Robot foot structure and robot

Abstract

The present invention discloses a robot foot structure and a robot. The robot foot structure includes: a bottom plate; two side plates, which are spaced apart and arranged opposite to each other on the bottom plate; a connecting assembly, which is arranged on the side of the side plate facing away from the bottom plate and connects the two side plates. The bottom plate, the side plates and the connecting assembly constitute a foot frame structure with a cavity. The robot foot structure of the present invention, by arranging a bottom plate, a side plate and a connecting assembly, constitutes a foot frame structure with a cavity, forming a humanoid foot structure, omitting a heavy axial support structure, effectively reducing the overall weight of the robot foot structure, facilitating the flexible walking of the foot structure, and ensuring the stability and impact load resistance of the foot structure. The robot foot structure has a cavity inside, which facilitates the routing of internal devices, prevents the wiring harness from being exposed, and ensures the aesthetic appearance.

Description

Technical Field

[0001] The present invention relates to the technical field of robot manufacturing, and more particularly, to a robot foot structure and a robot. Background Art

[0002] In humanoid bipedal robots, the structure and function of the feet are very important, and they are responsible for supporting, balancing and moving the robot.

[0003] Current robot feet typically utilize a pivot-type main support structure. While this provides structural strength and stability, it's also heavy, making it difficult for the robot to maneuver. Furthermore, adding sensors to the foot exposes wiring, which is unsightly. Summary of the Invention

[0004] One purpose of the present invention is to provide a new technical solution for a robot foot structure and a robot, which can at least solve the problems of the existing robot foot, such as heavy weight, exposed wiring harness, and unattractive appearance.

[0005] According to a first aspect of the present invention, a robot foot structure is provided, comprising: a bottom plate; two side plates, the two side plates being spaced apart and arranged opposite to each other on the bottom plate; a connecting assembly, the connecting assembly being arranged on the side of the side plate facing away from the bottom plate and connecting the two side plates, the bottom plate, the side plates and the connecting assembly constituting a foot frame structure having a cavity.

[0006] Optionally, the bottom plate is a strip-shaped plate, and at least one first hollow hole is provided on the bottom plate.

[0007] Optionally, there are multiple first hollow holes, and the multiple first hollow holes are distributed on the bottom plate at intervals.

[0008] Optionally, a mounting plate is provided in the middle of the bottom plate, and the mounting plate can at least be used to install a circuit board. The mounting plate extends along the length direction of the bottom plate, at least one first hollow hole is provided on the mounting plate, and the two side plates are respectively located on two opposite sides of the mounting plate.

[0009] Optionally, a mounting protrusion is provided on the mounting plate, and the mounting protrusion is provided with a mounting hole that passes through along the width direction of the bottom plate, and the two side plates are respectively connected to the bottom plate through the mounting holes.

[0010] Optionally, each of the side panels is provided with at least one second hollow hole.

[0011] Optionally, the number of the second hollow holes is three, and the three second hollow holes are arranged in a row. The second hollow holes on the side panel near the heel are quadrilaterals, and the other two second hollow holes are triangles.

[0012] Optionally, each of the side panels forms a triangular plate body, and a hinge hole is provided at the top of each side panel, and the two hinge holes are coaxially arranged. The connecting assembly includes a guide column, a guide sleeve, a connecting piece and an axial ring, and the axial ring is provided in the hinge hole. The guide column passes through the guide sleeve, the connecting piece and the axial ring in sequence to connect the two side panels.

[0013] Optionally, the radial dimension of the first end of the connecting member is greater than the radial dimension of the second end, the first end of the connecting member is provided with a first fixing hole, and the guide sleeve is provided in the first fixing hole.

[0014] Optionally, a second fixing hole is provided at the second end of the connecting member, the aperture of the second fixing hole is smaller than the aperture of the first fixing hole, and the second fixing hole is connected to the side panel bolt.

[0015] Optionally, a wiring hole is further provided on the end surface of the connecting member, and the radial dimension of the wiring hole is smaller than the radial dimension of the second fixing hole.

[0016] Optionally, the side panel is further provided with a connecting hole, and the connecting hole is spaced apart from the hinge hole. The robot foot structure also includes: a rear foot cover, a foot cover and a front foot cover. The rear foot cover is connected to the connecting hole through a first connecting plate. The foot cover is provided with a bottom hole, and the foot cover is locked and connected to the bottom plate through the bottom hole. The front foot cover is locked and connected through a second connecting plate and a third connecting plate. The positions of the rear foot cover, the foot cover and the front foot cover on the side panel correspond to the distribution positions of the human foot.

