A foot mechanism and robot

Abstract

The application discloses a foot mechanism and a robot, and belongs to the technical field of robots. The foot mechanism comprises a main framework, a rotating assembly, a first foot sole, a second foot sole and an elastic assembly. The main framework is used for being connected with a leg of the robot; the rotating assembly comprises a first rotating piece and a second rotating piece; the first foot sole is arranged at the bottom of the main framework and is rotationally connected with the main framework through the first rotating piece; the second foot sole is arranged at the bottom of the main framework and is rotationally connected with the main framework through the second rotating piece, and the first foot sole and the second foot sole are located at two opposite sides of the main framework; the elastic assembly comprises a first elastic piece and a second elastic piece, the first elastic piece is sleeved on the first rotating piece, one end of the first elastic piece is in abutment with the first foot sole, the other end is in abutment with the main framework, and the second elastic piece is in abutment between the second foot sole and the main framework. The foot mechanism provided by the application effectively improves the movement performance of the robot and prolongs the service life of the robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a foot mechanism and a robot. BACKGROUND

[0002] With the development of science and technology, mobile robots are applied more and more widely, bringing great convenience to people's life and production. The design of robot foot plate structure has become an important task of mobile robot design, and its structure and function affect the motion stability and flexibility of the robot, as well as the adaptability to complex environment. The existing mobile robot includes a body structure and a robot foot plate structure connected to the bottom of the body structure. The whole weight of the body structure acts on the robot foot plate structure. Among them, the robot foot plate structure is usually designed as a rigid body, and the sole cannot be bent. Its connection with the leg is also rigid, which will produce whole machine vibration during walking, and the resonance produced will cause load impact on the hardware of the whole machine, not only greatly reducing the service life of the robot, but also making the robot unable to walk or jog at high speed, affecting the motion performance of the robot. SUMMARY

[0003] Therefore, the purpose of the present application is to overcome the deficiencies in the prior art, and to provide a foot mechanism and a robot to solve the technical problems that the resonance produced by the foot plate structure of the robot in the prior art during walking causes load impact on the hardware of the whole machine, greatly reducing the service life of the robot and making the robot unable to walk or jog at high speed.

[0004] To solve the above technical problems, the present application provides:

[0005] A foot mechanism, comprising:

[0006] a main framework for connecting with the leg of a robot;

[0007] a rotating assembly, the rotating assembly comprising a first rotating member and a second rotating member;

[0008] a first sole portion provided at the bottom of the main framework and rotatably connected with the main framework through the first rotating member;

[0009] a second sole portion provided at the bottom of the main framework and rotatably connected with the main framework through the second rotating member, the first sole portion and the second sole portion being located at two opposite sides of the main framework;

[0010] an elastic assembly, the elastic assembly comprising a first elastic member and a second elastic member, the first elastic member being sleeved on the first rotating member, one end of the first elastic member abutting against the first sole portion, and the other end abutting against the main framework, the second elastic member abutting between the second sole portion and the main framework.

[0011] In addition, the foot mechanism according to the present application can also have the following additional technical features:

[0012] In some embodiments of the present application, the foot mechanism further comprises a flexible member disposed at the bottom of the first and second instep portions.

[0013] In some embodiments of the present application, the first instep portion is provided with a first connecting portion, the main skeleton is provided with a second connecting portion, the first connecting portion is provided with a first through hole, the second connecting portion is provided with a second through hole, the first through hole and the second through hole are oppositely arranged, and the first rotating member is connected between the first connecting portion and the second connecting portion through the first through hole and the second through hole, so that the first instep portion and the main skeleton are pivotally connected.

[0014] In some embodiments of the present application, the second instep portion is provided with a third connecting portion, the main skeleton is provided with a fourth connecting portion, the third connecting portion is provided with a third through hole, the fourth connecting portion is provided with a fourth through hole, the third through hole and the fourth through hole are oppositely arranged, and the second rotating member is connected between the third connecting portion and the fourth connecting portion through the third through hole and the fourth through hole, so that the second instep portion and the main skeleton are pivotally connected.

