a plural sense, at least in part depending on the context. Similarly, terms such as "a" or "an" may also be understood to convey a singular usage or a plural usage, depending at least in part on the context.
It should be readily understood that "on," "above," and "above" in the present application should be interpreted in the broadest sense so that "on" means not only "directly on something," but also includes the meaning of "on something" with intermediate features or layers therebetween, and "on" or "above" includes the meaning of not only "on something" or "above," but also "above" and may include the meaning of "on something" or "above" with no intermediate features or layers therebetween (i.e., directly on something).
Further, spatially relative terms, such as "below," "beneath," "above," "over," and the like, may be used herein for ease of description to describe one element or feature's relationship to another element or feature as illustrated. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may have other orientations (90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the above embodiments are merely for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solution described in the above embodiments may be modified or some or all of the technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present application.
Claims (10)
1. A mechanical leg, comprising:
A lower leg assembly (100);
Foot subassembly (200), including foot body (210), a plurality of support piece (220), a plurality of first detection piece (230) and a plurality of first force feedback compensator (240), script body (210) with shank subassembly (100) rotatable coupling, shank subassembly (100) are configured to drive script body (210) rotate around the axis of at least two different directions, the bottom of script body (210) includes a plurality of detection regions (211), first detection piece (230) set up in detection region (211), first force feedback compensator (240) with first detection piece (230) electricity is connected, first force feedback compensator (240) set up in detection region (211), and support piece (220) with first force feedback compensator (240) deviate from one side of script body (210) and are connected;
Wherein the first detecting member (230) is configured to detect a pressure applied to the detecting region (211), and the first force feedback compensating member (240) is configured to drive the supporting member (220) to move toward or away from the script body (210) according to the pressure applied to the detecting region (211).
2. The mechanical leg according to claim 1, characterized in that a plurality of the detection areas (211) are arranged in order along the length direction and the width direction of the script body (210).
3. The mechanical leg according to claim 2, characterized in that the support (220) is an elastic structure.
4. A mechanical leg according to claim 3, characterized in that the orthographic projection of the support (220) towards the script body (210) covers the corresponding detection zone (211).
5. The mechanical leg according to claim 1, wherein the calf assembly (100) comprises a calf body (110) and a driver (120), one end of the calf body (110) is rotatably connected to the script body (210), one end of the driver (120) is rotatably connected to a side of the calf body (110) facing away from the script body (210), and the driver (120) is configured to drive the script body (210) to rotate about at least two axes of different directions relative to the calf body (110).
6. The mechanical leg according to claim 5, wherein the script body (210) includes a toe portion and a heel portion, the driving member (120) includes two linear actuators (121), one end of each linear actuator (121) is rotatably connected to the lower leg body (110) so that the lower leg body (110) can rotate about at least two axes in different directions with respect to the linear actuators (121), and the other end of each linear actuator (121) is rotatably connected to the heel portion so that the script body (210) can rotate about at least two axes in different directions with respect to the linear actuators (121), and the two linear actuators (121) are juxtaposed between the script body (210) and the lower leg body (110).
7. The mechanical leg according to claim 6, wherein the lower leg assembly (100) further comprises a ball joint (122) and a ball bearing (123), one end of the lower leg body (110) is connected with the script body (210) through the ball joint (122), one end of the driving member (120) is connected with the lower leg body (110) through the ball bearing (123), and the other end of the driving member (120) is connected with the script body (210) through the ball bearing (123).
8. The mechanical leg of claim 6 or 7, wherein the foot assembly (200) further comprises a toe member (250), a second detection member (260) and a second force feedback compensation member (270), the toe member (250) being rotatably connected to the toe portion, the second force feedback compensation member (270) being connected to the foot body (210) and the toe member (250), the second force feedback compensation member (270) being configured to drive the toe member (250) to rotate relative to the script body (210) to adjust an angle between the script body (210) and the toe member (250), the second detection member (260) being disposed between the toe member (250) and the script body (210), the second detection member (260) being configured to detect an angle between the toe member (250) and the script body (210).
9. The mechanical leg of claim 8, wherein the first sensing member (230) and the second sensing member (260) are pressure sensors, the first force feedback compensator (240) is a hydraulic damper, and the second force feedback compensator (270) is a spring.
10. A humanoid robot comprising a mechanical leg according to any one of claims 1-9.
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| CN118405213A (en) * | 2024-04-24 | 2024-07-30 | 上海智元新创技术有限公司 | Foot sensing structure, foot structure and humanoid robot |
| CN118928586A (en) * | 2024-09-29 | 2024-11-12 | 北京航空航天大学 | A humanoid foot mechanical foot for a humanoid robot |
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| US7343223B2 (en) * | 2003-03-13 | 2008-03-11 | Alps Electric Co., Ltd. | Robot apparatus and load sensor |
| KR101201453B1 (en) * | 2012-04-19 | 2012-11-14 | 이춘우 | foot structure of humanoid robot |
| CN113511284B (en) * | 2021-07-30 | 2022-08-23 | 中国空空导弹研究院 | Foot structure of quadruped robot |
| CN118753402B (en) * | 2024-09-05 | 2024-12-17 | 上海傅利叶智能科技有限公司 | Foot component, lower limb assembly and humanoid robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118405213A (en) * | 2024-04-24 | 2024-07-30 | 上海智元新创技术有限公司 | Foot sensing structure, foot structure and humanoid robot |
| CN118928586A (en) * | 2024-09-29 | 2024-11-12 | 北京航空航天大学 | A humanoid foot mechanical foot for a humanoid robot |
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