Multi-terrain self-adaptive bionic foot end and robot

Abstract

The invention discloses a multi-terrain self-adaptive bionic foot end and a robot. The multi-terrain self-adaptive bionic foot end comprises a foot part; the top ends of the feet are used for being connected with legs of the robot body. The at least two toes are arranged at the bottom end of the foot part and are distributed in the front-back direction and / or the left-right direction; the toes are elastic; the shells are in one-to-one correspondence with toes; the shell is arranged on the periphery of the toe in a sleeving mode, and the bottom end of the toe extends out of the shell downwards. On the unstructured ground, the toes made of soft materials can be attached to and deform with the ground firstly to adapt to tiny concave-convex of the ground, and slipping and local instability are reduced; then, the hard shell can be meshed with the ground particles, supporting force and friction force are increased, and the ground gripping capacity is improved. The soft and hard coupling structure of the toes and the shell can provide elastic buffering and can also provide mechanical occlusion supporting, so that the foot ends have higher stability on the unstructured ground, the falling and slipping risks are reduced, and the overall passing performance of the robot is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a multi-terrain adaptive bionic foot end and a robot. BACKGROUND

[0002] With the continuous expansion of the application of quadruped robots in patrol, rescue and complex environment operation, their movement ability on unstructured terrain has gradually become an important factor restricting practical application. Unstructured ground usually has irregular surface morphology, discrete bearing conditions and easy local collapse, etc., which puts higher requirements on the contact stability and force adaptability of the robot foot.

[0003] The existing quadruped robot foot structure is mostly in the form of a ball, a semi-cylindrical or a flat foot. Such foot can form a relatively stable contact relationship on structured ground, but on unstructured ground such as gravel and sand, the contact mode between the foot and the ground is relatively single, and it is difficult to effectively adjust according to the ground morphology, which may result in insufficient supporting force, slipping or sinking into the ground, thereby affecting the walking stability and passing ability of the robot. Although some existing technologies improve the passing performance by optimizing gait control or environment perception algorithm, there is still a lack of effective solution for mechanical adaptation to unstructured ground at the foot structure level.

[0004] Therefore, how to improve the robot foot structure to better adapt to the unstructured ground environment and improve the contact stability and supporting reliability with the ground is still a problem to be solved in the prior art.

[0005] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0006] The technical problem to be solved by the present application is to provide a multi-terrain adaptive bionic foot end and a robot to solve the problem of poor adaptability of the robot foot end to unstructured ground in the prior art.

[0007] The technical solution adopted by the present application to solve the technical problem is as follows: A multi-terrain adaptive bionic foot end comprises: a foot; the top end of the foot is used to connect with the leg of a robot body; at least two toes, which are arranged at the bottom end of the foot and are distributed along the front and back and / or left and right; the toes have elasticity; at least two shells corresponding to the toes one by one; the shells are sleeved on the periphery of the toes, and the bottom end of the toes protrudes downward beyond the shells.

[0008] The multi-terrain adaptive bionic foot end, wherein a bottom end of the shell is provided with a plurality of sawtooth grooves, and the plurality of sawtooth grooves are arranged in sequence and spaced along a circumferential direction of the shell.

[0009] The multi-terrain adaptive bionic foot end, wherein the sawtooth groove is a trapezoidal sawtooth groove, a short side of the sawtooth groove is arranged upward, and a long side of the sawtooth groove is arranged downward.

[0010] The multi-terrain adaptive bionic foot end, wherein the foot comprises: a connecting shell; a damping unit arranged at a top end of the connecting shell and used for connecting with a leg of a robot body; a foot body located in the connecting shell, a top end of the foot body is detachably connected with the connecting shell, and a bottom end of the foot body is connected with the toes.

[0011] The multi-terrain adaptive bionic foot end, wherein the connecting shell comprises: a shell body; a foot end interface arranged at a top end of the shell body and arranged upwardly extending; the foot end interface has a receiving cavity, and an opening of the receiving cavity is arranged upwardly.

[0012] The multi-terrain adaptive bionic foot end, wherein a central axis of the foot end interface is inclined at an acute angle backward relative to the shell body.

[0013] The multi-terrain adaptive bionic foot end, wherein the damping unit comprises: a damping upper cover; the damping upper cover has a containing cavity, and an opening of the containing cavity is arranged downwardly; a bottom end of the damping upper cover is inserted into the receiving cavity and is slidable upwardly and downwardly relative to the foot end interface; a resilient member; a bottom end of the resilient member is connected with a bottom wall of the receiving cavity, and a top end of the resilient member is inserted into the containing cavity and is connected with a top wall of the damping upper cover.

[0014] The multi-terrain adaptive bionic foot end further comprises: at least one protruding unit arranged on an outer circumferential surface of the damping upper cover; the protruding unit comprises two protruding portions arranged along a radial direction of the damping upper cover; at least one limiting unit arranged on an inner wall of the receiving cavity and corresponding to the protruding unit; the limiting unit comprises two limiting members used for accommodating and limiting the protruding portions.

[0015] The multi-terrain adaptive bionic foot end, wherein the limiting member comprises: A first limiting slot parallel to the central axis of the foot end interface part; A second limiting slot parallel to the central axis of the foot end interface part; the second limiting slot is located above the first limiting slot and is staggered with the first limiting slot along the circumferential direction of the foot end interface part; A third limiting slot horizontally arranged; both ends of the third limiting slot are in communication with the first limiting slot and the second limiting slot respectively.