[0017] Optionally, the robot foot structure also includes a foot pad, the bottom plate is arranged on the foot pad, the side of the foot pad facing away from the bottom plate is provided with anti-slip grooves, the side of the bottom plate facing the foot pad is provided with multiple first grooves, each first groove is provided with a circuit board and a sensor, and the side of the foot pad facing away from the bottom plate is provided with second grooves corresponding to the first grooves, and the second grooves are provided with receivers to receive pressure signals from the sensors.

[0018] A second aspect of the present invention provides a robot comprising the robot foot structure described in the above embodiment.

[0019] The robot foot structure of the present invention comprises a base plate, side plates, and connecting components to form a hollow foot frame structure. This creates a humanoid foot structure, omitting the heavy axial support structure, effectively reducing the overall weight of the robot foot structure, facilitating flexible movement while ensuring stability and impact resistance. The cavity within the robot foot structure facilitates internal component routing, prevents wiring exposure, and ensures an aesthetically pleasing appearance.

[0020] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0022] Figure 1 is a schematic diagram of an assembly of a robot foot structure according to an embodiment of the present invention;

[0023] Figure 2 yes Figure 1 Structural explosion diagram;

[0024] Figure 3 is a schematic diagram of the assembly of the bottom plate, side plates and connecting components of the robot foot structure according to an embodiment of the present invention;

[0025] Figure 4 yes Figure 3 Structural explosion diagram;

[0026] Figure 5 is a bottom view of a bottom plate and a foot pad of a robot foot structure according to an embodiment of the present invention;

[0027] Figure 6 4 is a schematic structural diagram of a connecting member of a robot foot structure according to an embodiment of the present invention.

[0028] Reference numerals:

[0029] Bottom plate 10; first hollow hole 11; mounting plate 12; mounting protrusion 13; mounting hole 14; first groove 15;

[0030] Side plate 20; second hollow hole 21; hinge hole 22; connecting hole 23;

[0031] Connecting assembly 30; guide post 31; guide sleeve 32; connecting piece 33; first fixing hole 331; second fixing hole 332; wiring hole 333; collar 34;

[0032] Cavity 40;

[0033] Rear foot cover 51; foot cover 52; bottom hole 521; front foot cover 53;

[0034] First connecting plate 61; second connecting plate 62; third connecting plate 63;

[0035] Foot pad 70; front foot pad 71; rear foot pad 72; second groove 73; anti-slip pattern 74;

[0036] Circuit board 81; circuit board 82; receiver 83. DETAILED DESCRIPTION

[0037] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0038] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0039] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0040] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0041] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0042] In the specification and claims of the present invention, references to features using the terms "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "plurality" means two or more. Furthermore, in the specification and claims, "and / or" refers to at least one of the connected entities, and the character " / " generally indicates an "or" relationship between the connected entities.

[0043] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0044] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, these terms may refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0045] The following describes in detail the robot foot structure according to an embodiment of the present invention with reference to the accompanying drawings.

[0046] like Figures 2 to 4 As shown, the robot foot structure according to an embodiment of the present invention includes a bottom plate 10 , two side plates 20 and a connection assembly 30 .

[0047] Specifically, two side panels 20 are spaced apart and arranged opposite to each other on the bottom panel 10. A connecting assembly 30 is provided on the side of the side panels 20 facing away from the bottom panel 10 and connects the two side panels 20. The bottom panel 10, the side panels 20 and the connecting assembly 30 form a foot frame structure having a cavity 40.

[0048] In other words, see Figures 2 to 4 The robot foot structure according to the embodiment of the present invention is mainly composed of a bottom plate 10, two side plates 20 and a connecting component 30. Figure 2 and Figure 3 As shown, the two side panels 20 are spaced apart and arranged opposite to each other on the bottom panel 10. The bottom panel 10 supports the two side panels 20. The two side panels 20 can bear the load in the vertical plane, ensuring that the robot foot structure can meet the load bearing requirements. Figures 2 to 4 The connecting component 30 is installed on the side of the side plate 20 facing away from the bottom plate 10. The connecting component 30 is used to connect the two side plates 20, connecting the two side plates 20 into an integral structure to ensure the overall stability of the robot foot structure.

