Robot foot wearable and detachable boots based on cat claw structure design
By designing wearable and take-off shoes based on cat claw structure on the robot's foot, the shortcomings of traditional foot robots in terms of wear resistance, slip resistance and silentness are solved, and more stable, safe and efficient walking performance is achieved.
Patent Information
- Application Number
- CN202510412871.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-03
- Publication Date
- 2025-06-13
AI Technical Summary
The foot structure of traditional foot robots has shortcomings in wear resistance, anti-slip performance, and silent performance, resulting in poor performance in complex terrain and concealed tasks.
The robot foot wearable and take off shoe boots designed based on cat claw structure include the body body, retractable bionic claw piercing structure, quick wear and take off structure and intelligent control system. The main body of the shoe is made of wear-resistant elastic materials. The bionic claw toe design draws on the form of cat claws, and the bionic claw toe telescopic expansion and contraction is achieved through solenoid valves and microcontrollers.
It significantly improves the walking stability and safety of the robot under various terrain, extends the service life of foot components, reduces maintenance frequency and cost, and improves grip, shock absorption and sound absorption performance.
Smart Images
Figure CN120130725A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of robots, and particularly relates to a detachable shoe for a robot foot based on a cat's paw structure design. Background Art
[0002] In the context of the rapid development of robot technology, legged robots have important application values in fields such as field exploration, industrial transportation, and military operations due to their excellent terrain adaptability. However, there are still obvious deficiencies in the foot structure design of traditional legged robots. The currently common metal or plastic foot materials have significant defects: on the one hand, although the metal material has a certain strength, long-term friction contact with the ground is extremely likely to cause serious wear, which not only greatly shortens the service life of the foot components, but also increases the maintenance cost and time loss due to frequent component replacement. On the other hand, the plastic material is relatively light, but its grip performance is poor. Under humid, muddy, or inclined terrain conditions, the robot is extremely likely to slip out of control, greatly limiting the movement range and operation ability of the robot. More prominently, both metal and plastic materials will generate relatively large noises during movement, affecting the applicability of the robot in covert tasks.
[0003] In summary, the shortcomings of the existing foot structures of legged robots in terms of wear resistance, anti-slip performance, and noise reduction performance have become a constraint on their effective application in outdoor, industrial, military, and other scenarios. Therefore, the present invention proposes a detachable shoe for a robot foot based on a cat's paw structure design. Summary of the Invention
[0004] The purpose of the present invention is to provide a detachable shoe for a robot foot based on a cat's paw structure design, aiming to solve the problems proposed in the above background art.
[0005] The purpose of the present invention is achieved through the following technical solutions:
[0006] A detachable shoe for a robot foot based on a cat's paw structure design includes a shoe body main body, and also includes a retractable bionic claw structure, a quick detachment and attachment structure, and an intelligent control system;
[0007] The shoe body main body is in an elongated or cylindrical shape and matches the robot foot; the shoe body main body includes a sole and a shoe upper, and the sole and the shoe upper are connected by a wedge mortise and tenon structure; a slideway is opened inside the sole for installing the retractable bionic claw structure;
[0008] The retractable bionic claw structure includes:
[0009] Bionic claw toes, the bionic claw toes are connected to a slider by internal hexagonal screws, and the slider slides in the slideway; the contour curve equation of the bionic claw toes is y = p 1 x2 +p 2 x + p 3 where p 1 ranges from (-0.001, 0.001), p 2 ranges from (0.03, 0.3), p 3 ranges from (1.8, 9.5);
[0010] A spring, installed above the bionic claw toe, one end of the spring is fixed to the intelligent control system, and the other end is connected to the slider; the spring is used to rely on elastic force to retract the slider to drive the bionic claw toe back into the slideway when power is off;
[0011] The quick installation and removal structure includes a strap with Velcro on its surface for realizing the quick installation and removal of the shoe body;
[0012] The intelligent control system includes:
[0013] A solenoid valve, the valve core of the solenoid valve is connected to the slider, when powered on, the valve core of the solenoid valve makes the bionic claw toe extend downward out of the sole by pushing the slider;
[0014] A microcontroller, the microcontroller is connected to the electromagnetic coil of the solenoid valve through a wire, and the microcontroller determines the working state of the solenoid valve by controlling the current of the electromagnetic coil.