[0016] A robot comprising the multi-terrain adaptive bionic foot end according to any one of the above.

[0017] Beneficial effects: On unstructured ground such as gravel and sand, the soft toes of the soft material can first conform to and deform with the ground, adapt to the slight bumps and depressions of the ground, and reduce slipping and local instability; then the hard shell can engage with the ground particles, increase the support force and friction, and improve the gripping ability. The soft and hard coupling structure of the toes and the shell can not only provide elastic cushioning, but also provide mechanical engagement support, so that the foot end has higher stability on unstructured ground, reduces the risk of sinking and slipping, and improves the overall passing performance of the robot. Therefore, the foot end structure of the present application can significantly improve the stability and passing performance of the robot on unstructured ground (such as gravel, sand, loose ground, etc.), effectively solving the problem of poor adaptability, easy slipping or sinking of the foot end on unstructured ground in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is the first view of the multi-terrain adaptive bionic foot end in the present application; Figure 2 is the second view of the multi-terrain adaptive bionic foot end in the present application; Figure 3 is the exploded structural schematic view of the multi-terrain adaptive bionic foot end in the present application; Figure 4 is the first view of the partial structure of the multi-terrain adaptive bionic foot end when the toes are four; Figure 5 is the partial structure schematic view of the multi-terrain adaptive bionic foot end when the toes are two; Figure 6 is the partial structure schematic view of the multi-terrain adaptive bionic foot end when the toes are three and the front side has two toes; Figure 7 is the partial structure schematic view of the multi-terrain adaptive bionic foot end when the toes are three and the front side has only one toe; Figure 8 is the second view of the partial structure of the multi-terrain adaptive bionic foot end when the toes are four; Figure 9 is a partial structure diagram of a multi-terrain adaptive bionic foot end when the toes are five in the present application; Figure 10 is a structure diagram of a shock-absorbing upper cover in the present application; Figure 11 is a structure diagram of a connecting cover in the present application; Figure 12 is a structure diagram of a connecting limiting piece in the present application; Figure 13 is a structure diagram of a rear-toe upper shell when the toes are four in the present application. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme and effect of the present application more clear and explicit, the present application is further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0020] Those skilled in the art can understand that, unless specifically stated otherwise, the singular forms "a", "an" and "the" used herein also include the plural forms. It should be further understood that the use of the word "include" in the specification of the present application means that the features, integers, steps, operations, elements and / or components exist, but do not exclude the existence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof. It should be understood that when we say that an element is "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there can be intermediate elements. In addition, "connected" or "coupled" used herein can include wireless connection or wireless coupling. The phrase "and / or" used herein includes all or any single unit and all combinations of the associated listed items.

[0021] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as that generally understood by those skilled in the art to which the present application belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have meanings consistent with those in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as such.

[0022] In nature, the blue sheep has long been living in the plateau and steep rock wall area with an altitude of about 2500-5500 meters, and its activity environment is mostly typical unstructured ground, such as rugged rock surface, gravel accumulation and irregular slope surface, but the blue sheep can still maintain stable walking and climbing ability in the above environment. Research has found that the excellent unstructured ground adaptation ability of the blue sheep is closely related to its unique hoof structure.

[0023] As an even-toed ungulate, the toes of the blue sheep can be freely separated or converged during force bearing, which makes the hoof have high structural adaptability when contacting unstructured ground. During walking or rock climbing, the hard hoof shell can be embedded into the rock crevice or effectively occluded with the gravel and uneven surface, while the soft meat pad inside the hoof shell can be elastically deformed at the initial stage of ground contact, not only playing a role in buffering impact, but also increasing the friction with the rock or loose granular ground, thereby providing stable support on unstructured ground.

[0024] The soft-hard coupling structure composed of the soft meat pad and the hard hoof shell enables the blue sheep to realize staged force bearing and reliable support under unstructured ground conditions, providing a natural advantage for walking in complex, loose and irregular terrains.

[0025] Based on this bionic mechanism, the soft-hard coupling and terrain occlusion characteristics are introduced into the design of the robot foot end structure to improve the passability and stability of the robot in unstructured ground environments. Specifically, the application provides a multi-terrain adaptive bionic foot end, as shown in Figure 1 、 Figure 2 and Figure 3 , which comprises a foot 1, at least two toes 2 and at least two shells 3. The top end of the foot 1 is used to connect with the leg of the robot body. The at least two toes 2 are arranged at the bottom end of the foot 1 and are distributed along the front and back and / or left and right. The toe 2 has elasticity. The shell 3 corresponds to the toe 2 one by one. The shell 3 is sleeved on the periphery of the toe 2, and the bottom end of the toe 2 protrudes downward beyond the shell 3.

[0026] Specifically, the toe 2 is arranged at the bottom end of the foot 1 and has elasticity. The shell 3 is sleeved on the periphery of the toe 2 and is a hard structure. The bottom end of the toe 2 protrudes downward beyond the shell 3, i.e. the shell 3 is slightly shorter than the toe 2, so that when the multi-terrain adaptive bionic foot end contacts the ground, the bottom end of the toe 2 contacts the ground first instead of the shell 3, and the toe 2 plays a certain buffering role. Only when the toe 2 is extruded to produce elastic deformation, the shell 3 can contact the ground and bear greater load to form stable support.

