Leg structure and robot

Abstract

The utility model relates to a leg structure and a robot. The leg structure comprises a sole structure, the sole structure comprises an insert and an elastic piece, and the elastic piece covers the outer side of at least part of the insert; the shank is detachably connected with the insert. The hardness and the supporting force of the foot sole structure are enhanced through the insert, the elasticity and the wear resistance of the foot sole structure are improved through the elastic piece, the service life of the leg structure is prolonged, the shank and the insert are detachably connected, the structure is simple, the assembling process between the shank and the foot sole structure is simple and convenient, large-batch production can be achieved, and the production cost is reduced. Meanwhile, the shank and the sole structure are convenient to disassemble, the sole structure is convenient to replace, and subsequent use and maintenance of the robot are facilitated.

Description

Technical Field

[0001] This application relates to the technical field of robots, particularly to a leg structure and a robot. Background Art

[0002] In order to reduce the vibration and noise caused by the sole touching the ground, in existing robots, due to the continuous friction between the sole structure and the ground, the sole material is prone to wear. To maintain the motion performance of the robot, the sole structure needs to be replaced regularly. Summary of the Utility Model

[0003] Based on this, in view of the above technical problems, it is necessary to provide a leg structure and a robot.

[0004] In a first aspect of this application, a leg structure is provided. The leg structure includes: a sole structure, the sole structure includes an insert and an elastic member, and the elastic member covers at least part of the outside of the insert; and a calf, and the calf and the insert are detachably connected.

[0005] The above leg structure enhances the hardness and support force of the sole structure through the insert, increases the elasticity and wear resistance of the sole structure through the elastic member, prolongs the service life of the leg structure, and has a simple structure due to the detachable connection between the calf and the insert. Thus, the assembly process between the calf and the sole structure is simple and convenient, which helps to achieve mass production. At the same time, the calf and the sole structure are easy to disassemble, facilitating the replacement of the sole structure, which is helpful for the subsequent use and maintenance of the robot.

[0006] In one embodiment, the calf is provided with a first locking hole at the connection with the insert, the insert is provided with a second locking hole corresponding to the first locking hole, and a locking member is installed in the first locking hole and the second locking hole.

[0007] In one embodiment, the calf includes a first joint portion, the insert includes a second joint portion, the first joint portion can be superposed on the second joint portion, the first joint portion is provided with a first locking hole, the second joint portion is provided with a second locking hole, and the locking member can pass through the first locking hole and the second locking hole.

[0008] In one embodiment, the calf further includes a calf body, and the first joint portion is connected to the calf body.

[0009] In one embodiment, at least two first locking holes are provided on the first joint portion at intervals, and at least two second locking holes are provided on the second joint portion at intervals.

[0010] In one embodiment, the first locking hole and the second locking hole extend along a first direction, and the first direction is the length direction of the calf; or, the first locking hole and the second locking hole extend along a second direction, and the second direction intersects with the length direction of the calf.

[0011] In one embodiment, part of the elastic member covers the outer side of the calf.

[0012] In one embodiment, a third engaging portion is provided on the elastic member, and the third engaging portion corresponds to the first locking hole and the second locking hole; and / or, a fourth engaging portion is further provided on the insert, and the fourth engaging portion is correspondingly arranged with the second locking hole and the first locking hole.

[0013] In one embodiment, the third engaging portion is a combination of a slit or a bayonet and a plugging member that fits into the bayonet.

[0014] In one embodiment, the elastic member and the insert are integrally formed; or, the elastic member includes a first elastic body connected to the bottom surface of the insert and a second elastic body connected to the bottom surface of the first elastic body, and the hardness of the second elastic body is greater than that of the first elastic body.

[0015] The second aspect of the present application provides a robot, including the above-mentioned leg structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of a sole structure provided by an embodiment of the present application.

[0017] Figure 2 is a schematic structural diagram of an insert provided by an embodiment of the present application.

[0018] Figure 3 is a schematic cross-sectional structural diagram of an insert provided by an embodiment of the present application.

[0019] Figure 4 is a schematic cross-sectional structural diagram of a sole structure provided by an embodiment of the present application.

[0020] Figure 5 is a schematic cross-sectional structural diagram of another sole structure provided by an embodiment of the present application.

[0021] Figure 6 is a schematic bottom surface structural diagram of an insert provided by an embodiment of the present application.

[0022] Figure 7 is a schematic structural diagram of a first elastic body provided by an embodiment of the present application.

[0023] Figure 8 is a schematic structural diagram of a second elastic body provided by an embodiment of the present application.

[0024] Figure 9 is a schematic cross-sectional structural diagram of a second elastic body provided by an embodiment of the present application.