[0049] like Figure 3 As shown, the bottom plate 10, side plates 20, and connecting assembly 30 cooperate to form a foot frame structure with a cavity 40, creating a humanoid-like foot structure. This eliminates the need for heavy axial support structures, effectively reducing the overall weight of the robot's foot structure, facilitating flexible movement while ensuring stability and impact resistance. Furthermore, the bottom plate 10, side plates 20, and connecting assembly 30 form a foot frame structure with a cavity 40, facilitating internal component routing, preventing wiring exposure, and ensuring an aesthetically pleasing appearance.

[0050] It should be noted that this robot foot structure is the structure of one foot. The other foot of the robot has the same foot structure and will not be described in detail in this disclosure. The bottom plate 10 is designed to mimic the humanoid foot sole structure, and the side plates 20 are designed to mimic the humanoid triangular plate body. This meets the foot-like design of the robot foot structure, ensures the robot foot structure has an aesthetically pleasing appearance, and facilitates the robot's crawling movement.

[0051] Thus, the robot foot structure according to an embodiment of the present invention comprises a foot frame structure with a cavity 40 formed by arranging a bottom plate 10, side plates 20, and a connecting assembly 30. This creates a humanoid foot structure, omitting the heavy axial support structure, effectively reducing the overall weight of the robot foot structure, facilitating flexible walking, while ensuring stability and resistance to impact loads. The cavity 40 within the robot foot structure facilitates internal component routing, prevents wiring exposure, and ensures an aesthetically pleasing appearance.

[0052] According to one embodiment of the present invention, the bottom plate 10 is a strip-shaped plate body, and at least one first hollow hole 11 is provided on the bottom plate 10. That is, see Figure 2 and Figure 4 The bottom plate 10 can be designed as a humanoid strip plate body, and at least one first hollow hole 11 is provided on the bottom plate 10. By providing the first hollow hole 11 on the bottom plate 10, the weight of the bottom plate 10 can be effectively reduced while ensuring the strength of the bottom plate 10, thereby reducing the overall weight of the robot foot structure and ensuring the flexible movement of the robot foot structure.

[0053] According to one embodiment of the present invention, there are multiple first hollow holes 11 , and the multiple first hollow holes 11 are spaced apart and distributed on the bottom plate 10 .

[0054] In other words, see Figure 2 and Figure 4, the number of the first hollow holes 11 on the bottom plate 10 can be multiple, and the multiple first hollow holes 11 can be spaced apart and distributed on the bottom plate 10. The multiple first hollow holes 11 can be arranged in rows in the length direction and width direction of the bottom plate 10. The first hollow holes 11 can be designed as elongated holes, circular holes or other shapes of hollow holes, and the size of each first hollow hole 11 can be the same or different. In the present invention, the specific shape and size of the first hollow holes 11 are not specifically limited. As long as the design can meet the weight reduction requirements of the hollow holes of the bottom plate 10, it should fall within the scope of protection of the present invention.

[0055] According to one embodiment of the present invention, a mounting plate 12 is provided in the middle of the bottom plate 10. The mounting plate 12 can be used to install at least the circuit board 81. The mounting plate 12 extends along the length direction of the bottom plate 10. At least one first hollow hole 11 is provided on the mounting plate 12. The two side plates 20 are respectively located on two opposite sides of the mounting plate 12.

[0056] That is to say, if Figure 2 and Figure 4 As shown, a mounting plate 12 can be provided in an area roughly in the middle of the bottom plate 10. The mounting plate 12 can be used to install at least components such as a circuit board 81. The circuit board 81 can be routed inside the cavity 40 to prevent the wiring harness from being exposed and affecting the aesthetic appearance of the robot's foot structure. The mounting plate 12 can extend along the length direction of the bottom plate 10. The length direction can be understood as the length direction of the humanoid foot. At least one first hollow hole 11 can be provided on the mounting plate 12. Optionally, two first hollow holes 11 can be provided on the mounting plate 12, and the two first hollow holes are located on both sides of the length direction of the mounting plate 12. The two side plates 20 are respectively installed on two opposite sides of the mounting plate 12. The two side plates 20 are respectively fixedly connected to the mounting plate 12. The bottom plate 10 supports the two side plates 20. At the same time, the two side plates 20 bear the load of the vertical plane of the robot, meeting the load requirements of the robot's foot structure.

