Foot structure of robot and robot

Abstract

The utility model relates to a foot structure of a robot. The body of the robot is connected with the foot structure through the connecting part. The foot structure comprises a foot seat arranged on the bottom surface of the connecting part; the inner surface of the buffer unit is attached to the outer surface of the footstand; and the mounting surface of the locking unit is attached to the outer surface of the buffer unit. The locking unit at least comprises a pair of locking pieces which are arranged on the two opposite sides of the buffering unit respectively. Each locking piece comprises a U-shaped connecting arm, and two arms of the U-shaped connecting arm are respectively provided with a fixed convex part and a fixed concave part; and the fixed convex part is embedded with the fixed concave part of the other locking piece, so that the buffer unit is tightly arranged on the footstand by the locking unit. The foot structure is provided with the surrounding type structure locking unit, the locking unit is evenly stressed, and the possibility that the locking unit is loosened due to vibration or impact is reduced. The foot structure prevents the locking unit from deforming due to long-term stress, so that the problem that the buffer unit is easy to fall off is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a foot structure of a robot and the robot. Background Art

[0002] Legged robots use multiple legs as support points and can adapt to a variety of terrains and environments. During walking, the foot ends are continuously subjected to high-speed and high-frequency impact forces. Robots usually wrap rubber and other cushioning materials on the outside of the foot ends to prevent excessive impact forces from being transmitted upwards and causing damage to the joint motors and body components.

[0003] The applicant found that the legged robot may experience severe impact and friction during movement, especially on complex terrain. The locking parts that fix the buffer rubber may gradually wear, loosen or even fall off, causing the buffer rubber to loosen, deform or even fail. Utility Model Content

[0004] The utility model aims to provide a foot structure of a robot, which improves the fastening effect of a locking member, thereby improving the fastening effect of a buffer rubber.

[0005] According to one aspect of the present application, a foot structure of a robot is provided, wherein the body of the robot is connected to the foot structure via a connecting portion. The foot structure comprises: a foot seat, which is arranged on the bottom surface of the connecting portion; a buffer unit, whose inner surface is fitted with the outer surface of the foot seat; and a locking unit, whose mounting surface is fitted with the outer surface of the buffer unit to lock the buffer unit on the foot seat.

[0006] The locking unit at least comprises a first locking member and a second locking member; the first locking member is arranged on one side of the buffer unit; the second locking member is arranged on the other side of the buffer unit opposite to the first locking member.

[0007] The first locking member includes a first U-shaped connecting arm, which is provided with a first fixing protrusion and a first fixing recess; the second locking member includes a second U-shaped connecting arm, which is provided with a second fixing protrusion and a second fixing recess.

[0008] The first fixing protrusion is engaged with the second fixing recess, and the first fixing recess is engaged with the second fixing protrusion, so that the locking unit fastens the buffer unit on the foot seat.

[0009] According to some embodiments of the present application, at least two pairs of boss through holes are also provided on the buffer unit; the first locking member includes at least two first bosses, and the second locking member includes at least two second bosses; the first boss cooperates with the boss through hole, and the second boss cooperates with the boss through hole, so that the locking unit fastens the buffer unit.

[0010] According to some embodiments of the present application, at least two through holes are provided on the foot base, and the first boss is connected to the second boss through the through holes.

[0011] According to some embodiments of the present invention, the buffer unit includes: a first guide recess, which is arranged around the outer periphery of the upper end of the buffer unit; and a second guide recess, which is arranged on the side of the buffer unit. The first locking member also includes: a first upper guide protrusion, which is arranged on the first U-shaped connecting arm; and a first lower guide protrusion, which is arranged on the lower part of the first locking member. The second locking member also includes: a second upper guide protrusion, which is arranged on the second U-shaped connecting arm; and a second lower guide protrusion, which is arranged on the lower part of the second locking member. The first guide recess cooperates with the first upper guide protrusion and the second upper guide protrusion, and the second guide recess cooperates with the first lower guide protrusion and the second lower guide protrusion, so that the locking unit fastens the buffer unit to the foot seat.

[0012] According to some embodiments of the present application, the foot structure further includes: a connecting portion interface, which is an interface where the foot seat is connected to the connecting portion; the foot seat further includes a foot seat supporting surface and a foot seat positioning surface.