[0027] On unstructured ground such as gravel, sand, and the like, the soft toes 2 of the soft material can first be in contact with and deformed by the ground to adapt to the slight bumps and depressions of the ground, reducing slipping and local instability; then the hard shell 3 can be engaged with the ground particles to increase the support force and friction, improving the grip ability. The soft and hard coupling structure of the toes 2 and the shell 3 can not only provide elastic buffering, but also provide mechanical engagement support, so that the foot end has higher stability on unstructured ground, reduces the risk of sinking and slipping, and improves the overall passing performance of the robot. Therefore, the foot end structure of the present application can significantly improve the stability and passing performance of the robot on unstructured ground (such as gravel, sand, loose ground, etc.), effectively solving the problem of poor adaptability, easy slipping or sinking of the foot end on unstructured ground in the prior art.

[0028] The toes 2 are made of high-elastic wear-resistant rubber material, i.e., the toes 2 are high-elastic wear-resistant rubber toes. It can be understood that the toes 2 can be two, three, or more than three.

[0029] In the present application, as shown in Figure 5 the toes 2 are two, which are distributed left and right, and the high-elastic wear-resistant rubber between the two toes 2 can be passively deformed when contacting the ground, thereby increasing the contact area with the ground. Due to the high elasticity and friction characteristics of the toes 2, the toes 2 can gather the ground material on loose ground, reducing the looseness of the ground and improving the contact stability and support effect of the foot end.

[0030] In addition, when walking on rough ground, the toes 2 adopt a sheep hoof type structure, so that the hard shell 3 on the outside can be easily inserted into rock crevices or uneven terrain; in combination with the passive deformation effect of the high-elastic wear-resistant rubber toes 2, the toes 2 can automatically adjust the contact form after contacting the ground, find the appropriate position to engage, thereby enhancing the grip ability and stability of the foot end and improving the passing performance of the robot on unstructured terrain.

[0031] In the present application, as shown in Figure 6As shown, there are three toes 2, distributed front to back, with two toes 2 on the front and only one toe 2 on the back; the two front toes 2 are distributed left to right. The two front toes 2 are separated, resembling a sheep's hoof shape; the rear toe extends from left to right, providing a larger contact area with the ground compared to the single front toe 2. When the front sheep's hoof-shaped toe touches the ground, the internal high-elasticity wear-resistant rubber material undergoes passive adaptive deformation, significantly increasing the contact area with the ground. This deformation not only enhances friction but also gathers loose ground materials, reducing ground looseness, thereby reducing foot sinking and slippage, and improving walking stability. When walking on rough terrain, the structure of the front sheep's hoof-shaped toe 2 allows the outer hard toe shell 3 to more easily get stuck in rock crevices or uneven surfaces. Combined with the passive deformation of the internal high-elasticity wear-resistant rubber, the toe 2 can automatically find and form an effective bite after contacting the ground, thereby improving the foot's grip and stability. The large rear toe area provides a larger ground contact support surface during walking, which can effectively bear longitudinal loads and improve overall support force, ensuring stable walking of the robot in complex terrain.

[0032] Embodiment 3 of this application, as shown Figure 7 As shown, there are three toes 2, which are distributed front to back. There is only one toe 2 on the front side and two toes 2 on the back side. The front toes have an arrow-shaped structure and the head is arranged facing forward. The two toes 2 on the back side are arranged separately to the left and right and the back toes are rectangular.

[0033] Similar to Example 2, in this example, when walking on loose ground, the highly elastic, wear-resistant rubber material inside the three toes undergoes passive adaptive deformation, thereby increasing the contact area with the ground. Due to the elastic properties of the rubber material, the toes 2, upon contact with the ground, can aggregate the loose ground material, reducing the looseness of the ground and effectively reducing foot sinking or slippage, thus improving walking stability. When walking on rough terrain, the arrow-shaped structure of the front toes 2 allows the hard outer shell 3 of the toes 2 to more easily get stuck in rock crevices or uneven terrain. Combined with the passive deformation effect of the internal highly elastic, wear-resistant rubber, the toes 2 can automatically adjust their shape and form a reliable bite after contacting the ground, thereby enhancing the foot's grip and stability.

[0034] Unlike Embodiment 2, in this embodiment, the front toes have a larger contact area compared to the rear single toe 2, and together with the rectangular rear toe 2, they form a larger overall ground contact surface, thus significantly improving the support capacity of the bionic foot. This structure can better withstand longitudinal loads, improving the robot's walking stability and maneuverability in complex terrain.

[0035] Embodiment four in this application, as Figure 8As shown, there are four toes 2, which are distributed along the front and back and left and right sides. That is, there are two toes 2 on the front side and two toes 2 on the back side. The two toes 2 on the front side are distributed left and right, and the two toes 2 on the back side are also distributed left and right.