[0057] In some specific embodiments of the present invention, a mounting protrusion 13 is provided on the mounting plate 12 , and the mounting protrusion 13 is provided with a mounting hole 14 passing through the width direction of the bottom plate 10 , and the two side plates 20 are respectively connected to the bottom plate 10 through the mounting holes 14 .

[0058] In other words, Figures 2 to 4As shown, mounting plate 12 is provided with mounting protrusions 13, which are provided with mounting holes 14 extending along the width of base plate 10. The width of base plate 10 can be understood as the width of a human foot. Providing mounting protrusions 13 on mounting plate 12 further enhances the structural strength of base plate 10. Furthermore, the two side panels 20 can be connected to base plate 10 via mounting holes 14 using bolts or screws, which serve to position the side panels 20 and secure the bolt assembly.

[0059] In the present invention, see Figure 2 and Figure 4 The number of mounting protrusions 13 can be two, and the two mounting protrusions 13 are spaced apart along the length of the mounting plate 12, dividing the mounting plate 12 into three areas. The area between the two mounting protrusions 13 can be used to install the circuit board 81, and the other two areas can be used to set the first hollow hole 11 and install the circuit board 81. This ensures that the rotation center of the wiring harness is as close as possible to the hinge point of the foot, so that the wiring harness does not need to be too long, avoiding entanglement or tearing of the wiring harness. Of course, the number and specific shape of the mounting protrusions 13 can be specifically set according to actual needs and will not be described in detail in this invention.

[0060] According to one embodiment of the present invention, each side plate 20 is provided with at least one second hollow hole 21. Figures 2 to 4 Each side panel 20 is provided with at least one second hollow hole 21. Each side panel 20 is formed into a hollow design to ensure the structural strength of each side panel 20 while further reducing the weight of the robot foot structure and realizing a lightweight design of the foot structure.

[0061] In some specific embodiments of the present invention, there are three second hollow holes 21, which are arranged in a row. The second hollow hole 21 on the side panel 20 near the heel is a quadrilateral, and the other two second hollow holes 21 are triangular.

[0062] In other words, if Figures 2 to 4 As shown, the number of second hollow holes 21 can be three, and the three second hollow holes 21 can be arranged in a row. The second hollow hole 21 near the anthropomorphic heel of the side panel 20 can be designed as a quadrilateral, and the remaining two second hollow holes 21 can be designed as roughly triangular. The area of ​​the quadrilateral second hollow hole 21 is larger than the area of ​​the triangular second hollow hole, and the sizes of the two triangular second hollow holes 21 can be different.

[0063] In the static calculation of the simulation environment, the side panels 20 and the bottom panel 10 can both be made of aluminum alloy. The side panels 20 can also be made of carbon fiber, and the bottom panel 10 can be made of aluminum alloy. In a specific simulation experiment, the foot frame structure composed of the side panels 20, the bottom panel 10 and the connecting assembly 30 is subjected to a fixed constraint on the sole surface of the foot and a vertical downward force load at the hinge point, wherein the load size is 60kg, which is approximately the total weight of the robot. According to the automatically generated network, when a pressure of 60kg is applied, the maximum stress is 12Mpa, the maximum displacement is 0.008mm, the envelope size is 280*103*98mm, and the total weight is only 450g, which is much less than the weight of the robot foot in the prior art.

[0064] Of course, the number and shape design of the second hollow holes 21 of the present invention can be obtained based on stress strength simulation analysis, which can meet the structural strength and load requirements while ensuring that the overall weight of the robot foot structure is as small as possible to meet the lightweight design requirements.

[0065] According to one embodiment of the present invention, each side panel 20 forms a triangular plate body, and a hinge hole 22 is provided at the top position of each side panel 20. The two hinge holes 22 are coaxially arranged. The connecting assembly 30 includes a guide column 31, a guide sleeve 32, a connecting piece 33 and a shaft ring 34. The shaft ring 34 is arranged in the hinge hole 22. The guide column 31 passes through the guide sleeve 32, the connecting piece 33 and the shaft ring 34 in sequence to connect the two side panels 20.