[0025] Figure 10It is a schematic structural diagram of a leg member with a calf provided by an embodiment of the present application.

[0026] Figure 11 It is a schematic partial cross-sectional structural diagram of a leg member provided by an embodiment of the present application

[0027] Figure 12 It is a schematic structural diagram of a calf provided by an embodiment of the present application.

[0028] Figure 13 It is a schematic cross-sectional structural diagram of a calf provided by an embodiment of the present application.

[0029] Figure 14 It is Figure 13 a schematic structural diagram of the buckle part in

[0030] Figure 15 It is Figure 14 a magnified structural diagram of the buckle in

[0031] Figure 16 It is a schematic cross-sectional assembly structural diagram of a calf and a sole structure provided by an embodiment of the present application.

[0032] Figure 17 It is a schematic structural diagram of a sole structure from another perspective provided by an embodiment of the present application.

[0033] Figure 18 It is a schematic cross-sectional assembly structural diagram of a calf and a sole structure provided by another embodiment of the present application.

[0034] Figure 19 It is a schematic structural diagram of a calf provided by another embodiment of the present application.

[0035] Figure 20 It is a schematic structural diagram of a sole structure provided by another embodiment of the present application.

[0036] Figure 21 It is a schematic assembly diagram of a calf and a sole structure provided by an embodiment of the present application.

[0037] Figure 22 It is a schematic assembly structural diagram of a thigh member and an appearance member provided by an embodiment of the present application.

[0038] Figure 23 It is a schematic structural diagram of a thigh member provided by an embodiment of the present application.

[0039] Figure 24 It is a schematic assembly structure of a thigh member and a calf provided by an embodiment of the present application Figure 1 。

[0040] Figure 25 It is a schematic assembly structure of a thigh member and a calf provided by an embodiment of the present applicationFigure 2 。

[0041] Figure 26 This is a schematic assembly structure of the thigh part and the appearance part provided by an embodiment of the present application. Figure 2 。

[0042] The markings in the figure are: 1. Insert; 11. Insert body; 12. Through hole; 13. First guiding part; 14. Second limiting part; 15. Special-shaped convex block; 16. Limiting block; 17. Second locking hole; 18. Glue groove; 191. Second joint part; 192. Fourth joint part; 2. Elastic part; 21. Cavity groove; 22. Elastic groove; 23. First elastic body; 231. First paste surface; 232. Special-shaped groove; 233. Limiting groove; 234. Second paste surface; 24. Second elastic body; 25. Third joint part; 3. Calf; 31. First limiting part; 32. Rib; 33. Cavity; 34. First locking hole; 35. Calf body; 36. First joint part; 37. Locking part; 4. Thigh part; 41. Thigh bracket; 42. Ear; 43. First shaft hole; 44. Second shaft hole; 5. Appearance part; 51. First rabbet; 52. Snap; 61. Pin shaft; 62. Fastening screw; 71. Cover; 72. Protective cover; 8. Crank connecting rod assembly; 9. Elastic ring. Detailed implementation manners

[0043] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed implementation manners of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0044] In the description of the present application, it should be understood that if there appear such terms as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0045] In addition, if the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0046] In this application, unless otherwise clearly specified and defined, if terms such as "installed", "connected", "joined", "fixed", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0047] In this application, unless otherwise clearly specified and defined, if there are descriptions such as a first feature being "on" or "under" a second feature, the meaning can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over", and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. The first feature being "under", "beneath", and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0048] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If so, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in this application are only for illustrative purposes and do not represent the only implementation.

[0049] As Figures 1 to 9 shown, in some embodiments, a first aspect of this application provides a plantar structure. The plantar structure includes an insert 1 and an elastic member 2, and the elastic member 2 covers at least part of the outside of the insert 1. The presence of the insert 1 can enhance the hardness and support force of the plantar structure, and the elastic member 2 can add elasticity and improve wear resistance to the plantar structure, and extend the service life of the plantar structure.

[0050] In a feasible embodiment, as Figures 1 to 4 shown, the elastic member 2 and the insert 1 are integrally formed. The elastic member 2 is provided with one or more cavity grooves 21; the insert 1 is provided with one or more through holes 12, and each through hole 12 communicates with each cavity groove 21 in a one-to-one correspondence.

[0051] As Figure 1 and Figure 4 shown, the outer surface of the elastic member 2 is provided with one row or more rows of elastic grooves 22, which have the functions of increasing elastic force, increasing friction force and reducing weight.

[0052] The material of the elastic member 2 can be selected from elastic materials such as rubber and silica gel.

