Leg-foot structure of foot-type robot and foot-type robot

Abstract

The utility model relates to a leg-foot structure of a foot-type robot and the foot-type robot, the leg-foot structure comprises a shank and a foot, two ends of the shank are defined as two end points of a straight line, and the straight line is defined as a shank center line; the foot comprises a connecting end and a ball end provided with an accommodating cavity; the extension line of the approximate geometric center point of the elastic piece in the height direction is defined as the center line of the elastic piece; wherein the connecting end is connected with the tail end of the shank, the elastic piece is arranged in the containing cavity, and an included angle is formed between the center line of the shank and the center line of the elastic piece; according to the device, the whole leg and foot structure is prevented from being combined into a rigid part, force is prevented from being directly transmitted to the whole robot, the strong vibration force of the whole robot during walking is reduced through elastic buffering of the elastic part, strong vibration of the whole robot is avoided, and therefore the risks of loose connection and even part damage of the robot are reduced.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a leg and foot structure of a footed robot and a footed robot. Background Art

[0002] In robotics, the foot structure of a foot-clicking machine uses a roughly water drop-shaped structure as the part in contact with the ground, which is fastened to the calf by screws. It includes two parts, one is a connecting structural member connected to the calf, and the other is a wrapping member that wraps the connecting structural member. Such a foot structure is simple in structure, easy to assemble, and easy to use. Although the foot structure of the existing foot-clicking machine is simple in structure, easy to assemble, and easy to use. However, since it is rigidly connected to the calf by screws, when the robot is walking, the force after contacting the ground is directly transmitted to the calf through the rigid connection between the foot and the calf, and then transmitted upward to the entire robot as a whole, which causes the leg of the entire robot to be rigid as a whole, and the force received directly acts on the entire robot, which is easy to cause strong vibration of the entire robot, thereby causing loose connections and even damage to components. Utility Model Content

[0003] In order to solve or partially solve the deficiencies in the prior art, the present application provides a leg and foot structure of a legged robot, comprising:

[0004] Calf, define the two ends of the calf as the two endpoints of a straight line, and define the straight line as the center line of the calf;

[0005] A foot, the foot comprising a connecting end and a ball end having a receiving cavity; and an elastic member, wherein an extension line of an approximate geometric center point of the elastic member in a height direction is defined as a center line of the elastic member;

[0006] The connecting end is connected to the end of the calf, the elastic member is arranged in the accommodating cavity, and the center line of the calf and the center line of the elastic member have an angle.

[0007] In one alternative, it also includes:

[0008] The foot cover is roughly constructed in a spherical shape with a cavity and an opening, and the outer side of the foot cover is constructed with anti-slip patterns;

[0009] The foot cover is arranged on the ball end and covers the elastic piece.

[0010] In an optional solution, the included angle is greater than or equal to 15 degrees and less than 75 degrees.

[0011] In an optional solution, the included angle is greater than or equal to 30 degrees and less than 60 degrees.

[0012] In an optional solution, the elastic member is substantially cylindrical and is configured with a first buffer portion, a second buffer portion and a third buffer portion which are stacked in sequence;

[0013] The first buffer portion has a substantially arc-shaped surface;

[0014] The second buffer portion includes a support portion and a shrinkage portion, the support portion and the shrinkage portion are both substantially disc-shaped, the outer extension of the support portion is substantially flush, and the outer extension of the support portion is inward;

[0015] The third buffer portion includes a positioning boss, an annular recess, and a shrinkage support portion. The annular recess is configured in the middle of the third buffer portion, the shrinkage support portion is configured within the annular recess, and a plurality of positioning bosses are arranged around the annular recess.

[0016] In an optional scheme, the connecting end is constructed with a connecting cavity, a first connecting hole is constructed on the side wall of the connecting end to connect to the connecting cavity, the calf is constructed with a second connecting hole, the calf is inserted into the connecting cavity, and after a fastener passes through the first connecting hole, it is fixedly connected to the second connecting hole.

[0017] In an optional scheme, a first positioning platform is constructed at the connection between the connecting end and the ball end, a second positioning platform is constructed at the upper part of the foot sleeve, the second positioning platform abuts against the first positioning platform, a third positioning platform is constructed at the accommodating cavity of the ball end, a fourth positioning platform is constructed in the foot sleeve, and the third positioning platform abuts against the fourth positioning platform.

[0018] In an optional solution, anti-skid ribs are constructed inside the foot cover, an anti-skid groove is constructed on the ball end, and the anti-skid ribs are embedded in the anti-skid groove to position the foot cover; or anti-skid grooves are constructed inside the foot cover, anti-skid ribs are constructed on the ball end, and the anti-skid ribs are embedded in the anti-skid groove to position the foot cover.