[0015] In some embodiments of the present application, the first elastic member comprises a spring body, a first torsion arm at one end of the spring body, and a second torsion arm at the other end of the spring body, the spring body is integrally formed with the first torsion arm and the second torsion arm, the first torsion arm and the second torsion arm are located at two opposite sides of the spring body, the spring body is sleeved on the first rotating member, the first torsion arm supports and abuts against the first instep portion, and the second torsion arm supports and abuts against the main skeleton.

[0016] In some embodiments of the present application, the first torsion arm is provided with a first support abutting portion at one end away from the spring body, the first instep portion is provided with a first mounting hole matched with the first support abutting portion, the second torsion arm is provided with a second support abutting portion at one end away from the spring body, and the second support abutting portion supports and abuts against one end of the main skeleton away from the second instep portion.

[0017] In some embodiments of the present application, the second instep portion is provided with a first limiting portion and a second limiting portion, the first limiting portion is located at one end of the second instep portion close to the first instep portion, the second elastic member is located at one end of the main framework away from the first instep portion, and the second limiting portion is located between the first limiting portion and the second elastic member. The first limiting portion abuts against the main framework, and the second limiting portion can abut against the main framework to limit the rotation of the main framework towards the second instep portion.

[0018] In some embodiments of the present application, the second elastic member is provided with at least two, and the two second elastic members are arranged in the axial direction of the second rotating member.

[0019] In some embodiments of the present application, the main framework is provided with a mounting portion for connecting with the leg portion of the robot.

[0020] In addition, the present application also provides a robot comprising the foot mechanism of any of the above embodiments.

[0021] Compared with the prior art, the present application has the following advantages:

[0022] The present application provides a foot mechanism and a robot. The foot mechanism comprises a main framework, a rotating assembly, a first instep portion, a second instep portion and an elastic assembly. The rotating assembly comprises a first rotating member and a second rotating member. The elastic assembly comprises a first elastic member and a second elastic member. The first instep portion and the second instep portion are respectively rotatably connected with the main framework. The first elastic member is sleeved on the first rotating member, and one end of the first elastic member abuts against the first instep portion, and the other end of the first elastic member abuts against the main framework. In this way, the robot can be more similar to human gait when walking or jumping, so that the instep of the robot can be bent like a human when walking to achieve a longer stride, so that the robot can achieve a higher speed of walking or even jogging, effectively improving the motion performance of the robot. At the same time, the second elastic member abuts against the second instep portion and the main framework to protect the robot from shock and vibration, so that the upper body structure of the robot is subjected to smaller impact load when walking or jumping, thereby effectively prolonging the service life of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0024] Figure 1Fig. 1 shows a perspective view of a foot mechanism according to some embodiments of the present application;

[0025] Figure 2 Fig. 2 shows a front view of a foot mechanism according to some embodiments of the present application;

[0026] Figure 3 Fig. 3 shows a side view of a foot mechanism according to some embodiments of the present application;

[0027] Figure 4 Fig. 4 shows a top view of a foot mechanism according to some embodiments of the present application;

[0028] Figure 5 Fig. 5 shows an exploded view of a foot mechanism according to some embodiments of the present application.

[0029] Main element symbol explanation:

[0030] 100 - foot mechanism; 110 - main skeleton; 111 - second connecting part; 1111 - second through hole; 112 - fourth connecting part; 1121 - fourth through hole; 113 - mounting part; 120 - rotating assembly; 121 - first rotating part; 122 - second rotating part; 130 - first instep part; 131 - first connecting part; 1311 - first through hole; 132 - first mounting hole; 140 - second instep part; 141 - third connecting part; 1411 - third through hole; 142 - first limiting part; 143 - second limiting part; 150 - elastic assembly; 151 - first elastic part; 1511 - spring body; 1512 - first torsion arm; 15121 - first support abutting part; 1513 - second torsion arm; 15131 - second support abutting part; 152 - second elastic part; 160 - flexible part. DETAILED DESCRIPTION

[0031] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or like reference numerals represent the same or like elements or elements having the same or similar function throughout. The embodiments described below are exemplary only, and are not to be taken in a limiting sense, but are merely for the purpose of explanation of the present application.

[0032] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0033] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0034] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0035] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0036] As shown in Figure 1 The embodiment of the present application provides a foot mechanism 100, which is mainly used on a robot, which can be an intelligent mobile robot used indoors, or an intelligent robot used outdoors. The foot mechanism 100 comprises a main skeleton 110, a rotating assembly 120, a first foot sole 130, a second foot sole 140 and an elastic assembly 150.

