Foot structure and robot

Abstract

The utility model provides a foot structure and a robot. The foot structure comprises: a foot bone having a sole; the adsorption assembly comprises a driving part and an adsorption part, and the driving part can drive the adsorption part to be in a negative pressure state; the adsorption part comprises a suction cup, and the suction cup is arranged on the sole. The stability of the robot under the bumpy working condition can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and more particularly to a foot structure and a robot. BACKGROUND

[0002] In the prior art, in order to ensure the stability of the robot, a rubber layer is usually arranged on the bottom of the foot of the robot to increase the friction between the robot and the ground. However, in some bumpy working conditions, for example, on the special floating ground on the deck of a ship, the rubber layer alone cannot maintain the balance of the robot, thereby resulting in poor stability of the robot.

[0003] Therefore, there is a need to provide a new technical solution to solve the above technical problems. CONTENT OF THE UTILITY MODEL

[0004] An object of the present application is to provide a new technical solution for a foot structure and a robot.

[0005] According to a first aspect of the present application, a foot structure is provided, wherein the foot structure comprises:

[0006] a foot bone having a foot bottom;

[0007] a suction assembly comprising a driving part and a suction part, the driving part being capable of driving the suction part to be in a negative pressure state; the suction part comprising a suction disc arranged on the foot bottom.

[0008] Optionally, the driving part is an electromagnetic pump.

[0009] The foot structure further comprises a pressure sensor arranged on the foot bone, and the pressure sensor is electrically connected with the electromagnetic pump, and the electromagnetic pump adjusts the output power according to the pressure value detected by the pressure sensor.

[0010] Optionally, the diameter of the suction disc is smaller than the width of the foot bottom.

[0011] Optionally, the suction disc is a bellows type suction disc.

[0012] Optionally, the foot bone comprises a first foot, a second foot and a third foot, the first foot is movably connected to one end of the second foot, the third foot is fixedly connected to the other end of the second foot, and the second foot is provided with the suction assembly.

[0013] Optionally, the foot structure further comprises an anti-skid assembly arranged on the first foot and the third foot.

[0014] Optionally, the distance between the lower bottom surface of the anti-skid component and the foot bottom is less than the distance between the lower bottom surface of the suction disc and the foot bottom.

[0015] Optionally, the material of the anti-skid component comprises at least one of rubber, silicone and polyurethane.

[0016] Optionally, the material of the suction disc comprises at least one of rubber, silicone and polyurethane.

[0017] Optionally, three suction assemblies are provided, and the three suction assemblies are respectively arranged on the first foot, the second foot and the third foot.

[0018] According to a second aspect of the present application, a robot is provided, wherein the robot comprises the foot structure according to any one of the first aspect.

[0019] The foot structure in the embodiments of the present application can effectively improve the stability of the robot in a bumpy working condition by driving the suction part of the suction assembly to be in a negative pressure state by the driving part, so that the suction disc of the suction part can firmly adsorb the working ground.

[0020] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments of the present application and, together with the description, serve to explain the principles of the application.

[0022] Figure 1 is a sectional view of the foot structure in one embodiment of the present application.

[0023] Figure 2 is a structural schematic view of the foot structure in one embodiment of the present application.

[0024] Figure 3 is a structural schematic view of the foot structure in another embodiment of the present application.

[0025] BRIEF DESCRIPTION OF DRAWINGS

[0026] 1, foot bone; 101, foot bottom; 11, first foot; 12, second foot; 13, third foot;

[0027] 2, suction assembly; 21, driving part; 22, suction part; 221, suction disc;

[0028] 3, anti-skid component;

[0029] 4, pressure sensor. DETAILED DESCRIPTION

[0030] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. Note that the relative arrangement of the components and steps illustrated in these embodiments, numerical expressions, and numerical values are merely examples, and do not limit the scope of the present application unless otherwise specifically stated.

[0031] Embodiments of the present application will be described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below by reference to the accompanying drawings are exemplary and are for the purpose of explanation of the present application, and are not to be understood as limiting the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor fall within the scope of the present application.

[0032] Note that like reference numerals and letters represent like items in the drawings below, and thus, once an item is defined in one drawing, it need not be discussed further in subsequent drawings.

[0033] According to one embodiment of the present application, a foot structure is provided, which includes a foot bone 1 having a foot bottom 101, and a suction assembly 2 including a driving part 21 and a suction part 22, the driving part 21 being capable of driving the suction part 22 to be in a negative pressure state, and the suction part 22 including a suction disc 221 arranged on the foot bottom 101.