[0066] In other words, see Figure 4 Each side panel 20 can be designed as a triangular plate. A hinge hole 22 is provided at the top of each side panel 20. The two hinge holes 22 on the two side panels 20 are coaxially arranged to ensure that the foot harness does not get entangled during exercise. Figure 4 As shown, the connecting assembly 30 is mainly composed of a guide column 31, a guide sleeve 32, a connecting piece 33 and a shaft ring 34, wherein each side panel 20 is correspondingly provided with a shaft ring 34, and the shaft ring 34 is installed in the hinge hole 22. The guide column 31 can pass through the guide sleeve 32, the connecting piece 33 and the shaft ring 34 in sequence to achieve a stable connection between the two side panels 20.

[0067] According to one embodiment of the present invention, the radial dimension of the first end of the connecting member 33 is greater than the radial dimension of the second end. The first end of the connecting member 33 is provided with a first fixing hole 331 , and the guide sleeve 32 is provided in the first fixing hole 331 .

[0068] That is to say, if Figure 4 and Figure 6As shown, the connector 33 can be designed into a teardrop-shaped structure, and the radial dimension of the first end of the connector 33 is larger than the radial dimension of the second end, so that the connector 33 is constructed into a teardrop-shaped structure with one end larger and the other end smaller. Each side panel 20 corresponds to a connector 33, and the gap between the two side panels 20 is filled by the two connectors 33, thereby improving the stability of the side panels 20 after connection. A first fixing hole 331 is provided at the first end of the connector 33, and the guide sleeve 32 is installed in the first fixing hole 331. By providing the first fixing hole 331 on the connector 33, it is convenient to install the guide column 31, and the guide column 31 or other bolt structures can be hidden, making the appearance of the robot foot structure more simple and beautiful.

[0069] According to one embodiment of the present invention, a second fixing hole 332 is defined at the second end of the connector 33 . The diameter of the second fixing hole 332 is smaller than that of the first fixing hole 331 . The second fixing hole 332 is bolted to the side panel 20 .

[0070] In other words, see Figure 6 The second end of the connecting member 33 is provided with a second fixing hole 332, and the side panel 20 is provided with a threaded hole corresponding to the second fixing hole 332. The diameter of the second fixing hole 332 is smaller than that of the first fixing hole 331. The connecting member 33 can be bolted to the side panel 20 through the second fixing hole 332. The bolts are hidden within the external housing (the external housing includes the rear foot cover 51, foot cover 52, and front foot cover 53). This ensures a simple and beautiful appearance of the robot foot structure.

[0071] According to one embodiment of the present invention, a wiring hole 333 is further provided on the end surface of the connecting member 33 , and the radial dimension of the wiring hole 333 is smaller than the radial dimension of the second fixing hole 332 .

[0072] In other words, see Figure 6 The end surface of the connector 33 may also be provided with a wiring hole 333, the radial dimension of which is smaller than the radial dimension of the second fixing hole 332. The provision of the wiring hole 333 facilitates internal wiring of the robot foot structure, prevents wiring harness entanglement and exposure, and improves the appearance of the robot foot structure.

[0073] In the present invention, the first fixing hole 331 on the teardrop-shaped connector 33 can be configured as a hinged rotation center, and the second fixing hole 332 can be used with a fixing bolt or other structure. By providing the first fixing hole 331 and the second fixing hole 332 on the connector 33, the axial fixing bolt assembly of the connector 33 can be closer to the interior of the side panel 20, thereby facilitating the concealment of the bolt assembly mechanism, thereby achieving a simpler appearance after the foot is installed with decorative components (e.g., decorative shells such as the rear foot cover 51, foot cover 52, and front foot cover 53).

[0074] According to one embodiment of the present invention, the side panels 20 are further provided with connection holes 23, which are spaced apart from the hinge holes 22. The robot foot structure further comprises a rear foot cover 51, a foot cover 52, and a front foot cover 53. The rear foot cover 51 is connected to the connection hole 23 via a first connection plate 61. The foot cover 52 is provided with a bottom hole 521, through which the foot cover 52 is locked and connected to the bottom panel 10. The front foot cover 53 is locked and connected via a second connection plate 62 and a third connection plate 63. The positions of the rear foot cover 51, foot cover 52, and front foot cover 53 on the side panels 20 correspond to the distribution of human feet.