[0037] Referring toFigure 2 、 Figure 3 and Figure 4 , wherein the main skeleton 110 is used for connecting with the leg of the robot, the rotating assembly 120 comprises a first rotating piece 121 and a second rotating piece 122, the first foot sole 130 is arranged at the bottom of the main skeleton 110 and is rotationally connected with the main skeleton 110 through the first rotating piece 121, the second foot sole 140 is arranged at the bottom of the main skeleton 110 and is rotationally connected with the main skeleton 110 through the second rotating piece 122, and the first foot sole 130 and the second foot sole 140 are located at two opposite sides of the main skeleton 110.

[0038] The elastic assembly 150 comprises a first elastic piece 151 and a second elastic piece 152, the first elastic piece 151 is sleeved on the first rotating piece 121, one end of the first elastic piece 151 abuts against the first foot sole 130, and the other end abuts against the main skeleton 110, and the second elastic piece 152 abuts between the second foot sole 140 and the main skeleton 110.

[0039] The foot mechanism 100 provided by the embodiment of the application, by rotationally connecting the first foot sole 130 and the second foot sole 140 with the main skeleton 110 respectively, and sleeving the first elastic piece 151 on the first rotating piece 121, and abutting one end of the first elastic piece 151 against the first foot sole 130 and the other end against the main skeleton 110, the robot can bend the first foot sole 130 to reduce the compensation at the ankle joint, so that the robot can be closer to the human gait when walking or running and jumping, so that the foot sole of the robot can be bent like a human when walking to realize a longer step length, so that the robot can realize a higher speed of walking or even jogging, effectively improving the motion performance of the robot, and at the same time, abutting the second elastic piece 152 between the second foot sole 140 and the main skeleton 110 to protect the robot from buffering and shock, so that the upper body structure of the robot is subjected to smaller impact load when walking or running and jumping, thereby effectively prolonging the service life and improving the market competitiveness of the product. The technical problems that the resonance of the foot plate structure of the robot in the prior art causes load impact on the hardware of the whole machine, resulting in a great reduction in the service life of the robot and the inability to walk or jog at a high speed are avoided.

[0040] For example, the first rotating piece 121 and the second rotating piece 122 can both be shafts, the first foot sole 130 and the second foot sole 140 are rotationally connected with the main skeleton 110 through the shafts, the first elastic piece 151 can be a torsion spring, and the second elastic piece 152 can be a cylindrical spring.

[0041] For example, Figure 1 、 Figure 3 andFigure 5 As shown in the drawings, in one embodiment of the present application, the foot mechanism 100 further comprises a flexible piece 160 arranged at the bottom of the first sole 130 and the second sole 140.

[0042] In this embodiment, by arranging the flexible piece 160 at the bottom of the first sole 130 and the second sole 140, the elastic deformation of the flexible piece 160 further protects the robot from impact and shock, so that the upper body structure of the robot is subjected to smaller impact load when walking or jumping, improves the adaptability of the first sole 130 and the second sole 140 to uneven ground, reduces the impact force and vibration when the foot mechanism 100 lands during the robot walking and jumping process, and can well absorb the impact force generated during walking, thereby prolonging the overall service life of the robot and improving the competitiveness of the product.

[0043] For example, the material of the flexible piece 160 can be soft plastic materials such as rubber and silicone to play a role in buffering and shock absorption. The number of flexible pieces 160 can be set to multiple, and the multiple flexible pieces 160 are arranged at intervals along the circumference of the bottom of the foot mechanism 100. Specifically, four flexible pieces 160 can be arranged, two of which are arranged at the bottom of the first sole 130, and the other two are arranged at the bottom of the second sole 140, to improve the stability of the robot walking and jumping.

[0044] Further, the bottom of the flexible piece 160 is provided with anti-slip lines to increase the friction between the foot mechanism 100 and the ground, play a role in preventing slipping, and effectively improve the stability of the robot walking and jumping.