[0015] Further, when the shoe body main body is slender, the sole and the shoe upper are connected by 4 wedge mortise and tenon structures designed on the front, rear, left and right sides; a through hole is opened on each of the left and right sides of the sole and the shoe upper, and a strap with Velcro passes through the through hole to softly connect the sole and the shoe upper and form a shoe body to wrap the robot foot; the length m of the through hole ranges from The sole height H << 30 mm, the shoe upper height h << 60 mm, and the total length of the shoe body is L; 2 - 5 retractable bionic claw thorn structures are arranged inside the sole; the slideway is inclined.
[0016] Further, when the shoe body main body is cylindrical, the sole and the shoe upper are connected by 3 - 5 wedge mortise and tenon structures evenly distributed with the center of the circle as the center point; a through hole is opened on each of the left and right sides of the shoe upper, and a strap with Velcro passes through the through hole to softly connect the shoe upper and the robot foot and form a shoe body to wrap the robot foot; the length m of the through hole ranges from The sole height H << 30 mm, the shoe upper height h << 80 mm, and the diameter of the shoe body is d; 3 - 5 retractable bionic claw thorn structures are evenly distributed with the center of the circle as the center point inside the sole; the slideway is vertical.
[0017] Further, the total length n of the bionic claw toe ranges from 10 mm to 30 mm.
[0018] Further, the length p of the slideway ranges from 1.5n to 5n, where n is the total length of the bionic claw toe.
[0019] Further, both the sole and the upper are made of wear-resistant elastic materials and are integrally formed by the stereolithography texturing technology in 3D printing to form a multi-layer composite structure.
[0020] Further, the bottom surface of the sole is provided with anti-slip textures.
[0021] Further, the bionic claw toe is made of a hard wear-resistant material.
[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:
[0023] The present invention significantly improves the walking stability and safety of the robot on various terrains, extends the service life of the robot's foot and reduces the maintenance frequency and cost. The modular design facilitates replacement and repair. The design of the intelligent control system improves adaptability and efficiency. The bionic design optimizes the robot's grip, shock absorption and sound absorption performance. The present invention is applicable to various types of legged robots, including but not limited to humanoid robots, multi-legged industrial robots, exploration robots, etc., and can provide strong support in complex environments, greatly broadening the application fields of legged robots. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] Figure 1 It is a structural diagram of the wearable shoe boot of the robot foot when the main body of the shoe is slender; (a) is a side view and (b) is a top view.
[0025] Figure 2 It is a schematic diagram of the upper when the main body of the shoe is cylindrical; (a) is a front view of the upper and (b) is a top view of the upper.
[0026] Figure 3 It is a schematic diagram of the sole when the main body of the shoe is cylindrical; (a) is a front view of the sole and (b) is a top view of the sole.
[0027] In the figure: sole 1, upper 2, slideway 3, bionic claw toe 4, spring 5, solenoid valve 6, strap 7, microcontroller 8, wedge mortise and tenon structure 9, through hole 10, slider 11. DETAILED DESCRIPTION OF THE INVENTION
[0028] In order to have a clearer understanding of the technical features, objectives and beneficial effects of the present invention, the technical solutions of the present invention are described in detail below, but it should not be construed as a limitation on the implementable scope of the present invention.
[0029] AsFigures 1 - 3 As shown in the figure, the present invention provides a detachable shoe for a robot foot based on the design of a cat's paw structure. It is designed by imitating the form and function of a cat's paw using bionic ideas, and includes a shoe body main body, a retractable bionic claw structure, a quick donning and doffing structure, and an intelligent control system;
[0030] The shoe body main body includes a sole 1 and a shoe upper 2, and the sole 1 and the shoe upper 2 are connected by a wedge mortise and tenon structure 9. Both the sole 1 and the shoe upper 2 are made of wear-resistant elastic materials, such as high molecular polyethylene, and are integrally formed using the light-curing layer-by-layer texture technology in 3D printing to form a multi-layer composite structure. During the forming process, the physical properties of the material are adjusted by the difference in the light-curing time. The outer layer material of the sole 1 is dense and has a certain hardness to ensure wear resistance; the inner layer material has a lower hardness and high elasticity, which is used to absorb kinetic energy and achieve the effect of shock absorption and sound absorption. This kind of high molecular material enables it to adapt to extremely high and low temperature environments. The bottom surface of the sole 1 is provided with anti-slip textures, which can significantly enhance the grip of the robot foot. A slideway 3 is opened inside the sole 1 for installing the retractable bionic claw structure. The shoe body main body is in an elongated shape or a cylindrical shape, which matches the robot foot.