[0034] Specifically, as shown in Figures 1 to 3 The foot structure according to the embodiments of the present application is used for walking of a robot, so that the robot can complete complex work under various working conditions. The foot structure can be purely electrically driven or purely hydraulically driven to adapt to various different working conditions. The foot structure includes a foot bone 1, which can be in various different structural forms. For example, when the robot is a humanoid robot, the foot bone 1 is a humanoid foot bone, which includes a forefoot part, a midfoot part and a hindfoot part, the forefoot part, the midfoot part and the hindfoot part collectively realizing support of the humanoid robot, and the lower bottom surfaces of the forefoot part, the midfoot part and the hindfoot part collectively forming the foot bottom 101; when the robot is a quadruped robot or a hexapod robot, the foot bone 1 can be designed to be bionic (such as foot of animals like mammals, reptiles, etc.), planar, semi-circular or cylindrical, etc. according to requirements, to realize support of the quadruped robot or the hexapod robot, at this time, the foot bone 1 in various forms forms the foot bottom 101 on the side close to the ground (referring to all planes used for supporting the robot).

[0035] The foot structure further comprises a suction assembly 2, which comprises a driving part 21 and a suction part 22. The driving part 21 can be an electric motor or a pump, which can be arranged on the foot bone 1 or other parts of the robot as long as it can drive the suction part 22 to be in a negative pressure state. The suction part 22 comprises a suction disc 221 arranged on the foot bottom 101, which can contact the ground before the foot structure contacts the ground.

[0036] Therefore, when the robot is in a bumpy working condition, for example, on a special floating ground on the deck of a ship, the foot structure drives the suction part 22 to be in a negative pressure state through the driving part 21, so that the suction disc 221 of the suction part 22 can firmly adsorb the working ground. In this way, when the ship shakes violently, the robot can always keep balance, effectively improving the stability of the robot in a bumpy working condition.

[0037] When the robot needs to move, the driving part 21 can drive the suction part 22 to be in a normal state, so that the suction disc 221 of the suction part 22 can be separated from the working ground, and then the robot can be driven to move by other driving systems of the robot.

[0038] In an embodiment, the driving part 21 is an electromagnetic pump; the foot structure further comprises a pressure sensor 4 arranged on the foot bone 1, and the pressure sensor 4 is electrically connected with the electromagnetic pump, and the electromagnetic pump adjusts the output power according to the pressure value detected by the pressure sensor 4.

[0039] Specifically, as shown in Figure 1 Because the electromagnetic pump has the characteristics of small volume, easy arrangement, high output pressure and high efficiency, etc., the embodiment of the application can effectively ensure the suction effect of the suction disc 221 by arranging the driving pump as an electromagnetic pump.

[0040] In addition, as shown in Figures 1 to 3 The foot structure further comprises a pressure sensor 4 arranged on the foot bone 1 to detect the pressure value of the foot structure in real time. The pressure sensor 4 can also be electrically connected with the electromagnetic pump, so that the electromagnetic pump can adjust the output power according to the pressure value detected by the pressure sensor 4. The electromagnetic pump adjusts the output power according to the pressure value detected by the pressure sensor 4 is prior art, which will not be repeated here.

[0041] Therefore, when the robot is in a bumpy working condition, for example, the robot is on a special floating ground on the deck of a ship, the foot structure of the application detects the pressure value of the foot structure in real time through the pressure sensor 4, and then adjusts the output power of the electromagnetic pump in real time through the pressure value detected by the pressure sensor 4, effectively avoiding the situation that the foot structure is separated from the ground due to insufficient suction of the suction cup 221 under the severe shaking of the ship, thereby causing the robot to fall down, and effectively ensuring the stability of the robot in the bumpy working condition.

[0042] In addition, in order to further realize the precise motion control and environmental perception of the robot, the foot structure of the application can also be provided with a force sensor, a tactile sensor and a position sensor, etc.

[0043] In one embodiment, the diameter of the suction cup 221 is smaller than the width of the foot bottom 101.

[0044] Specifically, as shown in the drawings, the shape of the suction cup 221 of the embodiment of the application is circular, so that when the driving part 21 drives the suction part 22 to be in a negative pressure state, the suction force of each part of the suction cup 221 is more uniform, thereby better ensuring the stability of the robot in the bumpy working condition. Figure 2

[0045] Among them, since the foot structure of the robot is usually specially designed according to the working condition of the robot, in order to avoid the interference of the too large suction cup 221 to the movement of the robot or the operation of the robot under complex conditions, it is preferred that the diameter of the suction cup 221 is smaller than the width W of the foot bottom 101.