[0036] In this embodiment, the two front toes 2 are both shaped like sheep hooves, have the same structure, and are symmetrically distributed from left to right; the long side of the front toe is 60mm long, and the short side is 45mm long; as Figure 8 As shown, the side of the left forefoot toe closest to the right forefoot toe (first side 21) is arranged at an angle relative to the axis of symmetry of the two, and the front end of the first side 21 is tilted outward by 6° relative to the rear end; similarly, the side of the right forefoot toe closest to the left forefoot toe (second side 22) is arranged at an angle relative to the axis of symmetry of the two, and the front end of the second side 22 is tilted outward by 6° relative to the rear end. This makes the distance between the left and right forefoot toes uneven, with a larger distance at the front and a smaller distance at the rear. Both the first side 21 and the second side 22 are offset outward, simulating the natural opening angle of the hoof of a ibex when under force, so that the toes 2 can better conform to the terrain contour when in contact with the ground. The two front toes 2 form a larger contact angle and a better wrapping shape when in contact with the ground, so that the toes 2 can more effectively grasp the irregular structure of the ground, improving grip and stability.

[0037] One implementation method in this embodiment, such as Figure 4 As shown, the front toes (including the left and right front toes) are arranged at an angle on both the front and rear sides, with their bottom ends tilted forward at a 15° angle relative to their top ends. When the front toes contact the ground and undergo elastic deformation, the deformed toes 2 can adhere to the ground more closely, increasing the contact area and thus improving support stability and reducing local pressure concentration. The angled toes 2 are more like a "slide-in contact" upon landing than a vertical impact, which can buffer the impact force, reduce the instantaneous peak force, and mitigate structural damage and robot vibration. On loose ground, the angled toes 2 can more effectively "sweep" the ground, causing the internal rubber material to deform over a wider range, enhancing the aggregation and compaction effect of loose particles, reducing ground looseness, and improving stability. On rugged terrain, the angled toes 2 can more easily insert the front ends of the toes 2 into rock crevices or uneven structures, combined with the engagement of the hard outer shell 3, to form a more reliable grip.

[0038] It is understandable that since the outer shell 3 is fitted around the toe 2, the shape of the outer shell 3 matches the shape of the toe 2. Therefore, in this embodiment, the front and rear sides of the outer shell 3 of the front toe are also arranged in the same inclined state. In this application, both the front toe and its outer shell 3 are inclined forward by about 15° relative to the foot end connecting cover 12. The 15° overall inclination of the front toe allows the toe 2 to make contact with the ground with a larger contact angle when it lands; the 15° inclination of the outer shell 3 also allows the rigid outer shell 3 to have better fit and engagement angle when it contacts the ground. This inclined design allows the foot end to deform and fit more fully after contacting the ground, significantly increasing the contact area and thus improving support stability.

[0039] On loose ground, the inclined structure of the forefoot toe and outer shell 3 allows the internal high-elasticity wear-resistant rubber to undergo more significant passive adaptive deformation upon contact with the ground. This further increases the contact area and aggregates and compacts the loose ground material, reducing ground looseness, minimizing foot sinking and slippage, and improving walking stability. On rugged ground, the inclined forefoot toe shell 3 more easily inserts the front end of the hard outer shell 3 into rock crevices or uneven structures, and combined with the deformation effect of the internal high-elasticity wear-resistant rubber, forms a reliable engagement, thereby enhancing the foot's grip and stability. Furthermore, the overall inclined contact method of the forefoot toe and outer shell 3 reduces the peak impact upon landing, mitigates instantaneous force, and improves walking smoothness and structural durability.

[0040] In one embodiment of this example, the front end distance between the first side 21 and the second side 22 is 27.2 mm, and the rear end distance is 14 mm.

[0041] In this embodiment, as Figure 8 As shown, the two hind toes 2 are arranged in a 1 / 4 fan shape with the fan-shaped surface facing outwards; the side length of the hind toes arranged in the left-right direction is 40mm, and the side length of the hind toes arranged in the front-back direction is 37mm; the outer surface of the hind toes is perpendicular to the bottom surface of the foot 1, and the distance between the two hind toes 2 is 24mm; the distance between the left forefoot toe and the left hindfoot toe is 4mm, and the distance between the right forefoot toe and the right hindfoot toe is also 4mm.

[0042] When the robot walks on rough terrain, the highly elastic, wear-resistant rubber material at the tip of its foot first contacts the ground and undergoes elastic deformation. Subsequently, the rigid outer shell 3 of the forefoot toe can engage with the edges of rocks on the ground after the rubber has deformed. For example, when there are uneven rocks on the left side, the rigid outer shell 3 of the left forefoot toe can find a suitable contact position at the edge of the rock and achieve engagement by utilizing the conforming state of the deformed rubber. Similarly, when there are uneven rocks on the right side, the rigid outer shell 3 of the right forefoot toe can also engage with the edge of the rock after the rubber has deformed. This enhances the grip and stability of the foot, improving the passability of the bionic foot on rough terrain.

[0043] When the robot walks on loose surfaces (such as sand or snow), the highly elastic, wear-resistant rubber material inside the toes undergoes passive adaptive deformation upon contact with the ground, increasing the contact area. Simultaneously, the toe-split angle design of the forefoot causes the left and right forefoot toes to shift outwards, thus converging loose ground materials during deformation. This concentrates loose particles such as sand and snow towards the center of the foot, allowing the central area of ​​the foot to provide fixation and support for the loose ground, reducing ground looseness and minimizing foot sinking or sank-in. This significantly improves the bionic foot's passability on loose surfaces.

[0044] Example 5 in this application, as Figure 9 As shown, there are five toes 2. Four of the toes 2 are distributed along the front and back and left and right sides, just like in Embodiment 4. The fifth toe 2 is located in the middle of the area enclosed by the four toes 2, so that the five toes 2 are designed in a diamond shape and the overall distribution of the toes 2 is radial.