[0031] The retractable bionic claw structure includes:
[0032] Bionic claw toes 4, made of hard wear-resistant materials such as ceramics or high molecular polyethylene, are designed according to the contour characteristic curve of a cat's claw toe, which can significantly enhance the grip of the robot foot and can firmly penetrate into the soft ground. The bionic claw toes 4 are connected to the slider 11 through hexagon socket head cap screws. The slider 11 is embedded in the slideway 3 and can slide in the slideway 3 to realize the expansion and contraction of the bionic claw toes 4. The total length of the bionic claw toes 4 is 10mm ≤ n ≤ 30mm, the length of the slideway 3 is 1.5n ≤ p ≤ 5n, and the contour curve equation of the bionic claw toes 4 is y = p 1 x 2 +p 2 x + p 3 , where p 1 The value range is (-0.001, 0.001), p 2 The value range is (0.03, 0.3), p 3 The value range is (1.8, 9.5).
[0033] A spring 5 is installed above the bionic claw toes 4. One end of the spring 5 is fixed to the intelligent control system, and the other end is connected to the slider 11. When powered off, the spring 5 relies on its elastic force to drive the slider 11 to drive the bionic claw toes 4 to retract into the slideway 3 inside the sole 1. The slideway 3 provides guidance and limit for the expansion and contraction of the bionic claw toes 4 to ensure its accurate and stable movement.
[0034] The quick donning and doffing structure includes a strap 7. The surface of the strap 7 is provided with Velcro, which can realize the quick installation and disassembly of the shoe body and can be adapted to robot feet of various models.
[0035] The intelligent control system includes:
[0036] A solenoid valve 6, the valve core of the solenoid valve 6 is connected to the slider 11. When powered on, the valve core of the solenoid valve 6 pushes the slider 11, causing the bionic claw toe 4 to extend downward out of the sole 1.
[0037] A microcontroller 8 (single-chip microcomputer), the microcontroller 8 is connected to the electromagnetic coil of the solenoid valve 6 through a wire. The microcontroller 8 controls the current of the electromagnetic coil, and thus determines the working state of the solenoid valve 6, realizing the control of the expansion and contraction of the bionic claw toe 4.
[0038] In the embodiment of the present invention, when the microcontroller 8 issues a power-on command, the valve core of the solenoid valve 6 overcomes the elastic force of the spring 5 and pushes the bionic claw toe 4 to extend downward out of the sole 1; when powered off, the spring 5 resets, the valve core of the solenoid valve 6 moves upward, and the bionic claw toe 4 retracts into the inner cavity of the sole 1.
[0039] As Figure 1 shown, as a preferred embodiment of the present invention, when the shoe body main body is slender, the sole 1 and the shoe upper 2 are connected by 4 wedge-shaped mortise and tenon structures 9 designed on the front, rear, left and right sides. A through hole 10 is opened on both the left and right sides of the sole 1 and the shoe upper 2. A strap 7 with a magic tape passes through the through hole 10 to softly connect the sole 1 and the shoe upper 2, and forms a shoe body that wraps the robot foot, facilitating the quick putting on and taking off and size adjustment of the shoe body and the robot foot. The length of the through hole 10 The height H of the sole 1 << 30 mm, the height h of the shoe upper 2 《 60 mm, and the total length of the shoe body is L; 2 - 5 retractable bionic claw thorn structures are provided inside the sole 1. The slideway is inclined.
[0040] As Figure 2 and Figure 3 shown, as a preferred embodiment of the present invention, when the shoe body main body is cylindrical, the sole 1 and the shoe upper 2 are connected by 3 - 5 wedge-shaped mortise and tenon structures 9 evenly distributed with the center of the circle as the center point. A through hole 10 is opened on both the left and right sides of the shoe upper 2. A strap 7 with a magic tape passes through the through hole 10 to softly connect the shoe upper 2 and the robot foot, and forms a shoe body that wraps the robot foot, facilitating the quick putting on and taking off and size adjustment of the shoe body and the robot foot. The length of the through hole 10 The height H of the sole 1 << 30 mm, the height h of the shoe upper 2 << 80 mm, the diameter of the shoe body is d, and 3 - 5 retractable bionic claw thorn structures are evenly distributed inside the sole 1 with the center of the circle as the center point. The slideway is vertically arranged.
