A foot mechanism and robot

Abstract

The application discloses a foot mechanism and a robot, and relates to the technical field of robots. The foot mechanism comprises a main framework, a first foot sole, a second foot sole, a flexible foot plate and an elastic piece. The main framework is used for being connected with the leg of the robot. The first foot sole and the second foot sole are rotationally connected with the main framework respectively, the first foot sole is provided with a first connecting part, the second foot sole is located on the opposite side of the main framework from the first foot sole, and the second foot sole is provided with a second connecting part. The flexible foot plate is connected with the first foot sole and the second foot sole respectively and is located at the bottom of the first foot sole and the second foot sole. One end of the elastic piece is connected with the first connecting part, and the other end of the elastic piece is connected with the second connecting part. The foot mechanism provided by the application reduces the impact force and vibration when the foot mechanism falls to the ground during the walking and running and jumping of the robot, can well absorb the impact force generated during walking, and prolongs the overall service life of the robot.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a foot mechanism and a robot. Background Technology

[0002] With the development of technology, mobile robots are being used more and more widely, bringing great convenience to people's lives and production. The design of the robot's footplate structure has become an important task in mobile robot design, as its structure and function affect the robot's motion stability, flexibility, and adaptability to complex environments. Existing mobile robots include a body structure and a footplate structure connected to the bottom of the body structure. The entire weight of the body structure is distributed across the footplate structure. The footplate structure is typically designed as a rigid body, and its connection to the legs is also rigid. During walking, this generates vibrations throughout the robot, and the resulting resonance causes load impacts on the hardware, significantly reducing the robot's lifespan. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a foot mechanism that aims to solve the technical problem that the resonance generated by the foot structure of the robot during walking causes load impact on the hardware of the whole machine, resulting in a significant reduction in the service life of the robot.

[0004] The first aspect of this application provides a foot mechanism, which includes:

[0005] The main frame, used to connect to the robot's legs;

[0006] The first foot part is rotatably connected to the main frame and is provided with a first connecting part;

[0007] The second foot part is rotatably connected to the main frame. The second foot part and the first foot part are located on two opposite sides of the main frame. The second foot part is provided with a second connecting part.

[0008] A flexible footplate is connected to the first foot portion and the second foot portion respectively, and is located at the bottom of the first foot portion and the second foot portion;

[0009] An elastic element, one end of which is connected to the first connecting part and the other end of which is connected to the second connecting part, is disposed between the flexible foot plate and the main frame.

[0010] In addition, the foot mechanism according to this application may also have the following additional technical features:

[0011] In some embodiments of this application, the foot mechanism further includes a limiting structure, which includes a first limiting part, a second limiting part, and a third limiting part;

[0012] The first limiting part is disposed on the main frame, the second limiting part is disposed at the end of the first foot near the main frame, and the third limiting part is disposed at the end of the second foot near the main frame. The second limiting part and the third limiting part can abut against the first limiting part to restrict the first foot and the second foot from rotating toward the ground.

[0013] In some embodiments of this application, the foot mechanism further includes a rotating member, wherein the first foot portion and the second foot portion are rotatably connected to the main frame via the rotating member.

[0014] In some embodiments of this application, the rotating component is a bearing. The main frame is provided with a first fixed shaft and a second fixed shaft, and the bearing is sleeved on the first fixed shaft and the second fixed shaft respectively. A first U-shaped support is provided on the first foot part, and a second U-shaped support is provided on the second foot part. The first U-shaped support and the second U-shaped support are respectively provided with mounting grooves. The bearing is disposed in the mounting groove so that the first U-shaped support rotates around the first fixed shaft through the bearing, and the second U-shaped support rotates around the second fixed shaft through the bearing.

[0015] In some embodiments of this application, the mounting groove is interference-fitted with the outer ring of the bearing.

[0016] In some embodiments of this application, the opposite ends of the first U-shaped support and the second U-shaped support are respectively arc-shaped, and the end of the first limiting portion near the first U-shaped support and the end of the first limiting portion near the second U-shaped support are respectively arc-shaped.

[0017] In some embodiments of this application, the rotating component consists of a first rotating shaft and a second rotating shaft. The first foot part is rotatably connected to the main frame through the first rotating shaft, and the second foot part is rotatably connected to the main frame through the second rotating shaft. The axial direction of the first rotating shaft is the same as the rotation axis direction of the first foot part, and the axial direction of the second rotating shaft is the same as the rotation axis direction of the second foot part.