[0045] As shown in the drawings, Figure 1 , Figure 3 and Figure 5 In one embodiment of the present application, the first sole 130 is provided with a first connecting portion 131, the main skeleton 110 is provided with a second connecting portion 111, the first connecting portion 131 is provided with a first through hole 1311, the second connecting portion 111 is provided with a second through hole 1111, the first through hole 1311 and the second through hole 1111 are arranged opposite to each other, and the first rotating piece 121 is connected between the first connecting portion 131 and the second connecting portion 111 through the first through hole 1311 and the second through hole 1111, so that the first sole 130 and the main skeleton 110 are pivotally connected.

[0046] In the embodiment, the first instep part 130 and the main framework 110 are respectively provided with a first connecting part 131 and a second connecting part 111, and the first connecting part 131 and the second connecting part 111 are respectively provided with a first through hole 1311 and a second through hole 1111 for the first rotating part 121 to pass through, the first through hole 1311 of the first connecting part 131 and the second through hole 1111 of the second connecting part 111 are coaxial, so that the first instep part 130 and the main framework 110 are pivotally connected. Meanwhile, the first elastic part 151 is sleeved on the first rotating part 121, and one end abuts against the first instep part 130 and the other end abuts against the main framework 110, so as to play a role of elastic support and reset, so that the robot can realize different bending degrees and tension of the sole according to the environment and the pose when walking or jumping, and the gait is closer to that of human beings, so that the instep of the robot can be bent like the sole of human beings when walking to realize a longer step length, so that the robot can realize a higher speed of walking or even jogging, and the motion performance of the robot is effectively improved.

[0047] As shown in Figure 1 , Figure 3 and Figure 5 , in the above embodiment of the application, the second instep part 140 is provided with a third connecting part 141, the main framework 110 is provided with a fourth connecting part 112, the third connecting part 141 is provided with a third through hole 1411, the fourth connecting part 112 is provided with a fourth through hole 1121, the third through hole 1411 and the fourth through hole 1121 are oppositely arranged, and the second rotating part 122 connects between the third connecting part 141 and the fourth connecting part 112 through the third through hole 1411 and the fourth through hole 1121, so that the second instep part 140 and the main framework 110 are pivotally connected.

[0048] In the embodiment, the third through hole 1411 and the fourth through hole 1121 are coaxially arranged, so that the second instep part 140 and the main framework 110 are pivotally connected, and the first elastic part 151 is sleeved on the first rotating part 121, and one end abuts against the first instep part 130 and the other end abuts against the main framework 110, so as to play a role of elastic support and reset, so that the robot can realize different bending degrees and tension of the sole according to the environment and the pose when walking or jumping, and the gait is closer to that of human beings, so that the instep of the robot can be bent like the sole of human beings when walking to realize a longer step length, so that the robot can realize a higher speed of walking or even jogging, and the motion performance of the robot is effectively improved.

[0049] In the above embodiment of the present application, the center line direction of the first through hole 1311 and the second through hole 1111 is the same as the rotation axis direction of the first instep 130, and the center line direction of the third through hole 1411 and the fourth through hole 1121 is the same as the rotation axis direction of the second instep 140. Thus, the first through hole 1311, the second through hole 1111 and the first rotating member 121 are coaxially assembled, so that the first instep 130 is pivotally connected with the main framework 110; meanwhile, the third through hole 1411, the fourth through hole 1121 and the second rotating member 122 are coaxially assembled, so that the second instep 140 is pivotally connected with the main framework 110.

[0050] As shown in Figure 1 , Figure 4 and Figure 5 , in one embodiment of the present application, the first elastic member 151 comprises a spring body 1511, a first torsion arm 1512 at one end of the spring body 1511 and a second torsion arm 1513 at the other end of the spring body 1511, the spring body 1511 is integrally formed with the first torsion arm 1512 and the second torsion arm 1513, the first torsion arm 1512 and the second torsion arm 1513 are located at two opposite sides of the spring body 1511, the spring body 1511 is sleeved on the first rotating member 121, the first torsion arm 1512 supports and abuts against the first instep 130, and the second torsion arm 1513 supports and abuts against the main framework 110. In this way, by arranging the first torsion arm 1512 and the second torsion arm 1513 to abut against the first instep 130 and the main framework 110 respectively, the elastic support and reset functions are realized, the reset function of the first instep 130 is realized, and the robot can realize different bending degrees and tensions of the foot bottom according to the environment and the pose during walking or running, which is closer to the human gait, so that the instep of the robot can be bent like the human foot bottom during walking to realize a longer step length, so that the robot can realize a higher walking speed or even jogging, and the motion performance of the robot is effectively improved.