[0019] In an optional solution, the bottom of the accommodating cavity is configured with a plurality of positioning cavities, and a plurality of positioning bosses are respectively embedded in the plurality of positioning cavities with interference fit.

[0020] In an optional embodiment, a legged robot includes: the leg and foot structure of the legged robot in any of the above embodiments.

[0021] The technical solution provided by this application may have the following beneficial effects:

[0022] The present application arranges an elastic member in the accommodating cavity of the connecting end, so that the elastic member is located at the contact point during movement, and the center line of the elastic member forms an angle α with the center line of the calf. During the walking process of the robot, when the force is transmitted to the calf through the elastic member, the leg-foot structure has a buffering effect when subjected to force by relying on the elastic characteristics of the elastic member, thereby avoiding the entire leg and foot structure from being combined into a rigid member, and avoiding the force from being directly transmitted to the entire robot. The elastic buffering of the elastic member reduces the vibration intensity of the entire robot when walking, avoids causing strong vibration of the robot as a whole, and thus reduces the risk of causing the robot to be loosely connected or even damaged. Moreover, since the elastic member forms an angle α with the center line of the calf after being connected to the connecting end, when the leg-foot structure touches the ground under the overall gravity of the robot, the recoil force it bears does not directly act on the center line of the calf, resulting in a better buffering effect.

[0023] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0025] Figure 1 is a structural schematic diagram of a leg structure shown in an embodiment of the present application;

[0026] Figure 2 is an AA cross-sectional view of the leg structure shown in the embodiment of the present application;

[0027] Figure 3 is a schematic diagram of the structure of the foot connection end shown in an embodiment of the present application;

[0028] Figure 4 is a cross-sectional view of a foot connection end shown in an embodiment of the present application;

[0029] Figure 5 is a schematic structural diagram of a foot cover shown in an embodiment of the present application;

[0030] Figure 6 is a cross-sectional view of a foot cover shown in an embodiment of the present application;

[0031] Figure 7 is a schematic structural diagram of an elastic member shown in an embodiment of the present application;

[0032] Figure 8 is a front view of the elastic member shown in the embodiment of the present application;

[0033] Reference numerals:

[0034] 1. calf; 11. second connection hole;

[0035] 2. foot; 21. connection end; 211. connection cavity; 212. first connection hole;

[0036] 22, ball end; 221, accommodating cavity; 222, third positioning platform; 223, positioning cavity; 224, anti-slip groove;

[0037] 23. foot cover; 231. anti-skid pattern; 232. second positioning platform; 233. anti-skid ribs; 234. fourth positioning platform;

[0038] 3. Elastic member; 31. First buffer portion; 32. Second buffer portion; 33. Third buffer portion; 321. Support portion; 322. Shrinkage portion; 331. Positioning boss; 332. Annular depression; 333. Shrinkage support portion. DETAILED DESCRIPTION

[0039] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0040] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0041] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0042] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0043] In this application, the concept of "roughly" describes the main features of an overall structure or shape. When describing the shape of an object, it means that the object mainly presents a certain shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a round object, the expression "roughly round" means that the overall shape of the object is round, but there are differences in some non-functional details. Similarly, when describing a cube, the expression "roughly cubic" means that the overall shape of the object is a cube, but there are differences in some non-functional details.

[0044] Based on the problems arising in the prior art, this application makes improvements and innovations and proposes the following implementation methods to illustrate.

[0045] In some embodiments, Figure 1 , Figure 2 and Figure 3 As shown, a leg-foot structure of a leg-type robot is provided, including a calf 1, wherein two ends of the calf 1 are defined as two end points of a straight line, and the straight line is defined as the center line of the calf;

[0046] A foot 2, the foot 2 comprising a connecting end 21 and a ball end 22 having a receiving cavity 221; and an elastic member 3, wherein an extension line of a rough geometric center point of the elastic member 3 in its height direction is defined as a center line of the elastic member;

[0047] The connecting end 21 is connected to the end of the calf 1 , the elastic member 3 is disposed in the accommodating cavity 221 , and the center line of the calf and the center line of the elastic member have an angle α.

[0048] In the present application, the endpoints at both ends of the calf 1 are actually the points where the calf 1 is subjected to force when the leg-foot structure of the foot-type robot moves, and the straight line defined by the two endpoints is the calf centerline defined in the present application. The approximate geometric center point of the elastic member 3 is approximately in the middle. For example, when the elastic member 3 is an elastic material component of a regular shape such as a cylinder, a sphere, a prism, etc., its geometric center point is at the center point of the component; when the elastic member 3 is an irregular elastic material component formed by some fluid being contained in a container, its geometric center point is approximately in the middle. In this way, the geometric center point of the elastic member 3 can be determined, and when the elastic member 3 is in a horizontal position, the extension line in the height direction is the center line of the elastic member. It should be noted that the center line of the elastic member 3 should be understood as the extension line in the height direction and the straight line passing through the geometric center point and coinciding with the extension direction.