[0018] In some embodiments of this application, the first connecting part is a first slot, the second connecting part is a second slot, the elastic member is an elastic plate, one end of the elastic plate is engaged in the first slot, and the other end of the elastic plate is engaged in the second slot.

[0019] In some embodiments of this application, a first inclined rib and a second inclined rib are respectively provided on one side of the elastic plate, the first inclined rib abutting against the groove wall of the first slot, and the second inclined rib abutting against the groove wall of the second slot.

[0020] In some embodiments of this application, at least one strip-shaped through hole is provided along the length direction of the elastic plate.

[0021] Furthermore, the length of each of the strip-shaped through holes in the extending direction is L, and the length of the elastic plate when it does not undergo elastic deformation is W, satisfying the relationship: 1 / 4W≤L≤1 / 3W.

[0022] In some embodiments of this application, the first connecting part is a first mounting plate with a threaded hole, the second connecting part is a second mounting plate with a threaded hole, one end of the elastic member is connected to the first mounting plate by a screw, and the other end of the elastic member is connected to the second mounting plate by a screw.

[0023] In some embodiments of this application, the flexible foot plate includes a first mounting portion, a deformation portion, and a second mounting portion in sequence along its length. The first mounting portion is disposed at the bottom of the first foot portion, the deformation portion is disposed at the bottom of the elastic member, and the second mounting portion is disposed at the bottom of the second foot portion. The thickness of the first mounting portion and the second mounting portion are respectively less than the thickness of the deformation portion.

[0024] A second aspect of this application provides a robot, which includes the foot mechanism described in any of the above embodiments.

[0025] Compared to existing technologies, the advantages of this application are as follows: This application proposes a foot mechanism comprising a main frame, a first foot portion, a second foot portion, a flexible foot plate, and an elastic element. The first and second foot portions are rotatably connected to the main frame, and the elastic element is connected to both the first and second foot portions, positioned between the flexible foot plate and the main frame. Simulating a human walking gait, when the robot's leg steps forward, the forefoot and hindfoot land first, i.e., the first and second foot portions land, with the hindfoot (second foot portion) receiving a certain impact force. At this time, the elastic element bends upward along the rotation center of the second foot portion, while the first foot portion remains stationary. When the leg retracts, the hindfoot (second foot portion) lifts off the ground first, and gravity falls onto the first foot portion (forefoot). After receiving a certain impact, the first foot portion also bends upward along the rotation center of the first foot portion via the elastic element. This reduces resonance caused by impact forces, increases adaptability to uneven terrain, reduces impact and vibration when the robot's feet land during walking and jumping, effectively absorbs impact forces generated during walking, extends the robot's overall lifespan, and enhances the product's market competitiveness. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A perspective view of a foot mechanism provided in some embodiments of this application is shown;

[0028] Figure 2 This paper shows a schematic diagram of the foot mechanism provided in some embodiments of the present application from one perspective.

[0029] Figure 3 It shows Figure 2 Schematic diagram of the cross-sectional structure along the middle AA direction;

[0030] Figure 4 This paper shows a schematic diagram of the foot mechanism provided in some embodiments of the present application from another perspective.

[0031] Figure 5 It shows Figure 4 Enlarged structural diagram of section B in the middle;

[0032] Figure 6 An exploded structural diagram of the foot mechanism provided in some embodiments of this application is shown;

[0033] Figure 7 This invention provides a schematic diagram of the main frame of the foot mechanism in some embodiments of the present application.

[0034] Figure 8 A schematic diagram of the first and second foot portions of the foot mechanism in some embodiments of this application is shown from a perspective.

[0035] Figure 9 This application shows a schematic diagram of the first and second foot portions of the foot mechanism from another perspective.

[0036] Figure 10 A schematic diagram of the elastic element of the foot mechanism in some embodiments of this application is shown from one perspective.

[0037] Figure 11 This paper shows a schematic diagram of the elastic element of the foot mechanism in some embodiments of this application from another perspective.

[0038] Figure 12 A three-dimensional structural schematic diagram of the elastic element of the foot mechanism in some embodiments of this application is shown.