[0013] The buffer unit also includes: a cavity with an upper opening for accommodating the foot seat; a support portion for accommodating the cavity. The cavity includes: a buffer unit bearing surface, which is in contact with the interface of the connection portion; an inner support surface of the buffer unit, which is in contact with the support surface of the foot seat; an inner positioning surface of the buffer unit, which is in contact with the positioning surface of the foot seat; and an outer positioning surface of the buffer unit, which is opposite to the inner positioning surface of the buffer unit.

[0014] According to some embodiments of the present application, the first locking member further includes: a first locking member bearing surface, which is in contact with the interface of the connecting portion; and a first locking member mounting surface, which is in contact with the outer positioning surface of the buffer unit.

[0015] According to some embodiments of the present application, the second locking member further includes: a second locking member bearing surface, which is in contact with the interface of the connecting portion; and a second locking member mounting surface, which is in contact with the outer positioning surface of the buffer unit.

[0016] The buffer unit is respectively connected with the foot seat and the locking unit without gap, the buffer unit is evenly stressed, and the buffering in all directions is consistent.

[0017] According to some embodiments of the present application, weight-reducing holes are also provided on the foot positioning surface.

[0018] According to some embodiments of the present application, the outer surface of the support portion is provided with anti-slip textures.

[0019] According to another aspect of the present application, a robot is provided, comprising the foot structure as described above.

[0020] Beneficial Effects

[0021] Through the above scheme, the first locking member and the second locking member surround and fix the buffer unit, so that the locking unit is evenly stressed, avoiding the locking unit from being deformed due to long-term stress, and reducing the possibility of the locking unit loosening due to vibration or impact, thereby solving the problem of the buffer unit easily falling off. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 is a side view of a robot foot structure according to an example embodiment.

[0024] Figure 2 is an exploded view of a robot foot structure according to an example embodiment.

[0025] Figure 3 is a perspective view of a foot stand according to an exemplary embodiment.

[0026] Figure 4 is a perspective view of a buffer unit according to an exemplary embodiment.

[0027] Figure 5 is a perspective view of a first locking member according to an exemplary embodiment.

[0028] Figure 6 FIG. 4 is a front view of a first locking member according to an exemplary embodiment.

[0029] Figure 7 FIG. 4 is a top view of a first locking member according to an exemplary embodiment.

[0030] Figure 8 A perspective view of a second locking member is shown according to an exemplary embodiment.

[0031] Fig. 9 A front view of a second locking member is shown according to an exemplary embodiment.

[0032] Fig.10 A top view of a second locking member is shown according to an exemplary embodiment.

[0033] Description of reference numerals:

[0034] Connecting part 1; connecting part interface 11; foot 2; through hole 21; foot support surface 22; foot positioning surface 23; weight reduction hole 24; buffer unit 3; boss through hole 31; first guide recess 32; second guide recess 33; cavity 34; buffer unit bearing surface 341; buffer unit inner support surface 342; buffer unit inner positioning surface 343; buffer unit outer positioning surface 344; supporting part 35; locking unit 4; first locking member 41; first U-shaped connecting arm 411; first fixing protrusion 412; first fixing recess 413; first boss 414; first A through hole boss 4141; a first threaded hole boss 4142; a first upper guide protrusion 415; a first lower guide protrusion 416; a first locking member bearing surface 417; a first locking member mounting surface 418; a second locking member 42; a second U-shaped connecting arm 421; a second fixing protrusion 422; a second fixing recess 423; a second boss 424; a second through hole boss 4241; a second threaded hole boss 4242; a second upper guide protrusion 425; a second lower guide protrusion 426; a second locking member bearing surface 427; a second locking member mounting surface 428; a screw 5. DETAILED DESCRIPTION

[0035] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0036] The described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other modes, components, materials, devices, etc. may be adopted. In these cases, known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.

[0037] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0038] The terms "first", "second" and the like in the specification and claims of this application and the above drawings are used to distinguish different objects rather than to describe a specific order.