[0075] That is to say, if Figure 2 and Figure 3 As shown, the side plate 20 is further provided with a connecting hole 23, which is spaced apart from the hinge hole 22. Figure 1 and Figure 2 As shown, the robot foot structure also includes a rear foot cover 51, a foot cover 52, and a front foot cover 53. The rear foot cover 51, foot cover 52, and front foot cover 53 roughly correspond to the positions of a humanoid foot. The rear foot cover 51 can be connected to the connection hole 23 via a first connecting plate 61. The bottom of the foot cover 52 is provided with a bottom hole 521, through which the foot cover 52 is locked to the bottom plate 10. The front foot cover 53 can be locked to the side plate 20 via a second connecting plate 62 and a third connecting plate 63. The positions of the rear foot cover 51, foot cover 52, and front foot cover 53 on the side plate 20 correspond to the distribution of human feet. The provision of the first connecting plate 61, second connecting plate 62, and third connecting plate 63 ensures the secure connection between the side plate 20 and the rear foot cover 51, foot cover 52, and front foot cover 53. The rear foot cover 51, foot cover 52, and front foot cover 53 serve as decorative elements for the robot foot structure, enhancing its overall aesthetics.

[0076] See also Figure 2 The structures of the first connecting plate 61, the second connecting plate 62 and the second connecting plate 62 can be the same. The first connecting plate 61, the second connecting plate 62 and the second connecting plate 62 can all be set as trapezoidal splints. The first connecting plate 61, the second connecting plate 62 and the second connecting plate 62 are respectively provided with screw holes for fixing the connecting side panels 20, the rear foot cover 51, the foot cover 52 and the front foot cover 53.

[0077] According to one embodiment of the present invention, the robot foot structure also includes a foot pad 70, and the bottom plate 10 is arranged on the foot pad 70. The side of the foot pad 70 facing away from the bottom plate 10 is provided with an anti-slip groove 74, and the side of the bottom plate 10 facing the foot pad 70 is provided with a plurality of first grooves 15, each of which is provided with a circuit board 82 and a sensor, and the side of the foot pad 70 facing away from the bottom plate 10 is provided with a second groove 73 corresponding to the first groove 15, and the second groove 73 is provided with a receiver 83 to receive the pressure signal of the sensor.

[0078] In other words, if Figure 2 and Figure 5 As shown, the robot foot structure may further include a foot pad 70, with the bottom plate 10 disposed on the foot pad 70. The provision of the foot pad 70 can further enhance the impact load on the robot foot structure. The side of the foot pad 70 facing away from the bottom plate 10 may be provided with anti-slip grooves 74 having a concave-convex texture, effectively increasing the friction between the robot foot structure and the ground, providing a good anti-slip effect. The anti-slip grooves 74 may be designed in a wavy, strip-shaped, or other shape, which will not be described in detail in this disclosure. The side of the bottom plate 10 facing the foot pad 70 may be provided with a plurality of first grooves 15, each containing a circuit board 82 and a sensor. The sensor may be a pressure sensor, which is used to detect pressure within the robot foot structure. The side of the foot pad 70 facing away from the bottom plate 10 may be provided with second grooves 73, corresponding to the positions of the first grooves 15 on the bottom plate 10. A receiver 83 is disposed within the second groove 73, which can receive pressure signals from the sensor for transmission to the robot controller.

[0079] In the present invention, see Figure 2 and Figure 5 The foot pad 70 is mainly composed of two parts: a front foot pad 71 and a rear foot pad 72. The front foot pad 71 and the rear foot pad 72 are respectively provided with anti-slip grooves 74 with concave-convex textures, a second groove 73, and a receiver 83. The specific shape and size of the foot pad 70 can be specifically set according to the actual requirements of the robot foot structure and will not be described in detail in this invention.

[0080] In summary, the robot foot structure according to an embodiment of the present invention comprises a foot frame structure with a cavity 40 formed by arranging a bottom plate 10, side plates 20, and a connecting assembly 30. This creates a humanoid foot structure, omitting the heavy axial support structure, effectively reducing the overall weight of the robot foot structure, facilitating flexible walking, while ensuring stability and resistance to impact loads. The cavity 40 within the robot foot structure facilitates internal component routing, prevents wiring exposure, and ensures an aesthetically pleasing appearance.

[0081] Of course, for those skilled in the art, other structures of the robot foot structure and their working principles are understandable and achievable, and will not be described in detail in the present invention.