[0045] When walking on loose ground, the highly elastic, wear-resistant rubber inside the five toes undergoes passive adaptive deformation, increasing the contact area with the ground and compacting the loose ground material, reducing ground looseness, minimizing foot sinking and slippage, and improving walking stability. When walking on rough terrain, the structure of the front sheep hoof-like toe 2 makes it easier for the outer hard toe shell 3 to grip into rock crevices or irregular terrain. Combined with the passive deformation of the internal highly elastic, wear-resistant rubber, the toe 2 can automatically adjust its contact shape and form a reliable bite after contacting the ground, thereby improving the foot's grip and stability. Due to the five-toed, segmented design, the bionic foot has a larger overall contact area with the ground, providing stronger support and better longitudinal load-bearing capacity, improving the robot's stable walking and traversal in complex terrain.

[0046] Based on any of the above embodiments, in this application, the outer shell 3 is detachably connected to the toe 2 by screws, and the screws are located on the outside of the toe 2 to facilitate the installation and removal of the outer shell 3. The bottom surface of the toe 2 is provided with multiple patterns to increase friction and prevent slippage. The thickness of the bottom end of the outer shell 3 (i.e., the surface of the outer shell 3 used for contacting the ground) is greater than the thickness of the top end of the outer shell 3, that is, the outer shell 3 has a cross-sectional structure that gradually thins from bottom to top.

[0047] Specifically, the bottom of the outer shell 3 directly bears a large ground reaction force and impact load. A larger thickness enhances its bending, compressive, and impact resistance, strengthening the stress concentration area at the foot end, reducing local deformation, improving structural strength and durability, and preventing damage under rough terrain or high-load conditions. Since the top of the outer shell 3 bears a relatively small load, a thinner structure reduces material usage, thereby lowering the overall weight of the toes 2. This reduces inertial load and energy consumption during robot movement, improving walking efficiency. Simultaneously, a thinner top allows for more appropriate deformation of the toes 2 upon contact with the ground, improving ground contact and grip. The gradient thickness design of the outer shell 3 ensures a more rational material distribution, avoiding excessive material use in unnecessary areas, reducing manufacturing costs and material waste.

[0048] like Figure 3 and Figure 13 As shown, the bottom of the outer shell 3 is provided with multiple serrated grooves 31, which are arranged sequentially at intervals along the circumference of the outer shell 3; a serration is formed between two adjacent serrated grooves 31. When the toes 2 contact the ground, the serrated grooves 31 can form multiple edge contact points, increasing local pressure and improving the coefficient of friction, making the foot less prone to slippage, especially on wet, loose, or rugged surfaces, significantly improving grip stability. The serration between two adjacent serrated grooves 31 can embed into rock crevices, between gravel particles, or in the accumulation of loose ground particles, achieving mechanical engagement, improving the foot's adaptability to irregular terrain, and enhancing passability.

[0049] The corners of the outer shell 3 are all rounded to increase the stability of the outer shell 3 during movement and avoid damage caused by stress concentration.

[0050] Based on Embodiment 4, there are 6 serrated grooves 31 on the long side of the forefoot and 5 serrated grooves 31 on the short side.

[0051] In one embodiment of this application, the serrated groove 31 is a trapezoidal serrated groove, with its short side facing upwards and its long side facing downwards. This results in the serrations formed between two adjacent serrated grooves 31 being trapezoidal serrations, with the short side of the serrations facing downwards and the long side facing upwards. The upward-facing long side of the trapezoidal serrations effectively disperses stress, reduces stress concentration at the tooth root, improves the flexural strength and wear resistance of the serrated structure, and extends the service life of the toe shell 3. The downward-facing long side of the serrated groove 31 allows for a larger opening, and the downward-facing short side structure facilitates the removal of loose materials (such as sand or mud) when the toe 2 leaves the ground, preventing the serrated groove 31 from becoming clogged and thus maintaining long-term stable grip performance.

[0052] In one embodiment of this invention, the serrated groove 31 is an isosceles trapezoidal serrated groove 31, and the included angle formed by the two sides of the serrated groove 31 is 4°, thereby ensuring the strength of the tooth root while having stronger biting and gripping ability.

[0053] In one embodiment of this application, the foot 1 includes a foot body 11, a connecting cover 12, and a shock-absorbing unit 13; the shock-absorbing unit 13 is disposed at the top of the connecting cover 12 and is used to connect with the leg of the robot body; the foot body 11 is located inside the connecting cover 12; the top of the foot body 11 is detachably connected to the connecting cover 12, and the bottom of the foot body 11 is connected to the toes 2.

[0054] Specifically, the foot body 11 is made of a highly elastic, wear-resistant soft rubber material, meaning that the foot body 11 and the toes 2 are made of the same material, and the foot body 11 and the toes 2 are integrally molded. The elastic modulus of the soft rubber material used in the foot body 11 is lower than that of the hard outer shell 3, allowing it to elastically deform after the hard outer shell 3 touches the ground. This enables it to fit tightly against complex terrain, increasing load-bearing capacity and thus improving the overall stability of the robot during walking. The top of the foot body 11 is detachably connected to the connecting cover 12 via multiple fastening screws.