[0039] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0040] The following is a clear and complete description of the technical solution of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0041] See also Figure 1 and Figure 2 The connecting part 1 connects the robot itself and the foot structure. The foot structure of a robot of the present application includes: a foot seat 2, a buffer unit 3, and a locking unit 4. The foot seat 2 is connected to the bottom surface of the connecting part 1. The buffer unit 3 covers the foot seat 2, and the inner surface of the buffer unit 4 fits the outer surface of the foot seat 2. The foot seat 2 of the robot touches the ground, and the buffer unit 3 realizes the buffering and shock absorption of the robot to the ground.

[0042] See also Figure 1 and Figure 2 The mounting surface of the locking unit 4 is fitted with the outer surface of the buffer unit 3, thereby clamping and fixing the foot 2 and the buffer unit 3. This method does not require the use of accessories such as adhesives. The locking unit 4 includes a first locking member 41 and a second locking member 42. The first locking member 41 is fixed to one side of the buffer unit 3, and the second locking member 42 is fixed to the opposite side of the buffer unit 3.

[0043] See also Figures 5 to 10 The first locking member 41 includes a first U-shaped connecting arm 411, and the first U-shaped connecting arm 411 is provided with a first fixing protrusion 412 and a first fixing recess 413; the second locking member 42 includes a second U-shaped connecting arm 421, and the second U-shaped connecting arm 421 is provided with a second fixing protrusion 422 and a second fixing recess 423.

[0044] The first fixing convex part 412 is fitted with the second fixing recessed part 423, and the first fixing recessed part 413 is fitted with the second fixing convex part 422.

[0045] Through the above-mentioned technical solution, the first locking member 41 and the second locking member 42 surround and fix the buffer unit 3, so that the locking unit 4 is evenly stressed, which can prevent the locking unit 4 from being deformed due to long-term stress. This solution can reduce the possibility of loosening of the locking unit 4 due to vibration or impact when the terrain is complex or the robot moves violently, thereby solving the problem of the buffer unit 3 sliding relative to the foot seat 2 and causing the buffer unit 3 to fall off easily.

[0046] The foot structure of the robot described above can be applied to a quadruped robot to adapt to equipment inspection work in the complex environment of a substation.

[0047] Alternatively, see Figure 3 The foot 2 includes an arc-shaped foot support surface 22 and a nearly semicircular foot positioning surface 23, the foot support surface 22 is disposed on the bottom surface of the foot 2, and the foot positioning surface 23 is disposed on both sides of the foot 2. The interface where the connecting portion 1 is connected to the foot 2 is the connecting portion interface 11.

[0048] Alternatively, see Figure 4 The buffer unit 3 includes a cavity 34, a support portion 35, a first guide recess 32, and a second guide recess 33. The cavity 34 is open at the upper end to accommodate the foot 2; the support portion 35 accommodates the cavity 34, and the outer surface of the support portion 35 contacts the ground. The cavity 34 includes: a buffer unit bearing surface 341, a buffer unit inner support surface 342, a buffer unit inner positioning surface 343, and a buffer unit outer positioning surface 344.

[0049] The buffer unit bearing surface 341 is placed on the top of the cavity 34 ; the buffer unit inner support surface 342 is placed in the middle of the cavity 34 ; the buffer unit inner positioning surface 343 is placed on both sides of the cavity 34 ; and the buffer unit outer positioning surface 344 is placed on both sides of the outside of the cavity 34 .

[0050] The first guide recess 32 surrounds the outer periphery of the upper portion of the buffer unit 3 to form a complete guide recess circle. The second guide recess 33 is disposed on the side of the buffer unit 3, that is, on the outer positioning surface 344 of the buffer unit. The second guide recess 33 can be disposed on one side or both sides of the buffer unit 3.

[0051] In this embodiment, when the buffer unit 3 covers the base 2, the buffer unit bearing surface 341 fits with the connection portion interface 11, the buffer unit inner support surface 342 fits with the base support surface 22, and the buffer unit inner positioning surface 343 fits with the base positioning surface 23.

[0052] Alternatively, see Figure 5 to Figure 7 The first locking member 41 includes a first locking member bearing surface 417 , a first locking member mounting surface 418 , a first upper guide protrusion 415 , and a first lower guide protrusion 416 .

[0053] The first upper guide protrusion 415 is disposed on the first U-shaped connecting arm 411, and the first lower guide protrusion 416 is disposed on the lower end of the first locking member 41. The first locking member bearing surface 417 is disposed on the top of the first locking member 41, and the first locking member mounting surface 418 is disposed on the side of the first locking member 41, which refers to the side of the first upper guide protrusion 415.