[0039] Explanation of key component symbols:

[0040] 100 - Foot mechanism; 110 - Main frame; 111 - Leg mounting position; 112 - First fixed shaft; 113 - Second fixed shaft; 120 - First foot part; 121 - First connecting part; 122 - First U-shaped support; 123 - Mounting groove; 130 - Second foot part; 131 - Second connecting part; 132 - Second U-shaped support; 140 - Flexible foot plate; 141 - First mounting part; 142 - Deformation part; 143 - Second mounting part; 150 - Elastic element; 151 - Strip-shaped through hole; 152 - First inclined bone position; 153 - Second inclined bone position; 160 - Limiting structure; 161 - First limiting part; 162 - Second limiting part; 163 - Third limiting part; 170 - Rotating element. Detailed Implementation

[0041] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0042] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0043] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0044] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0045] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0046] Currently, existing mobile robots consist of a body structure and a foot structure connected to the bottom of the body structure. The entire weight of the body structure is distributed across the foot structure. The foot structure is typically designed as a rigid body, and it is rigidly connected to the legs. During walking, this generates vibrations, and the resulting resonance places a load impact on the robot's hardware, significantly reducing its lifespan. Furthermore, the torque from impacts on the rigidly connected foot structure is entirely transmitted to the robot's motors, increasing the motor torque requirements.

[0047] like Figure 1 As shown, an embodiment of this application provides a foot mechanism 100, mainly used on robots, which can be used as intelligent mobile robots indoors or as intelligent robots outdoors. The foot mechanism 100 includes: a main frame 110, a first foot portion 120, a second foot portion 130, a flexible foot plate 140, and an elastic element 150.

[0048] See also Figure 2 , Figure 3 and Figure 8 The main frame 110 is used to connect to the robot's legs. The first foot portion 120 and the second foot portion 130 are rotatably connected to the main frame 110, and the first foot portion 120 is provided with a first connecting portion 121. The second foot portion 130 and the first foot portion 120 are located on opposite sides of the main frame 110, and the second foot portion 130 is provided with a second connecting portion 131.

[0049] Continue reading Figure 3 The flexible foot plate 140 is connected to the first foot portion 120 and the second foot portion 130 respectively, and is located at the bottom of the first foot portion 120 and the second foot portion 130.

[0050] One end of the elastic element 150 is connected to the first connecting part 121, and the other end is connected to the second connecting part 131. The elastic element 150 is disposed between the flexible foot plate 140 and the main frame 110.

[0051] The foot mechanism 100 provided in the embodiments of this application rotatably connects the first foot portion 120 and the second foot portion 130 to the main frame 110, respectively. Simultaneously, an elastic element 150 is connected to the first foot portion 120 and the second foot portion 130, and is positioned between the flexible foot plate 140 and the main frame 110. In this way, the bending deformation of the elastic element 150 improves the adaptability of the first foot portion 120 and the second foot portion 130 to uneven ground, reduces the impact and vibration of the foot mechanism 100 upon landing during robot walking and running / jumping, effectively absorbs the impact generated during walking, and extends the overall lifespan of the robot.

[0052] Specifically, simulating human walking gait, when the robot's legs step out, the forefoot and heel land first, i.e., the first foot part 120 and the second foot part 130 land. The heel (second foot part 130) receives a certain impact force. At this time, the elastic element 150 bends and deforms upward along the rotation center of the second foot part 130, while the first foot part 120 remains stationary. When the legs retract, the heel (second foot part 130) lifts off the ground first, and the weight falls onto the first foot part 120 (forefoot). After receiving a certain impact, the first foot part 120 also bends and deforms upward along the rotation center of the first foot part 120 through the elastic element 150. In this way, the resonance generated under the impact force of the whole machine is reduced, thereby increasing the adaptability to walking on uneven ground, reducing the impact force and vibration when the foot mechanism 100 lands during the robot's walking, running and jumping, reducing the peak torque of the motor, extending the overall life of the robot, and improving the market competitiveness of the product.

[0053] like Figure 4 and Figure 5 As shown, in some embodiments of this application, the foot mechanism 100 may optionally include a limiting structure 160, which includes a first limiting part 161, a second limiting part 162 and a third limiting part 163.

[0054] Specifically, the first limiting part 161 is disposed on the main frame 110, the second limiting part 162 is disposed at one end of the first foot part 120 near the main frame 110, and the third limiting part 163 is disposed at one end of the second foot part 130 near the main frame 110. The second limiting part 162 and the third limiting part 163 can abut against the first limiting part 161 to restrict the first foot part 120 and the second foot part 130 from rotating toward the ground.