[0046] In addition, the number of the suction cup 221 of the application can be one, two or more. For example, when the suction cup 221 is multiple, multiple suction cups 221 can form circular arrangement, rectangular arrangement, ring arrangement or point arrangement, etc. according to the stress condition of the foot structure. Among them, when the number of the suction cup 221 is two or more, the total area of the suction cup 221 should be smaller than the area of the foot bottom 101, so as to avoid the interference of the suction cup 221 to the movement of the robot or the operation of the robot under complex conditions.

[0047] In addition, the shape of the suction cup 221 of the application can also be oval or other shapes, which can be selected according to actual needs by those skilled in the art, and the application does not make specific limitation here.

[0048] In one embodiment, the suction cup 221 is a bellows type suction cup 221.

[0049] ​Specifically, the corrugated structure design of the bellows-type suction cup 221 gives it flexibility and deformability, allowing it to easily adapt to the adsorption needs of various irregular surfaces, such as uneven surfaces, curved surfaces, or surfaces with fine textures. This adaptive characteristic makes the bellows-type suction cup 221 perform well in complex working environments. Whether it is metal parts, ceramic products, or glass products, they can be firmly adsorbed onto the suction cup 221. Therefore, by setting the suction cup 221 as a bellows-type suction cup 221, this embodiment of the application effectively improves the stability of the robot under bumpy working conditions.

[0050] In one embodiment, the foot bone 1 includes a first foot 11, a second foot 12, and a third foot 13. The first foot 11 is movably connected to one end of the second foot 12, and the third foot 13 is fixedly connected to the other end of the second foot 12. The second foot 12 is provided with the adsorption component 2.

[0051] Specifically, such as Figure 1 As shown, in the embodiment of this application, when the foot bone 1 is a humanoid foot bone, the first foot 11 is the forefoot, the second foot 12 is the midfoot, and the third foot 13 is the hindfoot. The first foot 11 is movably connected to one end of the second foot 12 through springs, hinges, or other structures, allowing the robot to simulate human walking movements by using the first foot 11 and the second foot 12, thereby adapting to various complex working environments. The third foot 13 is fixedly connected to the other end of the second foot 12 through screwing, riveting, bonding, welding, or other methods, ensuring that the foot structure effectively supports the robot after being connected to the robot's leg structure via the third foot 13.

[0052] In addition, in order to ensure the stability of the foot structure and avoid imbalance of the foot structure, it is preferable to set the adsorption component 2 on the second foot part 12 of the foot bone 1.

[0053] In addition, the foot bone 1 described in this application may include only one foot, or only two feet, or may include multiple feet. Those skilled in the art can choose according to actual needs, and this application does not make specific restrictions here.

[0054] When the foot bone 1 has two or more foot parts, the adsorption component 2 is positioned at the center of gravity of the foot bone 1 to prevent the foot structure from becoming unbalanced.

[0055] In one embodiment, the foot structure further includes an anti-slip component 3 disposed on the first foot 11 and the third foot 13.

[0056] Specifically, such asFigures 1 to 3 As shown, when the foot bone 1 is a humanoid foot bone, the humanoid robot is applied to various complex working conditions. In order to avoid the hard foot bone 1 directly contacting the uneven ground and causing the robot to be unbalanced, the anti-skid assembly 3 can be arranged at the first foot part 11 and the third foot part 13 to improve the contact effect of the foot structure and the ground.

[0057] In addition, the anti-skid assembly 3 can also be arranged at the connection between the first foot part 11 and the second foot part 12, so as to avoid that when the first foot part 11 rotates relative to the second foot part 12, foreign matter damages the connection between the first foot part 11 and the second foot part 12, causing the robot to be unbalanced.

[0058] In an embodiment, the distance between the lower bottom surface of the anti-skid assembly 3 and the foot bottom 101 is less than the distance between the lower bottom surface of the suction cup 221 and the foot bottom 101.

[0059] Specifically, as shown, Figure 1 The distance between the lower bottom surface of the anti-skid assembly 3 and the foot bottom 101 is h, and the distance between the lower bottom surface of the suction cup 221 and the foot bottom 101 is H.