[0054] Alternatively, see Figure 8 to Figure 10 The second locking member 42 includes a second locking member bearing surface 427 , a second locking member mounting surface 428 , a second upper guide protrusion 425 , and a second lower guide protrusion 426 .

[0055] The second upper guide protrusion 425 is disposed on the second U-shaped connecting arm 421, and the second lower guide protrusion 426 is disposed on the lower end of the second locking member 42. The second locking member bearing surface 427 is disposed on the top of the second locking member 42, and the second locking member mounting surface 428 is disposed on the side of the second locking member 42, which refers to the side of the second upper guide protrusion 425.

[0056] In this embodiment, the first locking member bearing surface 417 is in contact with the connection interface 11, and the first locking member mounting surface 418 is in contact with the outer positioning surface 344 of the buffer unit on one side; the second locking member bearing surface 427 is in contact with the connection interface 11, and the second locking member mounting surface 428 is in contact with the outer positioning surface 344 of the buffer unit on the opposite side; the first guide recess 32 is matched with the first upper guide protrusion 415 and the second upper guide protrusion 425. The second guide recess 33 is placed on both sides of the buffer unit 3, and is matched with the first lower guide protrusion 416 and the second lower guide protrusion 426 respectively.

[0057] In the prior art, since the buffer unit 3 and the base 2 are not completely fitted together, there is a gap in the connection between the two, which easily leads to the problem that the buffer unit 3 is deformed and loosened due to inconsistent buffering in all directions.

[0058] In the solution of the above-mentioned embodiment of the present application, the buffer unit 3 is respectively arranged in close contact with the foot seat 2 and the locking unit 4, and the buffer unit 3 is respectively connected with the foot seat 2 and the locking unit 4 without a gap, thereby increasing the contact area between the buffer unit 3 and the locking unit 4; the buffer unit 3 is subjected to uniform force, and the buffering in all directions is consistent, thereby extending the service life of the buffer unit 3.

[0059] Alternatively, see Figure 4 The buffer unit 3 further includes at least two pairs of boss through holes 31, which are disposed on both sides of the buffer unit 3; see Figures 5 to 10 The first locking member 41 includes at least two first bosses 414, and the second locking member 42 includes at least two second bosses 424; the first bosses 414 cooperate with the boss through holes 31, and the second bosses 424 cooperate with the boss through holes 31, so that the locking unit 4 fastens the buffer unit 3. Figure 3The foot base 2 further includes at least two through holes 21 , and the first boss 414 is connected to the second boss 424 through the through holes 21 .

[0060] The first boss 414 can be a through hole boss or a threaded hole boss or a combination of the two, and the second boss 424 can be a through hole boss or a threaded hole boss or a combination of the two. The two boss through holes 31 are coaxial with the two through holes 21, and the locking unit 4, the buffer unit 3 and the foot 2 are connected by screws 5.

[0061] In this embodiment, the two first bosses 414 are respectively a first through hole boss 4141 and a first threaded hole boss 4142, and the two second bosses 424 are respectively a second through hole boss 4241 and a second threaded hole boss 4242; the screw 5 is screwed into the first through hole boss 4141, the screw 5 passes through the boss through hole 31 and the through hole 21, and is tightened in cooperation with the thread of the second threaded hole boss 4242; the screw 5 is screwed into the second through hole boss 4241, the screw 5 passes through the boss through hole 31 and the through hole 21, and is tightened in cooperation with the thread of the first threaded hole boss 4142.

[0062] In the above solution, the screw 5 penetrates and connects the first locking member 41 and the second locking member 42 to prevent the locking unit 4 from sliding or loosening relative to the foot seat 2 when the foot structure is subjected to external force. In addition, the solution has a simple structure and is easy to disassemble and assemble.

[0063] Alternatively, see Figure 3 The foot base 2 also includes a weight-reducing hole 24 to reduce the weight of the foot support, reduce the pressure and impact on the buffer unit 3, reduce the wear of the buffer unit 3, and extend the service life of the buffer unit 3.

[0064] Alternatively, see Figure 4 The outer surface of the support portion 35 is provided with anti-slip textures, and the materials used include but are not limited to rubber materials to achieve anti-slip and shock absorption.