[0055] In this embodiment, the first limiting part 161, the second limiting part 162 and the third limiting part 163 and the above-mentioned connection relationship ensure that the flexible foot plate 140, the first foot part 120 and the second foot part 130 are always in a horizontal state, preventing the first foot part 120 and the second foot part 130 from moving downward together, so that the first foot part 120 and the second foot part 130 can only rotate upward, thereby compressing the elastic member 150 to bend and deform.

[0056] like Figure 6 and Figure 7 As shown, in some embodiments of this application, optionally, the foot mechanism 100 further includes a rotating member 170, wherein the first foot portion 120 and the second foot portion 130 are rotatably connected to the main frame 110 via the rotating member 170.

[0057] Combination Figure 8 and Figure 9 As shown, optionally, the rotating component 170 is a bearing. The main frame 110 is provided with a first fixed shaft 112 and a second fixed shaft 113, and the bearings are respectively sleeved on the first fixed shaft 112 and the second fixed shaft 113. A first U-shaped support 122 is provided on the first foot part 120, and a second U-shaped support 132 is provided on the second foot part 130. The first U-shaped support 122 and the second U-shaped support 132 are respectively provided with mounting grooves 123. The bearings are disposed in the mounting grooves 123 so that the first U-shaped support 122 rotates around the first fixed shaft 112 through the bearings, and the second U-shaped support 132 rotates around the second fixed shaft 113 through the bearings. Two bearings are rotatably connected to the first U-shaped support 122, and two other bearings are rotatably connected to the second U-shaped support 132. The bearing arrangement increases the flexibility of rotation of the first foot part 120 and the second foot part 130, reduces friction during rotation, and makes the first foot part 120 and the second foot part 130 rotate more smoothly relative to the main frame 110.

[0058] Furthermore, the mounting groove 123 is interference-fitted with the outer ring of the bearing. This facilitates the fixing of the bearing to the first U-shaped support 122 and the second U-shaped support 132, resulting in a simple structure, easy operation, and reduced number of fixing components connecting the bearing to the mounting groove 123, thus lowering product costs.

[0059] like Figure 5 , Figure 6 and Figure 8 As shown, in some embodiments of this application, optionally, the opposite ends of the first U-shaped support 122 and the second U-shaped support 132 are respectively arc-shaped structures, and the ends of the first limiting portion 161 near the first U-shaped support 122 and the ends of the first limiting portion 161 near the second U-shaped support 132 are respectively arc-shaped. Thus, when the first foot portion 120 rotates, that is, when the first U-shaped support 122 rotates, the ends of the arc-shaped structures form tangential contact with the arc-shaped portion of the first limiting portion 161, avoiding interference and facilitating rotation.

[0060] In some other embodiments of this application, in addition to using bearings, the rotating component 170 may also consist of a first rotating shaft (not shown in the figure) and a second rotating shaft (not shown in the figure). The first foot portion 120 is rotatably connected to the main frame 110 via the first rotating shaft, and the second foot portion 130 is rotatably connected to the main frame 110 via the second rotating shaft. The axial direction of the first rotating shaft is the same as the rotation axis direction of the first foot portion 120, and the axial direction of the second rotating shaft is the same as the rotation axis direction of the second foot portion 130. Compared to using bearings for the rotating component 170, using rotating shafts is more cost-effective.

[0061] In some embodiments of this application, optionally, the first connecting portion 121 is a first slot, the second connecting portion 131 is a second slot, and the elastic member 150 is an elastic plate. One end of the elastic plate is engaged with the first slot, and the other end of the elastic plate is engaged with the second slot. The elastic plate is fixed to the first foot portion 120 and the second foot portion 130 through the first and second slots. Thus, when the robot's leg steps out, the first foot portion 120 and the second foot portion 130 land first, and the flexible foot plate 140 also lands simultaneously. The second foot portion 130 receives a certain impact force. At this time, the elastic plate bends and deforms upward along the rotation center of the second foot portion 130, while the first foot portion 120 remains stationary. When the leg retracts, the second foot portion 130 lifts off the ground first, and gravity falls onto the first foot portion 120. After the first foot portion 120 receives a certain impact, it will also be cushioned by the elastic plate bending and deforming upward along the rotation center of the first foot portion 120.