[0041] The following describes the specific implementation of the present invention in detail with specific embodiments.
[0042] Embodiment 1( Figure 1):This embodiment provides a detachable shoe for a robot foot designed based on a cat's paw structure, which is applicable to the feet of traditional slender robots, such as humanoid robots.
[0043] The sole 1 and the upper 2 of the shoe body are both made of wear-resistant elastic materials, such as high molecular polyethylene, and are integrally formed by the light-curing layer-by-layer texture technology in 3D printing. The sole 1 and the upper 2 belong to a multi-layer composite structure, and the physical properties of the material are adjusted by the light-curing time. The outer layer material of the sole 1 is dense and has a certain hardness to ensure wear resistance, and the inner layer material has a lower hardness and high elasticity to absorb kinetic energy, achieving the effect of shock absorption and sound absorption. The surface of the sole 1 has anti-slip textures, which can significantly enhance the grip of the robot foot. A slideway 3 is provided inside the sole 1, and the length p of the slideway 3 is 35 mm.
[0044] The sole 1 and the upper 2 are connected by 4 wedge-shaped mortise and tenon structures 9 designed on the front, rear, left and right sides. A through hole 10 is opened on the left and right sides of the sole 1 and the upper 2. A strap 7 with a magic tape passes through the through hole 10 to softly connect the sole 1 and the upper 2, and forms a shoe body to wrap the robot foot, facilitating the quick wearing and taking off and size adjustment of the shoe body and the robot foot. The height H of the sole 1 is 30 mm, the height h of the upper 2 is 20 mm, the length of the shoe body matches the robot foot, the total length L is 150 mm, the length m of the through hole 10 is 100 mm, and 4 retractable bionic claw structures are provided inside the sole 1.
[0045] When powered on, the valve core of the solenoid valve 6 overcomes the elastic force of the spring 5 and pushes the bionic claw toe 4 to extend downward out of the sole 1; when powered off, the spring 5 resets, the valve core of the solenoid valve 6 moves upward, and the bionic claw toe 4 retracts into the inner cavity of the sole 1. Among them, the design of the bionic claw toe 4 draws on the contour characteristic curve of the cat's claw toe, which can firmly penetrate into the soft ground and improve the grip ability of the robot. The total length n of the bionic claw toe 4 is 15 mm, and the contour curve equation of the bionic claw toe 4 is y = p 1 x 2 +p 2 x + p 3 , where p 1 =-0.0008, p 2 =0.1052, p 3 =4.477.
[0046] Embodiment 2( Figure 2 and Figure 3 ):This embodiment provides a detachable shoe for a robot foot designed based on a cat's paw structure, which is applicable to the cylindrical robot foot, such as a multi-legged robot dog.
[0047] The sole 1 and the upper 2 of the shoe body are both made of wear-resistant elastic materials, such as high molecular polyethylene, and are integrally formed by the light-curing layer-by-layer texture technology in 3D printing. The sole 1 and the upper 2 belong to a multi-layer composite structure, and the physical properties of the materials are adjusted by the light-curing time. The outer layer material of the sole 1 is dense and has a certain hardness to ensure wear resistance, and the inner layer material has a lower hardness and higher elasticity to absorb kinetic energy, achieving the effect of shock absorption and sound absorption. The surface of the sole 1 has anti-slip textures, which can significantly enhance the grip of the robot's foot. A slideway 3 is provided inside the sole 1, and the length p of the slideway 3 is 30 mm.
[0048] The sole 1 and the upper 2 are connected by three wedge-shaped mortise and tenon structures 9 evenly distributed around the center point. A through hole 10 is opened on each of the left and right sides of the upper 2. A strap 7 with a magic tape passes through the through hole 10 to softly connect the upper 2 with the robot's foot, and forms a shoe body to wrap the robot's foot, facilitating the quick putting on and taking off of the shoe body and the size adjustment of the robot's foot. The height H of the sole 1 is 20 mm, the height h of the upper 2 is 50 mm, the diameter of the shoe body matches that of the robot's foot, the diameter d is 100 mm, the length m of the through hole 10 is 15 mm, and there are three telescopic bionic claw structures evenly distributed around the center point inside the sole 1.