[0053] When manufacturing the sole structure provided in this embodiment, the insert 1 is placed in the mold of the elastic member 2 and vulcanized and formed together with the raw material of the elastic member 2; the mold of the elastic member 2 has protrusions corresponding to the through holes 12 of the insert 1. Therefore, after the elastic member 2 is vulcanized and formed, cavity grooves 21 that communicate with each through hole 12 in a one-to-one correspondence will be formed in the elastic member 2. After vulcanization, the insert 1 and the elastic member 2 have a strong bonding force, and when the hardness of the material itself is increased, the overall hardness of the sole structure can be reduced through the cavity grooves 21, realizing the functional requirements of the sole being both wear-resistant and noise-reducing.

[0054] In another feasible embodiment, as Figure 5 shown, the elastic member 2 includes a first elastic body 23 connected to the bottom surface of the insert 1 and a second elastic body 24 connected to the bottom surface of the first elastic body 23. Optionally, the first elastic body 23 is bonded to the bottom surface of the insert 1, and the second elastic member 24 is bonded to the bottom surface of the first elastic member 23.

[0055] Specifically, as Figures 6 to 9 shown, the insert 1 includes an insert body 11. The bottom surface of the insert body 11 is provided with a special-shaped convex block 15 and a limiting block 16. The upper surface of the first elastic body 23 is provided with a first bonding surface 231 that fits the bottom surface of the insert 1 body, a special-shaped groove 232 that matches the special-shaped convex block 15, and a limiting groove 233 that matches the limiting block 16. The lower surface of the first elastic body 23 is provided with a second bonding surface 234 in an arc shape. The second elastic body 24 is provided with a groove that matches the shape of the bottom surface of the first elastic body 23.

[0056] After the insert 1, the first elastomer 23, and the second elastomer 24 are formed separately, the first adhesive surface 231 of the first elastomer 23, the surface of the shaped groove 232, and the surface of the limiting groove 233 are respectively adhesively bonded to the bottom surface of the insert body 11, the surface of the shaped protrusion 15, and the surface of the limiting block 16 through an adhesive process to achieve a firm connection between the first elastomer 23 and the insert 1. Then, the second elastomer 24 is adhesively pasted in a covering manner outside the second adhesive surface 234 of the first elastomer 23 through an adhesive process to achieve a firm connection between the second elastomer 24 and the first elastomer 23.

[0057] As Figure 5 shown, the materials of the first elastomer 23 and the second elastomer 24 are different. The first elastomer 23 is made of a material with high elasticity, soft texture, and good noise reduction performance. The second elastomer 24 is made of a material with high hardness and good wear resistance, such as rubber and silica gel. The hardness of the second elastomer 24 is greater than that of the first elastomer 23, the elasticity of the first elastomer 23 is greater than that of the second elastomer 24, and the wear resistance of the second elastomer 24 is greater than that of the first elastomer 23. Through the combination of the first elastomer 23 and the second elastomer 24, the functional requirements of the sole structure for both wear resistance and noise reduction are achieved.

[0058] As Figure 5 shown, one or more rows of elastic grooves 22 are provided on the outer surface of the elastic member 2, which has the functions of increasing elastic force, increasing friction force, and reducing weight.

[0059] As Figures 10 to 17 shown, in some embodiments, a leg structure is provided in the second aspect of the present application. The leg structure includes a sole structure and a calf 3; the sole structure is the sole structure in the above embodiments; the calf 3 is detachably connected to the insert 1 of the sole structure.

[0060] The hardness and support force of the sole structure are enhanced through the insert 1, the elasticity and wear resistance of the sole structure are increased through the elastic member 2, and the service life of the leg structure is extended. The detachable connection between the calf 3 and the insert 1 has a simple structure, so the assembly process between the calf 3 and the sole structure is simple and convenient, which helps to achieve mass production. At the same time, the calf 3 and the sole structure can be easily disassembled, which is convenient for replacing the sole structure and helps with the subsequent use and maintenance of the robot.

[0061] Specifically, as Figure 12 and Figure 13 shown, the calf 3 is a cavity structure, and two or more convex ribs 32 are provided on the inner wall of the calf 3. The design of the cavity 33 can reduce the weight of the leg structure, and the design of the convex ribs 32 can enhance the strength and stiffness of the leg structure to meet the use requirements.

[0062] As Figure 2 and Figures 13 to 16As shown, the convex rib 32 extends along the length direction of the calf 3 and has a first limiting member 31 protruding from the tail of the calf 3. The insert 1 is provided with a second limiting member 14 corresponding to the first limiting member 31. Among the first limiting member 31 and the second limiting member 14, one of them is a buckle and the other is a slot, and the buckle and the slot are engaged with each other. The first limiting member 31 and the second limiting member 14 of this structural form belong to a hidden interface, and there is no design of fasteners on the appearance surface of the leg structure, which maximally preserves the exquisite requirements of the product appearance design.