[0051] Please refer to Figure 5In the above embodiment of the present application, the first torsion arm 1512 is provided with a first supporting abutting part 15121 at one end away from the spring body 1511, the first instep part 130 is provided with a first mounting hole 132 matched with the first supporting abutting part 15121, the second torsion arm 1513 is provided with a second supporting abutting part 15131 at one end away from the spring body 1511, and the second supporting abutting part 15131 abuts against one end of the main framework 110 away from the second instep part 140. Thus, the first supporting abutting part 15121 and the second supporting abutting part 15131 abut against the first mounting hole 132 and the one end of the main framework 110 away from the second instep part 140, respectively, so as to realize the function of abutting the first torsion arm 1512 and the second torsion arm 1513 against the first instep part 130 and the main framework 110, respectively, and play the role of elastic support and reset, thereby realizing the function of resetting the first instep part 130. The first supporting abutting part 15121 is stably supported in the first mounting hole 132, so as to improve the stability of abutting the first torsion arm 1512 against the first instep part 130.

[0052] Optionally, the main framework 110 is provided with a second mounting hole (not shown in the figure) matched with the second supporting abutting part 15131. Thus, the second supporting abutting part 15131 is stably supported in the second mounting hole, so as to improve the stability of abutting the second torsion arm 1513 against the main framework 110.

[0053] As shown in Figure 1 , Figure 3 and Figure 5 , in one embodiment of the present application, the second instep part 140 is provided with a first limiting part 142 and a second limiting part 143, the first limiting part 142 is located at one end of the second instep part 140 close to the first instep part 130, the second elastic member 152 is located at one end of the main framework 110 away from the first instep part 130, the second limiting part 143 is located between the first limiting part 142 and the second elastic member 152, the first limiting part 142 abuts against the main framework 110, and the second limiting part 143 can abut against the main framework 110 to limit the rotation of the main framework 110 towards the second instep part 140.

[0054] In the embodiment, the first limiting part 142 is arranged on the second instep part 140 close to one end of the first instep part 130, and abuts against the main skeleton 110, so as to provide a fulcrum, support and limit the main skeleton 110, and facilitate the rotational connection between the first instep part 130 and the second instep part 140 and the main skeleton 110. The second limiting part 143 is arranged between the first limiting part 142 and the second elastic member 152 on the second instep part 140, and the second limiting part 143 limits the rotation of the main skeleton 110 towards the second instep part 140, so as to avoid interference between the main skeleton 110 and the second instep part 140, and improve the overall stability and reliability of the foot mechanism 100.

[0055] For example, the first limiting part 142 and the second limiting part 143 can be rubber pads or silica gel pads, which can protect the robot from shock and vibration, reduce friction, and prolong the service life of the foot mechanism 100.

[0056] As shown in Figure 1 and Figure 5 , in an embodiment of the present application, the second elastic member 152 is arranged in the axial direction of the second rotating member 122.

[0057] In the embodiment, the number of the second elastic member 152 is at least two, and the two second elastic members 152 are arranged in the axial direction of the second rotating member 122, so as to further protect the robot from shock and vibration, reduce the impact load on the upper body structure of the robot when the robot walks or jumps, and effectively prolong the service life of the robot. At the same time, the balance, stability and reliability of the foot mechanism 100 are improved.

[0058] As shown in Figure 1 , Figure 4 and Figure 5 , in an embodiment of the present application, the main skeleton 110 is provided with a mounting part 113, and the mounting part 113 is used to connect with the leg of the robot. In this way, the mounting part 113 is arranged on the main skeleton 110, so as to realize the stable connection between the foot mechanism 100 and the leg of the robot.

[0059] The embodiment of the present application also provides a robot comprising the foot mechanism 100 described in the above embodiments.

[0060] The robot can be an intelligent mobile robot used indoors, or an intelligent robot used outdoors.

[0061] The robot has the foot mechanism 100 in any of the above embodiments, and thus has all the advantages of the foot mechanism 100, which will not be repeated here.