[0055] The connecting shell 12 primarily serves as the connection point to the robot's legs and the shock absorption unit 13. It acts as the force transmission and installation reference structure, requiring structural stability and strong torsional and tensile resistance. The foot body 11 directly participates in contact with the ground and force transmission, needing to deform according to the terrain and relying more on its own flexibility, adaptability, and cushioning capabilities. Therefore, in this application, the connecting shell 12 and the foot body 11 are made of different materials to form separate structures, with the connecting shell 12 made of a rigid material. When the foot 1 lands or steps on rough ground, the impact load path is ground-toe 2-foot body 11-shock absorption unit 13-robot leg. The foot body 11 can undergo elastic deformation in the initial stage of impact, pre-absorbing the impact force. The connecting shell 12, as a relatively stable external structure, only bears the attenuated load, thereby reducing the direct transmission of the impact peak to the leg joints and drive unit. Therefore, the separate structure of the foot body 11 and the connecting shell 12 forms a multi-level buffer in mechanical terms, which can improve the reliability and lifespan of the entire robot.

[0056] Meanwhile, the toe 2 and the foot body 11 are easily worn parts. Since the foot body 11 can be disassembled relative to the connecting cover 12, it can be replaced separately. Furthermore, to adapt to different terrain requirements, the foot body 11 can be quickly replaced with one made of a different material.

[0057] One embodiment of this application, such as Figure 1 , Figure 3 and Figure 11As shown, the connecting cover 12 includes a cover body 121 and a foot end interface portion 122; the foot end interface portion 122 is disposed at the top of the cover body 121 and extends upward; the foot end interface portion 122 has a receiving cavity with the opening facing upward.

[0058] Specifically, the top of the housing body 121 has a flat surface; the foot interface portion 122 is cylindrical and is located at the center of the top flat surface of the housing body 121; the fastening screw is also located on the top flat surface of the housing body 121. Both the housing body 121 and the foot interface portion 122 are made of rigid material and are integrally molded. The foot interface portion 122 extends upward relative to the housing body 121 and forms an upward-opening receiving cavity, thereby receiving the shock-absorbing unit 13. This enhances the stability of the connection between the shock-absorbing unit 13 and the connecting housing 12 by improving the limiting ability of the connecting housing 12 on the shock-absorbing unit 13.

[0059] One embodiment of this application, such as Figure 1 As shown, the central axis of the foot interface portion 122 is inclined at an acute angle to the rear relative to the cover body 121.

[0060] Specifically, the foot interface 122 is not a cylindrical structure arranged vertically along the central axis, but rather the central axis is inclined at an acute angle to the rear relative to the cover body 121, thus forming an inclined cylindrical structure. The resultant force of the ground reaction force is more easily transmitted along the axial direction of the foot interface 122, and the impact load is converted into a compressive load along the axis, rather than a lateral shear or bending load. This is beneficial for the damping unit 13 to be subjected to force in its most effective working direction, thereby improving the damping efficiency.

[0061] This application tilts the central axis of the foot interface 122 backward relative to the housing body 121, allowing the ground reaction force to be better transmitted along the axial direction of the damping unit 13 during foot landing. This transforms the instantaneous impact load into a controllable axial compressive load, thereby fully utilizing the damping stroke and reducing the peak impact. Simultaneously, this tilted structure conforms to the natural walking posture of the foot's forward and backward rolling motion, enabling controlled posture adjustments on rough, loose, or sloping surfaces, thus improving the damping effect, structural reliability, and adaptability to various terrains of the bionic foot.

[0062] In one embodiment of this invention, the central axis of the foot interface portion 122 is tilted backward at an angle of 15° relative to the cover body 121.

[0063] One embodiment of this application, such as Figure 3As shown, the shock-absorbing unit 13 includes a shock-absorbing top cover 131 and an elastic member 132; the shock-absorbing top cover 131 has a receiving cavity with the opening facing downward; the bottom end of the shock-absorbing top cover 131 is inserted into the receiving cavity and can slide up and down relative to the foot end interface portion 122; the bottom end of the elastic member 132 is connected to the bottom wall of the receiving cavity, and the top end of the elastic member 132 is inserted into the receiving cavity and connected to the top wall of the shock-absorbing top cover 131.

[0064] Specifically, the bottom end of the shock-absorbing cover 131 is located inside the receiving cavity, and the shock-absorbing cover 131 can slide up and down relative to the inner wall of the receiving cavity. The shape of the shock-absorbing cover 131 matches the shape of the foot interface portion 122, that is, the shock-absorbing cover 131 is also a cylindrical structure with its central axis inclined, and the central axis of the shock-absorbing cover 131 coincides with the central axis of the foot interface portion 122. The opening of the receiving cavity of the shock-absorbing cover 131 is arranged downward, and the opening of the receiving cavity of the foot interface portion 122 is arranged upward, so that after the shock-absorbing cover 131 is inserted into the receiving cavity, a receiving space is formed between the shock-absorbing cover 131 and the foot interface portion 122. This receiving space is used to receive the elastic member 132, and the two ends of the elastic member 132 are connected to the bottom wall and the top wall of the receiving cavity, respectively.