[0049] In this way, the present application arranges an elastic member 3 in the accommodating cavity 221 of the connecting end 21, so that the elastic member 3 is located at the touchdown point during movement, and at the same time, the center line of the elastic member 3 forms an angle α with the center line of the calf. In the process of robot walking, when the force is transmitted to the calf 1 through the elastic member 3, the leg-foot structure has a buffering effect when the force is applied by relying on the elastic characteristics of the elastic member 3, thereby avoiding the entire leg and foot structure from being combined into a rigid part, and avoiding the force from being directly transmitted to the entire robot. The elastic buffering of the elastic member 3 reduces the vibration intensity of the entire robot when walking, avoids causing strong vibration of the entire robot, and thus reduces the risk of causing the robot to be loosely connected or even damaged. Moreover, since the elastic member 3 forms an angle α with the center line of the calf after being connected to the connecting end 21, when the leg-foot structure bears the overall gravity of the robot and touches the ground, the recoil force it bears does not directly act on the center line of the calf, so that the buffering effect is better.

[0050] In some embodiments, Figure 2 , Figure 5 and Figure 6 As shown, the present application further includes: a foot cover 23, the foot cover 23 is generally configured to be a sphere having a cavity and an opening, and the outer side of the foot cover 23 is configured with anti-slip lines 231;

[0051] The foot cover 23 is sleeved on the ball end 22 and covers the elastic member 3 .

[0052] In this way, the present application provides a foot cover 23 on the ball end 22. On the one hand, the foot cover 23 covers the elastic part 3 to prevent it from falling off from the accommodating cavity 221, thereby protecting it; on the other hand, the anti-slip texture 231 on the outside of the foot cover 23 prevents the robot from slipping during walking.

[0053] In some embodiments, Figure 2As shown, the angle α is greater than or equal to 15 degrees and less than 75 degrees.

[0054] In some embodiments, Figure 2 As shown, the angle α is greater than or equal to 30 degrees and less than 60 degrees.

[0055] In some embodiments, Figure 7 and Figure 8 As shown, the elastic member 3 is substantially cylindrical, and is structured with a first buffer portion 31, a second buffer portion 32 and a third buffer portion 33 which are stacked in sequence;

[0056] The first buffer portion 31 has a substantially arc-shaped surface;

[0057] The second buffer portion 32 includes a support portion 321 and a shrinkage portion 322. The support portion 321 and the shrinkage portion 322 are both substantially disc-shaped. The support portion 321 is substantially flat, and the shrinkage portion 322 is concave inwardly.

[0058] The third buffer portion 33 includes a positioning boss 331, an annular recess 332, and a shrinkage support portion 333. The annular recess 332 is configured at the middle top of the third buffer portion 33, the shrinkage support portion 333 is configured within the annular recess 332, and a plurality of positioning bosses 331 are arranged around the annular recess 332.

[0059] In this way, during the movement of the robot, the elastic member 3 contacts the ground with the arc-shaped surface of the first buffer portion 31. After receiving the force, the entire elastic member 3 is compressed, so that the shrinkage portion 322 shrinks, and then the entire elastic member 3 is linked to buffer the force received. The elastic member 3 is buffered by three buffer portions. When the leg and foot structure touches the ground under the overall gravity of the robot, the force direction forms an angle α with the center line of the calf, and the recoil force it receives does not directly act on the center line of the calf, resulting in a better buffering effect. At the same time, the annular depression 332 of the positioning boss 331 and the shrinkage support portion 333 can be well combined with the accommodating cavity 221, so that the connection between the elastic member 3 and the ball end 22 is more stable and the integrity is better.

[0060] In some embodiments, Figure 2 , Figure 3 and Figure 4 As shown, the connection end 21 is configured with a connection cavity 211, a first connection hole 212 is configured on the side wall of the connection end 21 to communicate with the connection cavity 211, and the calf 1 is configured with a second connection hole 11. The calf 1 is inserted into the connection cavity 211, and after the fastener passes through the first connection hole 212, it is fixedly connected with the second connection hole 11. In this way, the connection and fastening of the calf 1 to the entire foot is facilitated.

[0061] In some embodiments, Figure 3 and Figure 4As shown, a first positioning platform 213 is configured at the connection between the connecting end 21 and the ball end 22, a second positioning platform 232 is configured on the upper part of the foot cover 23, the second positioning platform 232 abuts against the first positioning platform 213, a third positioning platform 222 is configured at the accommodating cavity 221 of the ball end 22, a fourth positioning platform 234 is configured in the foot cover 23, the third positioning platform 222 abuts against the fourth positioning platform 234. In this way, the positioning of the foot cover 23 and the connecting end 21 and the covering connection of the foot cover 23 and the ball end 22 are facilitated.