[0062] In summary, the application provides a foot mechanism 100 and a robot. The foot mechanism 100 includes a main skeleton 110, a rotating assembly 120, a first foot sole 130, a second foot sole 140, and an elastic assembly 150. The rotating assembly 120 includes a first rotating part 121 and a second rotating part 122. The elastic assembly 150 includes a first elastic part 151 and a second elastic part 152. The first foot sole 130 and the second foot sole 140 are respectively rotatably connected to the main skeleton 110. The first elastic part 151 is sleeved on the first rotating part 121, and one end of the first elastic part 151 abuts against the first foot sole 130, and the other end of the first elastic part 151 abuts against the main skeleton 110. In this way, the robot can be more similar to human gait when walking or jumping, and the robot can bend the foot sole when walking to achieve a longer stride, so that the robot can achieve a higher walking speed or even jogging, effectively improving the motion performance of the robot. At the same time, the second elastic part 152 is abutted between the second foot sole 140 and the main skeleton 110, so as to protect the robot from buffering and shock, so that the upper body structure of the robot is subjected to smaller impact load when walking or jumping, thereby effectively prolonging the service life of the robot.

[0063] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, different embodiments or examples described in the present specification and the features of different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0064] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A foot mechanism, characterized in that, include: The main frame, used to connect to the robot's legs; A rotating assembly, the rotating assembly comprising a first rotating member and a second rotating member; The first foot part is located at the bottom of the main frame and is rotatably connected to the main frame through the first rotating member; The second foot part is located at the bottom of the main frame and is rotatably connected to the main frame through the second rotating member. The first foot part and the second foot part are located on two opposite sides of the main frame. The elastic component includes a first elastic element and a second elastic element. The first elastic element is sleeved on the first rotating element, and one end of the first elastic element abuts against the first foot part and the other end abuts against the main frame. The second elastic element abuts between the second foot part and the main frame. At least two second elastic elements are provided, and the two second elastic elements are spaced apart along the axial direction of the second rotating element; The first foot portion is provided with a first connecting portion, and the main frame is provided with a second connecting portion. The first connecting portion has a first through hole, and the second connecting portion has a second through hole. The first through hole and the second through hole are arranged opposite to each other. The first rotating member is connected between the first connecting portion and the second connecting portion through the first through hole and the second through hole, so that the first foot portion is connected to the main frame pivot. The second foot part is provided with a third connecting part, the main frame is provided with a fourth connecting part, the third connecting part is provided with a third through hole, the fourth connecting part is provided with a fourth through hole, the third through hole and the fourth through hole are arranged opposite to each other, and the second rotating member is connected between the third connecting part and the fourth connecting part through the third through hole and the fourth through hole, so that the second foot part is connected to the main frame hub; The first elastic element includes a spring body, a first torsion arm located at one end of the spring body, and a second torsion arm located at the other end of the spring body. The spring body is integrally formed with the first torsion arm and the second torsion arm. The first torsion arm and the second torsion arm are located on two opposite sides of the spring body. The spring body is sleeved on the first rotating member. The first torsion arm abuts against the first foot part, and the second torsion arm abuts against the main frame.

2. The foot mechanism according to claim 1, characterized in that, The foot mechanism also includes a flexible element disposed at the bottom of the first foot portion and the second foot portion.

3. The foot mechanism according to claim 1, characterized in that, The first torsion arm has a first support abutment at one end away from the spring body, and the first foot has a first mounting hole adapted to the first support abutment. The second torsion arm has a second support abutment at one end away from the spring body, and the second support abutment is supported and abutted against the end of the main frame away from the second foot.

4. The foot mechanism according to claim 1, characterized in that, The second foot portion is provided with a first limiting portion and a second limiting portion. The first limiting portion is located at the end of the second foot portion close to the first foot portion. The second elastic member is located at the end of the main frame away from the first foot portion. The second limiting portion is located between the first limiting portion and the second elastic member. The first limiting portion abuts against the main frame. The second limiting portion can abut against the main frame to restrict the main frame from rotating toward the second foot portion.

5. The foot mechanism according to any one of claims 1 to 4, characterized in that, The main frame is provided with a mounting part, which is used to connect to the robot's legs.

6. A robot, characterized in that, Includes the foot mechanism as described in any one of claims 1 to 5.

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