[0065] This application utilizes a shock-absorbing unit 13 between the connecting shell 12 and the robot's leg to effectively buffer the impact load generated when the foot contacts the ground or lands. When the ground reaction force acts on the foot body 11 and is transmitted upwards, the shock-absorbing cover 131, guided by the receiving cavity, displaces axially relative to the foot interface 122, simultaneously causing the elastic element 132 to undergo axial compression deformation, thereby converting the instantaneous impact load into the deformation energy of the elastic element 132 for absorption. As the external force decreases, the elastic element 132, under its own elastic restoring force, pushes the shock-absorbing cover 131 back to its original position, restoring the bionic foot to its initial state. This achieves multi-level buffering of the impact load, reduces the peak impact, effectively reduces the impact on the robot's leg and joint structure, and improves the stability and reliability of the robot when walking on rough and unstructured terrain.

[0066] One embodiment of this application, such as Figure 11 As shown, a limiting ring 6 is provided inside the foot interface portion 122 (i.e., inside the receiving cavity). The limiting ring 6 is coaxially arranged with the elastic member 132, and the elastic member 132 is sleeved on the periphery of the limiting ring 6. This is to increase the stability of the elastic member 132 in the receiving cavity through the limiting ring 6, and to avoid the elastic member 132 from being distorted or bent.

[0067] In one embodiment of this application, the multi-terrain adaptive bionic foot further includes at least one protruding unit 4 (such as...). Figure 10 (as shown) and at least one limiting unit 5 (as shown) Figure 11 and Figure 12(as shown); at least one protruding unit 4 is disposed on the outer circumferential surface of the shock-absorbing top cover 131; the protruding unit 4 includes two protrusions 41, which are arranged radially along the shock-absorbing top cover 131; at least one limiting unit 5 is disposed on the inner wall of the receiving cavity and corresponds one-to-one with the protruding unit 4; the limiting unit 5 includes two limiting members 51, which are used to receive the protrusions 41 and limit the protrusions 41.

[0068] Specifically, the protruding unit 4 is disposed on the outer circumferential surface of the shock-absorbing cover 131, and the limiting unit 5 is disposed on the inner wall of the receiving cavity (i.e. the inner wall of the foot end interface 122). After the shock-absorbing cover 131 is inserted into the receiving cavity, each protrusion 41 can be matched with a limiting unit 5 one by one, so that the protrusion 41 is received and limited by the limiting unit 5.

[0069] The protruding unit 4 and the limiting unit 5 constitute a limiting structure for limiting the elastic element 132. To prevent the elastic element 132 from over-elongating during the force change process of the bionic foot, the limiting unit 5 is provided in the foot interface 122. Through the cooperation of the limiting unit 5 and the protruding part 41, a mechanical limiting structure is used to axially limit the elastic element 132, constrain and lock the position of the elastic element 132, so that the elastic element 132 always stays within the preset stroke range during compression and rebound. This can effectively prevent the elastic element 132 from over-elongating due to inertia or external force during the rebound stage, thereby preventing abnormal upward displacement of the upper surface of the foot interface 122 and avoiding the problems of detachment, loosening or force failure of the connection between the shock absorption unit 13 and the robot leg. The mechanical limiting structure formed by the protrusion 41 and the limiting unit 5 is simple and highly reliable. It does not rely on additional control or sensing devices and can work stably for a long time under complex terrain and high-frequency impact conditions, thereby improving the safety, stability and service life of the overall structure of the bionic foot.

[0070] It is understandable that the two limiting elements 51 in the limiting unit 5 are rotationally symmetrical.

[0071] In one embodiment of this application, the protrusion 41 is a semi-circular protrusion; as shown... Figure 12 As shown, the limiting member 51 includes a first limiting slot 511, a second limiting slot 512, and a third limiting slot 513; the first limiting slot 511 is parallel to the central axis of the foot interface portion 122; the second limiting slot 512 is parallel to the central axis of the foot interface portion 122; the second limiting slot 512 is located above the first limiting slot 511 and is staggered from the first limiting slot 511 along the circumferential direction of the foot interface portion 122; the third limiting slot 513 is arranged horizontally; the two ends of the third limiting slot 513 are respectively connected to the first limiting slot 511 and the second limiting slot 512.

[0072] Specifically, the limiting member 51 is integrally formed on the inner wall of the foot interface portion 122 by a first limiting groove 511, a second limiting groove 512, and a third limiting groove 513. The three are interconnected and together form a guide limiting channel for restricting the movement of the protrusion 41. Among them, the first limiting groove 511 and the second limiting groove 512 both extend along the central axis of the foot interface portion 122 to form axially arranged limiting grooves, which are used to guide and constrain the axial sliding of the protrusion 41, thereby limiting the main direction of movement of the shock-absorbing cover 131 in the working state.

[0073] The second limiting groove 512 is located above the first limiting groove 511, and the two are staggered in the circumferential direction of the foot interface 122, so that when the protrusion 41 moves axially to the limit position of its stroke, it contacts the corresponding groove, thus forming a graded axial limiting structure, effectively limiting the maximum displacement range of the shock-absorbing cover 131. The third limiting groove 513 is arranged horizontally, and its two ends are connected to the first limiting groove 511 and the second limiting groove 512 respectively, forming a transverse transition channel, so that the protrusion 41 can switch positions between different axial grooves, thereby achieving a smooth transition during assembly, adjustment or reset. Through the above-mentioned structural design of the limiting component 51, the movement path and stroke of the shock-absorbing cover 131 are precisely controlled without adding additional parts, improving the stability and reliability of the limiting structure.