[0049] When powered on, the valve core of the solenoid valve 6 overcomes the elastic force of the spring 5 and pushes the bionic claw toe 4 downward to extend out of the sole 1; when powered off, the spring 5 resets, the valve core of the solenoid valve 6 moves upward, and the bionic claw toe 4 retracts into the inner cavity of the sole 1. The design of the bionic claw toe 4 draws on the contour characteristic curve of the cat's claw toe and can firmly penetrate into the soft ground, improving the gripping ability of the robot. The total length n of the bionic claw toe 4 is 10 mm, and the contour curve equation of the bionic claw toe 4 is y = p 1 x 2 +p 2 x + p 3 , where p 1 =-0.0007, p 2 =0.1043, p 3 =3.155.
[0050] The above is only the preferred implementation mode of the present invention. It should be pointed out that for those skilled in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicality of the patent.
Claims
1. A wearable and removable shoe for a robot foot based on a cat's paw structure, comprising a shoe body, characterized in that: It also includes a retractable bionic claw structure, a quick-on / off structure and an intelligent control system; The shoe body is slender or cylindrical, matching the robot foot; the shoe body includes a sole and an upper, and the sole and the upper are connected by a wedge-shaped mortise and tenon structure; a slideway is provided inside the sole for installing a retractable bionic claw structure; The retractable bionic claw structure comprises: Bionic claw toe, the bionic claw toe is connected to the slider through a hexagon socket screw, and the slider slides in the slideway; the contour curve equation of the bionic claw toe is y=p1x 2 +p2x+p3, where p1 ranges from (-0.001, 0.001), p2 ranges from (0.03, 0.3), and p3 ranges from (1.8, 9.5); A spring is installed above the bionic claw, one end of the spring is fixed to the intelligent control system, and the other end is connected to the slider; the spring is used to drive the slider to retract the bionic claw to the slideway by elastic force when the power is off; The quick-on and quick-off structure includes a strap with Velcro on the surface for quick installation and removal of the shoe body; The intelligent control system comprises: A solenoid valve, wherein the valve core of the solenoid valve is connected to the slider, and when power is turned on, the valve core of the solenoid valve pushes the slider to make the bionic claw toe extend downward out of the sole; A microcontroller is connected to the electromagnetic coil of the electromagnetic valve through a wire, and the microcontroller determines the working state of the electromagnetic valve by controlling the current of the electromagnetic coil.
2. The wearable and removable shoe for robot feet based on cat claw structure design according to claim 1 is characterized in that: When the shoe body is slender, the sole and the upper are connected by four wedge-shaped mortise and tenon structures designed on the front, back, left and right sides; a through hole is opened on the left and right sides of the sole and the upper, and a strap with Velcro passes through the through hole to softly connect the sole and the upper, and form a shoe upper to wrap the robot foot; the length m of the through hole ranges from The height of the sole is H<<30mm, the height of the upper is h<<60mm, and the total length of the shoe body is L; 2-5 retractable bionic claw structures are arranged inside the sole; and the slide is arranged at an inclination.
3. The wearable and removable shoe for robot feet based on cat claw structure design according to claim 1 is characterized in that: When the shoe body is cylindrical, the sole and the upper are connected by 3-5 wedge-shaped mortise and tenon structures evenly distributed with the center of the circle as the center point; a through hole is opened on the left and right sides of the upper, and a strap with Velcro passes through the through hole to softly connect the upper with the robot foot, and form a shoe upper to wrap the robot foot; the length m of the through hole ranges from The sole height is H<<30mm, the upper height is h<<80mm, and the shoe body diameter is d; 3-5 retractable bionic claw structures are evenly distributed inside the sole with the center of the circle as the center point; and the slide is vertically arranged.
4. The wearable and removable shoe for robot feet based on cat claw structure design according to claim 1 is characterized in that: The total length n of the bionic claw is in the range of 10 mm ≤ n ≤ 30 mm.
5. The wearable and removable shoe for robot feet based on cat claw structure design according to claim 4 is characterized in that: The length p of the slideway is in the range of 1.5n≤p≤5n, wherein n is the total length of the bionic claw.
6. The wearable and removable shoe for robot feet based on cat claw structure design according to claim 1 is characterized in that: The sole and the upper are both made of wear-resistant elastic material and are integrally formed using the photocuring layered texturing technology in 3D printing to form a multi-layer composite structure.
7. The wearable and removable shoe for robot feet based on cat claw structure design according to claim 1 is characterized in that: The bottom surface of the sole is provided with anti-skid texture.
8. The wearable and removable shoe for robot feet based on cat claw structure design according to claim 1 is characterized in that: The bionic claw is made of hard wear-resistant material.