The invention provides a foot structure for a humanoid robot and the humanoid robot. The foot structure comprises a sole, a heel, a direct drive motor and a flange bearing. The soles are in contact with the ground to realize left-right rotation; the heel is connected with the shank to realize front-back rotation. The direct-drive motor is installed at the front end of the sole and connected with the heel through a motor rotor to control left-right rotation. The flange bearing is installed at the upper end of the heel and connected with the shank to control front-back rotation. The single-ankle and double-ankle conversion mechanism is fixed or released by screws through the through holes in the side faces of the soles and the threaded holes of the heels. When the sole and the heel are loosened, the motor drives the sole to rotate relative to the heel, and the double-ankle function is achieved; and the screw fixation is in a single-ankle state. By means of the design, complexity of traditional double-ankle design is simplified, production cost and time consumption are reduced, adaptability and flexibility of feet are improved, and the robot can better adapt to complex terrains and diversified environments.

    本发明提供一种用于人形机器人的足部结构和人形机器人,包括脚掌、脚跟、直驱电机和法兰轴承。脚掌与地面接触,实现左右转动;脚跟与小腿连接,实现前后转动。直驱电机安装在脚掌前端,通过电机转子连接脚跟,控制左右转动。法兰轴承安装在脚跟上端,与小腿连接,控制前后转动。单双脚踝转换机制通过脚掌侧面通孔和脚跟螺纹孔,用螺钉固定或释放转动。当脚掌和脚跟松开时,电机带动脚掌相对脚跟转动,实现双脚踝功能;螺钉固定则为单脚踝状态。这种设计不仅简化了传统双脚踝设计的复杂性,减少了生产成本和时间消耗,而且提高了足部的适应性和灵活性,使得机器人能够更好地适应复杂地形和多样化的环境。


    Access

    Download


    Export, share and cite



    Title :

    Foot structure for humanoid robot and humanoid robot


    Additional title:

    一种用于人形机器人的足部结构和人形机器人


    Contributors:
    LIU HOUDE (author) / LIAO TAO (author)

    Publication date :

    2025-02-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



    Humanoid mechanical foot for humanoid robot

    XU KUN / XU MINGHAO / LUO JUNYANG et al. | European Patent Office | 2024

    Free access

    Foot structure and humanoid robot

    ZHU DONG / FANG XIANGMING / SONG WEN et al. | European Patent Office | 2025

    Free access

    Foot structure and humanoid robot

    XIONG YOUJUN / HU FENG / CHEN XINPU | European Patent Office | 2019

    Free access

    Foot structure of humanoid robot

    PU HUAYAN / ZENG BOLE / MA JIE et al. | European Patent Office | 2025

    Free access

    FOOT STRUCTURE AND HUMANOID ROBOT

    XIONG YOUJUN / HU FENG / CHEN XINPU | European Patent Office | 2018

    Free access