[0074] When the bionic foot is in its initial unloaded state, the protrusion 41 on the shock-absorbing cover 131 is located within the first limiting groove 511. The first limiting groove 511 extends along the central axis of the foot interface 122, providing axial guidance for the movement direction of the protrusion 41, allowing the shock-absorbing cover 131 to slide stably axially relative to the foot interface 122. When the bionic foot contacts the ground and is subjected to an impact load, the shock-absorbing cover 131 moves axially downward under the action of external force, and the protrusion 41 slides synchronously within the first limiting groove 511, thereby achieving controlled downward movement of the shock-absorbing cover 131 and compression deformation of the elastic element 132.

[0075] As the shock-absorbing cover 131 continues to move, when the protrusion 41 reaches the end of the stroke of the first limiting groove 511, it contacts the end wall of the first limiting groove 511, thereby forming the first axial limit to prevent the shock-absorbing cover 131 from continuing to move downward and to avoid excessive compression of the elastic element 132. After the external force decreases or disappears, the elastic element 132 pushes the shock-absorbing cover 131 upward under its own elastic restoring force, and the protrusion 41 moves in the opposite direction along the first limiting groove 511.

[0076] When the shock-absorbing cover 131 rebounds to the preset height, the protrusion 41 is blocked by the third limiting groove 513, preventing it from entering the second limiting groove 512, thereby preventing the shock-absorbing cover 131 from falling off. When assembling the shock-absorbing cover 131, the protrusion 41 enters the second limiting groove 512 and moves axially to the end of the stroke of the second limiting groove 512, contacting the end wall of the second limiting groove 512. At this time, the shock-absorbing cover 131 is rotated in the circumferential direction, and the protrusion 41 enters the third limiting groove 513; when the protrusion 41 moves to the top of the first limiting groove 511, the assembly is completed.

[0077] This application also provides a robot, which includes a multi-terrain adaptive bionic foot as described in any of the above claims.

[0078] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0079] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0080] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0081] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0082] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0083] Of course, the above description of the embodiments of the present invention is quite detailed, but it should not be construed as a limitation on the scope of protection of the present invention. The present invention may have many other implementations. Based on this implementation, other implementations obtained by those skilled in the art without any creative effort are all within the scope of protection of the present invention. The scope of protection of the present invention is determined by the appended claims.

Claims

1. A multi-terrain adaptive bionic foot, characterized in that, It includes: Feet; The top of the foot is used to connect to the leg of the robot body; At least two toes are located at the bottom of the foot and are distributed along the front-back and / or left-right sides; the toes are elastic; At least two outer shells, each corresponding to one of the toes; the outer shells are fitted around the periphery of the toes, with the bottom of the toes extending downward beyond the outer shells.

2. The multi-terrain adaptive bionic foot end according to claim 1, characterized in that, The bottom end of the outer shell is provided with multiple serrated grooves, which are arranged sequentially at intervals along the circumference of the outer shell.

3. The multi-terrain adaptive bionic foot end according to claim 2, characterized in that, The sawtooth groove is a trapezoidal sawtooth groove, with the short side of the sawtooth groove facing upwards and the long side of the sawtooth groove facing downwards.

4. The multi-terrain adaptive bionic foot end according to claim 1, characterized in that, The foot includes: Connecting cover; A shock-absorbing unit is located at the top of the connecting cover and is used to connect to the legs of the robot body. The foot body is located inside the connecting cover; the top end of the foot body is detachably connected to the connecting cover, and the bottom end of the foot body is connected to the toes.

5. The multi-terrain adaptive bionic foot end according to claim 4, characterized in that, The connecting cover includes: cover body; The foot-end interface is located at the top of the cover body and extends upward; the foot-end interface has a receiving cavity with the opening facing upward.

6. The multi-terrain adaptive bionic foot end according to claim 5, characterized in that, The central axis of the foot-end interface is inclined at an acute angle to the rear relative to the cover body.

7. The multi-terrain adaptive bionic foot end according to claim 5, characterized in that, The damping unit includes: A shock-absorbing top cover; the shock-absorbing top cover has a receiving cavity with the opening of the receiving cavity facing downwards; the bottom end of the shock-absorbing top cover is inserted into the receiving cavity and can slide up and down relative to the foot end interface; An elastic element; the bottom end of the elastic element is connected to the bottom wall of the receiving cavity, and the top end of the elastic element is inserted into the receiving cavity and connected to the top wall of the shock-absorbing cover.

8. The multi-terrain adaptive bionic foot end according to claim 7, characterized in that, It also includes: At least one protruding unit is disposed on the outer circumferential surface of the shock-absorbing top cover; the protruding unit includes two protrusions, which are arranged radially along the shock-absorbing top cover; At least one limiting unit is disposed on the inner wall of the receiving cavity and corresponds one-to-one with the protruding unit; the limiting unit includes two limiting members, which are used to receive the protruding part and limit the protruding part.

9. The multi-terrain adaptive bionic foot end according to claim 8, characterized in that, The limiting component includes: The first limiting slot is parallel to the central axis of the foot end interface. The second limiting slot is parallel to the central axis of the foot end interface; the second limiting slot is located above the first limiting slot and is offset from the first limiting slot along the circumferential direction of the foot end interface. The third limiting slot is arranged horizontally; the two ends of the third limiting slot are respectively connected to the first limiting slot and the second limiting slot.

10. A robot, characterized in that, It includes the multi-terrain adaptive bionic foot as described in any one of claims 1-9.

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