[0062] like Figure 11 and Figure 12 As shown, further, a first inclined rib 152 and a second inclined rib 153 are respectively provided on one side of the elastic plate. The first inclined rib 152 abuts against the groove wall of the first slot, and the second inclined rib 153 abuts against the groove wall of the second slot. The first inclined rib 152 can abut against the groove wall of the first slot, thus making the elastic plate and the first slot interference fit. Similarly, the second inclined rib 153 can abut against the groove wall of the second slot, thus making the elastic plate and the second slot interference fit. In addition, the first inclined rib 152 and the second inclined rib 153 can also have a guiding function due to their inclination, which facilitates the insertion of the elastic plate into the first slot and the second slot.

[0063] Furthermore, a portion of the first oblique bone position 152 and the second oblique bone position 153 near the flexible pad also abuts against the deformable part 142, which facilitates the deformation of the deformable part 142 by pressing it.

[0064] like Figure 10As shown, in the above embodiments of this application, optionally, at least one strip-shaped through hole 151 is provided along the length direction of the elastic plate. The strip-shaped through hole 151 is provided to facilitate the bending deformation of the elastic plate under pressure.

[0065] In this embodiment, two through holes 151 are used, one located near the first slot and the other near the second slot, with the through hole 151 positioned in the middle of the width of the elastic plate. Of course, in other embodiments, three, four, or other types of through holes 151 may be used.

[0066] Furthermore, the length of each of the strip-shaped through holes 151 extending in the direction of extension is L, and the length of the elastic plate when it has not undergone elastic deformation is W, satisfying the relationship: 1 / 4W≤L≤1 / 3W. This ensures that the elastic plate can bend upwards, facilitating the rotation of the first foot portion 120 and the second foot portion 130, and reducing vibration and impact forces.

[0067] It should be noted that the elastic sheet can be made of elastic steel plate, or other metal or non-metal materials with elastic properties.

[0068] In other embodiments of this application, besides the option of selecting a slot for the first connecting portion 121 and the second connecting portion 131, the first connecting portion 121 can also be a first mounting plate with a threaded hole (not shown in the figure), and the second connecting portion 131 can be a second mounting plate with a threaded hole (not shown in the figure). One end of the elastic member 150 is connected to the first mounting plate by a screw, and the other end of the elastic member 150 is connected to the second mounting plate by a screw. Connecting the elastic member 150 with screws improves the fixing strength compared to a snap-fit ​​method.

[0069] like Figure 3As shown, in some embodiments of this application, optionally, the flexible foot plate 140 includes a first mounting portion 141, a deformable portion 142, and a second mounting portion 143 sequentially along its length. The first mounting portion 141 is disposed at the bottom of the first foot portion 120, the deformable portion 142 is disposed at the bottom of the elastic member 150, and the second mounting portion 143 is disposed at the bottom of the second foot portion 130. The thicknesses of the first mounting portion 141 and the second mounting portion 143 are respectively less than the thickness of the deformable portion 142. This facilitates the first mounting portion 141 to follow the first foot portion 120, and the second mounting portion 143 to follow the rotation and deformation of the second foot portion 130. Simultaneously, the deformable portion 142 also deforms with the elastic member 150. Furthermore, while the thickness of the deformable portion 142 is greater than the thicknesses of the first mounting portion 141 and the second mounting portion 143, it exerts a reverse force on the elastic member 150, facilitating the elastic member 150 to recover its elastic deformation.

[0070] It should be noted that the flexible foot plate 140 is made of soft silicone, and correspondingly, the first mounting portion 141, the second mounting portion 143, and the deformable portion 142 are also made of soft silicone. Of course, in other embodiments, the flexible foot plate 140 can also be made of other soft materials, such as rubber.

[0071] Embodiments of this application provide a robot, which includes the foot mechanism 100 described in any of the above embodiments.

[0072] Specifically, the robot's legs are connected to the main frame 110, and the main frame 110 is provided with a leg mounting position 111, which is used to connect to the robot's legs.

[0073] The robot provided in this embodiment has the foot mechanism 100 described in any of the above embodiments, and therefore has all the beneficial effects of the foot mechanism 100 described in any of the above embodiments, which will not be described in detail here.