[0060] Therefore, by arranging the distance h between the lower bottom surface of the anti-skid assembly 3 and the foot bottom 101 to be less than the distance H between the lower bottom surface of the suction cup 221 and the foot bottom 101, the suction cup 221 can be in contact with the ground before the anti-skid assembly 3, so that the foot structure can always be firmly adsorbed to the working ground by the suction cup 221, and the robot can always be balanced.

[0061] In an embodiment, the material of the anti-skid assembly 3 includes at least one of rubber, silicone and polyurethane; and / or, the material of the suction cup 221 includes at least one of rubber, silicone and polyurethane.

[0062] Specifically, since the material of the suction cup 221 directly affects the sealing property and suction force of the suction cup 221, in order to ensure that the suction cup 221 has high use performance, the material of the suction cup 221 preferably includes at least one of rubber, silicone and polyurethane.

[0063] In addition, in order to improve the moving effect of the robot on the smooth ground, the material of the anti-skid assembly 3 is arranged to be at least one of rubber, silicone and polyurethane, so as to further improve the friction between the foot structure and the ground.

[0064] In addition, when the material of the anti-skid component 3 is the same as the material of the suction cup 221, the anti-skid component 3 and the suction cup 221 with the same softness can further improve the stability of the robot in the bumpy working condition.

[0065] In one embodiment, the suction assembly 2 is provided with three, and the three suction assemblies 2 are respectively arranged on the first foot 11, the second foot 12 and the third foot 13.

[0066] Specifically, by arranging the suction assembly 2 on the first foot 11, the second foot 12 and the third foot 13, the suction cups 221 of the three suction assemblies 2 can simultaneously suck the working ground when the robot is in the bumpy working condition, so that the robot can be more firmly fixed on the working ground, thereby further enhancing the stability of the robot in the bumpy working condition.

[0067] According to another embodiment of the present application, a robot is provided, which comprises the foot structure according to the embodiments of the present application.

[0068] In the above embodiments, the differences between the embodiments are mainly described, and the optimization features different between the embodiments can be combined to form a better embodiment as long as they are not contradictory. In view of the brevity of the writing, the details are not described here.

[0069] Although some specific embodiments of the present application have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration, but not for limiting the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A foot structure, characterized by, The foot structure comprises: a foot bone (1), the foot bone (1) having a foot bottom (101); a suction assembly (2), the suction assembly (2) comprising a driving part (21) and a suction part (22), the driving part (21) being capable of driving the suction part (22) to be in a negative pressure state; the suction part (22) comprising a plurality of suction discs (221), the plurality of suction discs (221) being arranged on the foot bottom (101). The suction disc (221) is a bellows type suction disc, and a plurality of the suction discs (221) are arranged in a circular arrangement, a rectangular arrangement, a ring arrangement or a dot arrangement, and the total area of the plurality of the suction discs (221) is less than the area of the foot bottom (101).

2. The foot structure of claim 1, wherein The driving part (21) is an electromagnetic pump. The foot structure further comprises a pressure sensor (4), the pressure sensor (4) being arranged on the foot bone (1) and electrically connected with the electromagnetic pump, and the electromagnetic pump adjusts the output power according to the pressure value detected by the pressure sensor (4).

3. The foot structure of claim 1, wherein The diameter of the suction disc (221) is less than the width of the foot bottom (101).

4. The foot structure of claim 1, wherein, The foot bone (1) comprises a first foot part (11), a second foot part (12) and a third foot part (13), the first foot part (11) being movably connected to one end of the second foot part (12), the third foot part (13) being fixedly connected to the other end of the second foot part (12), and the second foot part (12) being provided with the suction assembly (2).

5. The foot structure of claim 4, wherein, The foot structure further comprises an anti-skid assembly (3), the anti-skid assembly (3) being arranged on the first foot part (11) and the third foot part (13).

6. The foot structure of claim 5, wherein, The distance between the lower bottom surface of the anti-skid assembly (3) and the foot bottom (101) is less than the distance between the lower bottom surface of the suction disc (221) and the foot bottom (101).

7. The foot structure of claim 5, wherein, The material of the anti-skid assembly (3) comprises at least one of rubber, silicone and polyurethane. The material of the suction disc (221) comprises at least one of rubber, silicone and polyurethane.

8. The foot structure of claim 4, wherein, The suction assembly (2) is arranged in three, and the three suction assemblies (2) are arranged on the first foot part (11), the second foot part (12) and the third foot part (13) respectively.

9. A robot, characterized in that The foot structure comprises any one of claims 1-8.

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