[0082] According to a second aspect of the present invention, a robot is provided, comprising the robot foot structure of the aforementioned embodiment. Since the robot foot structure according to the embodiment of the present invention has the aforementioned technical effects, the robot according to the embodiment of the present invention should also have corresponding technical effects. Specifically, the robot of the present invention utilizes this robot foot structure, which, while ensuring the stability and impact load resistance of the robot's overall structure, can also effectively reduce the robot's overall weight, facilitating a lightweight design of the robot. It also prevents wiring harness exposure, ensuring the robot's aesthetically pleasing appearance.

[0083] Of course, for those skilled in the art, other structures of the robot and its working principles are understandable and achievable, and will not be described in detail in the present invention.

[0084] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should be understood by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A robot foot structure, characterized in that: include: A bottom plate, the bottom plate is a strip-shaped plate body, and the bottom plate is provided with at least one first hollow hole; two side panels, the two side panels are spaced apart and arranged opposite to each other on the bottom panel, and each of the side panels is provided with at least one second hollow hole; a connecting assembly, the connecting assembly being provided on a side of the side panel facing away from the bottom panel and connecting the two side panels, wherein the bottom panel, the side panels and the connecting assembly constitute a foot frame structure having a cavity; a mounting plate, the mounting plate being disposed in the middle of the bottom plate and capable of mounting at least a circuit board, the mounting plate extending along the length of the bottom plate, the at least one first hollow hole being disposed on the mounting plate, and the two side plates being respectively located on two opposite sides of the mounting plate; Wherein, each side panel forms a triangular plate body, and each side panel is provided with a hinge hole at the top position, and the two hinge holes are coaxially arranged, and the connecting assembly includes a guide column, a guide sleeve, two connecting pieces and two shaft rings, and the shaft rings are correspondingly arranged in the hinge holes, and the guide column passes through the guide sleeve, the connecting piece and the shaft ring to connect the two side panels; the radial dimension of the first end of the connecting piece is greater than the radial dimension of the second end, and the first end of the connecting piece is provided with a first fixing hole, and the guide sleeve is provided in the first fixing hole; the second end of the connecting piece is provided with a second fixing hole, the aperture of the second fixing hole is smaller than the aperture of the first fixing hole, and the second fixing hole is connected to the corresponding side panel bolt.

2. The robot foot structure according to claim 1, characterized in that: There are a plurality of the first hollow holes, and the plurality of the first hollow holes are spaced apart and distributed on the bottom plate.

3. The robot foot structure according to claim 1, characterized in that: The mounting plate is provided with a mounting protrusion, and the mounting protrusion is provided with a mounting hole that passes through along the width direction of the bottom plate, and the two side plates are respectively connected to the bottom plate through the mounting holes.

4. The robot foot structure according to claim 1, characterized in that: The number of the second hollow holes is three, and the three second hollow holes are arranged in a row. The second hollow hole on the side panel near the heel is a quadrilateral, and the other two second hollow holes are triangular.

5. The robot foot structure according to claim 1, characterized in that: A wiring hole is further provided on the end surface of the connecting member, and the radial dimension of the wiring hole is smaller than the radial dimension of the second fixing hole.

6. The robot foot structure according to claim 1, characterized in that: The side panel is also provided with a connecting hole, and the connecting hole is spaced apart from the hinge hole. The robot foot structure also includes: a rear foot cover, a foot cover and a front foot cover. The rear foot cover is connected to the connecting hole through a first connecting plate. The foot cover is provided with a bottom hole, and the foot cover is locked and connected to the bottom plate through the bottom hole. The front foot cover is locked and connected through a second connecting plate and a third connecting plate. The positions of the rear foot cover, the foot cover and the front foot cover on the side panel correspond to the distribution positions of the human foot.

7. The robot foot structure according to claim 1, characterized in that: The foot pad further comprises a foot pad, wherein the bottom plate is arranged on the foot pad, and the side of the foot pad facing away from the bottom plate is provided with anti-slip grooves, and the side of the bottom plate facing the foot pad is provided with a plurality of first grooves, each of which is provided with a circuit board and a sensor, and the side of the foot pad facing away from the bottom plate is provided with second grooves corresponding to the first grooves, and the second grooves are provided with receivers for receiving pressure signals from the sensors.

8. A robot, characterized in that: The robot foot structure comprises the robot foot structure according to any one of claims 1 to 7.

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