[0074] In summary, this application proposes a foot mechanism 100 and a robot. The foot mechanism 100 rotatably connects a first foot portion 120 and a second foot portion 130 to a main frame 110, respectively. Simultaneously, an elastic element 150 is connected to both the first foot portion 120 and the second foot portion 130, and is positioned between a flexible foot plate 140 and the main frame 110. Thus, through the bending deformation of the elastic element 150, the adaptability of the first foot portion 120 and the second foot portion 130 to walking on uneven ground is improved, reducing the impact and vibration when the foot mechanism 100 lands during the robot's walking, running, and jumping processes, reducing the peak torque of the motor, extending the overall lifespan of the robot, and enhancing the product's market competitiveness.

[0075] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0076] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A foot mechanism, characterized in that, The foot mechanism includes: The main frame is used to connect to the robot's legs; The first foot part is rotatably connected to the main frame and is provided with a first connecting part; The second foot part is rotatably connected to the main frame. The second foot part and the first foot part are located on two opposite sides of the main frame. The second foot part is provided with a second connecting part. A flexible footplate is connected to the first foot portion and the second foot portion respectively, and is located at the bottom of the first foot portion and the second foot portion; An elastic element, one end of which is connected to the first connecting part and the other end of which is connected to the second connecting part, is disposed between the flexible foot plate and the main frame; The foot mechanism further includes a limiting structure, which includes a first limiting part, a second limiting part, and a third limiting part; The first limiting part is disposed on the main frame, the second limiting part is disposed at the end of the first foot near the main frame, and the third limiting part is disposed at the end of the second foot near the main frame. The second limiting part and the third limiting part can abut against the first limiting part to restrict the first foot and the second foot from rotating toward the ground. The flexible foot plate includes a first mounting part, a deformation part, and a second mounting part in sequence along its length. The first mounting part is disposed at the bottom of the first foot part, the deformation part is disposed at the bottom of the elastic member, and the second mounting part is disposed at the bottom of the second foot part. The thickness of the first mounting part and the second mounting part are respectively less than the thickness of the deformation part.

2. The foot mechanism according to claim 1, characterized in that, The foot mechanism also includes a rotating component, and the first foot part and the second foot part are rotatably connected to the main frame through the rotating component.

3. The foot mechanism according to claim 2, characterized in that, The rotating component is a bearing. The main frame is provided with a first fixed shaft and a second fixed shaft, and the bearing is sleeved on the first fixed shaft and the second fixed shaft respectively. A first U-shaped support is provided on the first foot part, and a second U-shaped support is provided on the second foot part. The first U-shaped support and the second U-shaped support are respectively provided with mounting grooves. The bearing is disposed in the mounting groove so that the first U-shaped support can rotate around the first fixed shaft through the bearing, and the second U-shaped support can rotate around the second fixed shaft through the bearing.

4. The foot mechanism according to claim 3, characterized in that, The mounting groove is interference-fitted with the outer ring of the bearing.

5. The foot mechanism according to claim 3, characterized in that, The opposite ends of the first U-shaped support and the second U-shaped support are respectively arc-shaped, and the ends of the first limiting part near the first U-shaped support and the ends of the first limiting part near the second U-shaped support are respectively arc-shaped.

6. The foot mechanism according to claim 2, characterized in that, The rotating component consists of a first rotating shaft and a second rotating shaft. The first foot part is rotatably connected to the main frame through the first rotating shaft, and the second foot part is rotatably connected to the main frame through the second rotating shaft. The axial direction of the first rotating shaft is the same as the rotation axis direction of the first foot part, and the axial direction of the second rotating shaft is the same as the rotation axis direction of the second foot part.

7. The foot mechanism according to any one of claims 1 to 6, characterized in that, The first connecting part is a first slot, the second connecting part is a second slot, the elastic element is an elastic plate, one end of the elastic plate is engaged in the first slot, and the other end of the elastic plate is engaged in the second slot.

8. The foot mechanism according to claim 7, characterized in that, The elastic plate has a first inclined rib and a second inclined rib on one side, the first inclined rib abutting against the groove wall of the first slot, and the second inclined rib abutting against the groove wall of the second slot.

9. The foot mechanism according to claim 7, characterized in that, At least one strip-shaped through hole is provided along the length direction of the elastic plate.

10. The foot mechanism according to any one of claims 1 to 6, characterized in that, The first connecting part is a first mounting plate with a threaded hole, the second connecting part is a second mounting plate with a threaded hole, one end of the elastic element is connected to the first mounting plate by a screw, and the other end of the elastic element is connected to the second mounting plate by a screw.

11. A robot, characterized in that, It includes a foot mechanism as described in any one of claims 1 to 10.

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