[0065] Except for the rubber material, the other parts of the foot structure in this embodiment are made of aluminum alloy or high-strength plastic material, so that the foot structure in this embodiment has the advantages of being light, high-strength and fatigue-resistant.

[0066] The present application also introduces a robot, which includes the above-mentioned robot foot structure and has all the effects of the above-mentioned robot foot structure.

[0067] The above-mentioned robot can be a four-legged inspection robot, which is used for inspection work in substations and can adapt to the complex environment of substations.

[0068] Finally, it should be noted that the above is only a preferred embodiment of the present application and is not intended to limit the present application. Although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions of the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A foot structure of a robot, wherein the body of the robot is connected to the foot structure via a connecting portion, characterized in that: The foot structure comprises: A foot seat, arranged on the bottom surface of the connecting portion; A buffer unit, the inner surface of which is fitted with the outer surface of the foot seat; A locking unit, wherein the mounting surface of the locking unit is arranged to fit the outer surface of the buffer unit so as to lock the buffer unit on the foot seat, and the locking unit at least comprises: A first locking member, disposed on one side of the buffer unit; a second locking member, arranged at the other side of the buffer unit opposite to the first locking member; The first locking member includes a first U-shaped connecting arm, the first U-shaped connecting arm is provided with a first fixing protrusion and a first fixing recess; the second locking member includes a second U-shaped connecting arm, the second U-shaped connecting arm is provided with a second fixing protrusion and a second fixing recess; The first fixing protrusion is engaged with the second fixing recess, and the first fixing recess is engaged with the second fixing protrusion, so that the locking unit fastens the buffer unit on the foot seat.

2. The foot structure according to claim 1, characterized in that: The buffer unit is also provided with at least two pairs of boss through holes; The first locking member includes at least two first bosses, and the second locking member includes at least two second bosses; The first boss matches with the boss through hole, and the second boss matches with the boss through hole, so that the locking unit fastens the buffer unit.

3. The foot structure according to claim 2, characterized in that: The foot base is provided with at least two through holes, and the first boss is connected to the second boss through the through holes.

4. The foot structure according to claim 1, characterized in that: Said The buffer unit includes: A first guide recess is disposed around the periphery of the upper end of the buffer unit; A second guide recess is provided on a side surface of the buffer unit; The first locking member further comprises: A first upper guide protrusion, disposed on the first U-shaped connecting arm; A first lower guide protrusion, disposed at the lower portion of the first locking member; The second locking member further comprises: A second upper guide protrusion, disposed on the second U-shaped connecting arm; A second lower guide protrusion, disposed at the lower portion of the second locking member; The first guide recess cooperates with the first upper guide protrusion and the second upper guide protrusion, and the second guide recess cooperates with the first lower guide protrusion and the second lower guide protrusion, so that the locking unit fastens the buffer unit to the foot seat.

5. The foot structure according to claim 1, characterized in that: The foot structure also includes: The connection part interface is the interface where the foot seat and the connection part meet; The foot base also includes a foot base supporting surface and a foot base positioning surface; The buffer unit also includes: Cavity: The upper end is open to accommodate the footrest, and the cavity includes: The bearing surface of the buffer unit is in contact with the interface of the connecting portion; The inner support surface of the buffer unit is in contact with the support surface of the footrest; The internal positioning surface of the buffer unit is in contact with the positioning surface of the foot seat; An outer positioning surface of the buffer unit, opposite to the inner positioning surface of the buffer unit; The supporting portion is used to accommodate the cavity.

6. The foot structure according to claim 5, characterized in that: The first locking member further comprises: The first locking member bearing surface is in contact with the interface of the connecting portion; The first locking member installation surface is in contact with the outer positioning surface of the buffer unit.

7. The foot structure according to claim 5, characterized in that: The second locking member further comprises: The second locking member bearing surface is in contact with the interface of the connecting portion; The second locking member installation surface is in contact with the outer positioning surface of the buffer unit.

8. The foot structure according to claim 5, characterized in that: The foot base positioning surface is also provided with weight-reducing holes.

9. The foot structure according to claim 5, characterized in that: The outer surface of the support portion is provided with anti-slip textures.

10. A robot, characterized in that: Comprising the foot structure as described in any one of claims 1-9.

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