The invention belongs to the technical field of robot equipment, and particularly relates to a humanoid robot and a sole structure of the humanoid robot. The sole structure comprises a rigid connecting piece which comprises a main body plate piece and a connecting part, the connecting part is arranged on the main body plate piece, and the connecting part is used for being connected with the ankle connecting end of the humanoid robot; the first layer plate is fixedly connected with the main body plate, the end part of the first layer plate exceeds the end part of the rigid connecting piece in the first direction, and the part, exceeding the end part of the rigid connecting piece, of the first layer plate can be bent and deformed in the rotating direction; the second layer plate is connected to the side, away from the rigid connecting piece, of the first layer plate, the second layer plate is a part made of a flexible material, the contour shape of the projection of the second layer plate is consistent with the contour shape of the projection of the first layer plate in the second direction, and the projection of the first layer plate is located in the projection of the second layer plate. By applying the technical scheme, the problem that the sole structure of the current humanoid robot does not have the characteristic that the front sole can be bent and deformed is solved.
本申请属于机器人设备技术领域,尤其涉及一种人形机器人及其具有的脚掌结构。其中,脚掌结构包括:刚性连接件,包括主体板件和连接部,连接部设置于主体板件,连接部用于与人形机器人的脚踝连接端连接;第一层板,与主体板件固定连接,沿第一方向上,第一层板的端部超出刚性连接件的端部,并且,第一层板超出刚性连接件的端部的部分沿转动方向可弯曲变形;第二层板,连接于第一层板背离刚性连接件的一侧,第二层板为采用柔性材料制作的部件,沿第二方向上,第二层板的投影的轮廓形状与第一层板的投影的轮廓形状相一致,并且,第一层板的投影位于第二层板的投影内。应用本技术方案旨在解决当前的人形机器人的脚掌结构不具备前脚掌可弯曲变形特性的问题。
Humanoid robot and sole structure of humanoid robot
人形机器人及其具有的脚掌结构
2025-02-25
Patent
Electronic Resource
Chinese