[0062] In some embodiments, Figure 3 and Figure 6 As shown, the foot cover 23 is provided with anti-skid ribs 233, the ball end 22 is provided with anti-skid grooves 224, and the anti-skid ribs 233 are embedded in the anti-skid grooves 224 to position the foot cover 23; or the foot cover 23 is provided with anti-skid grooves 224, the ball end 22 is provided with anti-skid ribs 233, and the anti-skid ribs 233 are embedded in the anti-skid grooves 224 to position the foot cover 23. In this way, the foot cover 23 is prevented from sliding on the ball end 22.

[0063] In some embodiments, Figure 3 and Figure 6 As shown, the bottom of the accommodating cavity is constructed with a plurality of positioning cavities 223, and a plurality of positioning bosses 331 are respectively inserted into the plurality of positioning cavities 223 with interference fit to fix the elastic member 3, and at the same time constrain the positioning bosses 331 to prevent the elastic member 3 from rotating and falling off in the accommodating cavity 221.

[0064] In some embodiments, Figure 1 As shown, a foot-type robot includes the leg and foot structure of a foot-type robot in any one of the above embodiments.

[0065] Finally, it should be noted that, in this article, relationships such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms include, include or any other variations are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0066] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0067] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A leg and foot structure of a legged robot, characterized in that: include: The lower leg is defined as the two ends of a straight line, and the straight line is defined as the center line of the lower leg; A foot, the foot comprising a connecting end and a ball end having a receiving cavity; and An elastic member, wherein the extension line of the approximate geometric center point of the elastic member in the height direction is defined as the center line of the elastic member; Wherein, the connecting end is connected to the end of the calf, the elastic member is arranged in the accommodating cavity, and the center line of the calf and the center line of the elastic member have an angle.

2. The leg and foot structure of the footed robot according to claim 1, characterized in that: Also includes: A foot cover, the foot cover is roughly configured in a spherical shape with a cavity and an opening, and the outer side of the foot cover is configured with anti-slip patterns; The foot cover is sleeved on the ball end and covers the elastic member.

3. The leg and foot structure of the footed robot according to claim 1, characterized in that: The angle is greater than or equal to 15 degrees and less than 75 degrees.

4. The leg and foot structure of a footed robot according to claim 1, characterized in that: The angle is greater than or equal to 30 degrees and less than 60 degrees.

5. The leg and foot structure of a footed robot according to claim 1, characterized in that: The elastic member is substantially cylindrical and is structured with a first buffer portion, a second buffer portion and a third buffer portion which are stacked in sequence; The first buffer portion has a substantially arc-shaped surface; The second buffer portion includes a support portion and a shrinkage portion, the support portion and the shrinkage portion are both substantially disc-shaped, the outer extension of the support portion is substantially flush, and the outer extension of the shrinkage portion is concave inwards; The third buffer portion includes a positioning boss, an annular recess, and a shrinkage support portion. The annular recess is configured in the middle of the third buffer portion, the shrinkage support portion is configured within the annular recess, and a plurality of positioning bosses are arranged around the annular recess.

6. The leg and foot structure of a legged robot according to claim 1, characterized in that: The connecting end is configured with a connecting cavity, a first connecting hole is configured on the side wall of the connecting end to connect with the connecting cavity, the calf is configured with a second connecting hole, the calf is inserted into the connecting cavity, and after a fastener passes through the first connecting hole, it is fixedly connected with the second connecting hole.

7. The leg and foot structure of a footed robot according to claim 2, characterized in that: A first positioning platform is constructed at the connection between the connecting end and the ball end, a second positioning platform is constructed at the upper part of the foot sleeve, the second positioning platform abuts against the first positioning platform, a third positioning platform is constructed at the accommodating cavity of the ball end, a fourth positioning platform is constructed in the foot sleeve, and the third positioning platform abuts against the fourth positioning platform.

8. The leg and foot structure of a footed robot according to claim 2, characterized in that: The foot cover is provided with anti-skid ribs, the ball end is provided with anti-skid grooves, and the anti-skid ribs are embedded in the anti-skid grooves to position the foot cover; or An anti-skid groove is constructed in the foot cover, and an anti-skid rib is constructed on the ball end. The anti-skid rib is embedded in the anti-skid groove to position the foot cover.

9. The leg and foot structure of a foot-type robot according to claim 5, characterized in that: The bottom of the accommodating cavity is configured with a plurality of positioning cavities, and a plurality of positioning bosses are respectively embedded in the plurality of positioning cavities with interference fit.

10. A legged robot, characterized in that: include: The leg and foot structure of a legged robot as claimed in any one of claims 1 to 9.

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