[0063] In a feasible embodiment, as Figure 2 and Figures 13 to 16 shown, the first limiting member 31 is a buckle and the second limiting member 14 is a slot. The buckle of the calf 3 is inserted into the slot of the insert 1 to achieve mutual engagement, and the edge of the calf 3 close to the sole structure side is smoothly connected to the outer contour of the insert 1 and the elastic member 2, then the installation of the calf 3 and the sole structure can be completed, and the operation is simple.

[0064] In other specific embodiments, the first limiting member is a slot and the second limiting member is a buckle; or part of the first limiting members are slots and the other part of the first limiting members are buckles. Correspondingly, the second limiting member is also a combination of a buckle and a slot, and the installation of the calf and the sole structure can be realized.

[0065] In some embodiments, referring to Figures 12 to 20 , to enhance the installation reliability between the calf 3 and the sole structure, a first locking hole 34 is provided at the joint of the calf 3 and the insert 1, and the insert 1 is provided with a second locking hole 17 corresponding to the first locking hole 34. A locking member 37 is installed in the first locking hole 34 and the second locking hole 17. By passing the locking member 37 through the first locking hole 34 and the second locking hole 17, the calf 3 and the insert 1 are connected, which improves the bonding strength between the calf 3 and the sole structure.

[0066] Optionally, the calf 33 includes a calf body 35 and a first joint part 36 connected to the calf body 35. The insert 1 includes a second joint part 191. The first joint part 36 can be superposed on the second joint part 191. The first locking hole 34 is provided on the first joint part 36, and the second locking hole 17 is provided on the second joint part 191, so that the first locking hole 34 can correspond to the second locking hole 17, and the locking member 37 can pass through the first locking hole 34 and the second locking hole 17 to realize the connection between the calf 3 and the sole structure. Optionally, the first joint part 36 and the calf body 35 are integrally formed, or the first joint part 36 is used as an insert and is connected to the calf body 35 by means of bonding, etc. Of course, in other optional embodiments, it can also be connected by screw connectors. Of course, any connection method is within the protection scope of this application and will not be limited here.

[0067] Feasibly, the first engaging portion 36 and the second engaging portion 191 can be a matching flange and groove structure, which helps the first engaging portion 36 to match the second engaging portion 191, so that the first locking hole 34 can correspond to the second locking hole 17, improving the engagement accuracy between the first engaging portion 36 and the second engaging portion 191, and thus improving the installation efficiency of the calf 3 and the sole structure.

[0068] Optionally, at least two first locking holes 34 are provided on the first engaging portion 36 at intervals, and at least two second locking holes 17 are provided on the second engaging portion 191 at intervals. Each first locking hole 34 correspondingly corresponds to each second locking hole 17. Correspondingly, more than two locking members 37 are also configured, so that the first engaging portion 36 and the second engaging portion 191 are connected by at least two locking members 37, further improving the installation reliability of the calf 3 and the sole structure.

[0069] It should be noted that as long as the first locking hole 34 can correspond to the second locking hole 17, the present application does not limit the specific number and distribution of the first locking hole 34 and the second locking hole 17. For example, both the first locking hole 34 and the second locking hole 17 are configured with two. The two first locking holes 34 are arranged side by side along the height direction of the first engaging portion 36. Correspondingly, the two second locking holes 17 are also arranged side by side along the height direction of the first engaging portion 36; or, the two first locking holes 34 are arranged side by side along the width direction of the first engaging portion 36. Correspondingly, the two second locking holes 17 are also arranged side by side along the width direction of the first engaging portion 36; or, the two first locking holes 34 are spaced apart along the diagonal direction of the first engaging portion 36. Correspondingly, the two second locking holes 17 are spaced apart along the diagonal direction of the first engaging portion 36.

[0070] In a feasible embodiment, in combination Figure 14 and Figure 17 as shown, the first locking hole 34 and the second locking hole 17 extend along a first direction, and the first direction is the length direction of the calf 3. Specifically, the locking member 37 can be selected as a screw. The second locking hole 17 is a through hole or a threaded hole, and the first locking hole 34 is a threaded hole. The screw passes through the second locking hole 17 and is locked into the first locking hole 34 to be tightened, completing the further fastening installation. Of course, in other alternative embodiments, when the locking member 37 is a self-tapping screw, the first locking hole 34 and the second locking hole 17 can be through holes with different diameters, as long as they can be locked and connected.

[0071] In another feasible embodiment, as Figures 18 to 20As shown, the first locking hole 34 and the second locking hole 17 are arranged to extend in the second direction, and the second direction intersects with the length direction of the calf 3. It can be understood that the present application does not limit the opening directions of the first locking hole 34 and the second locking hole 17, and the first locking hole 34 and the second locking hole 17 can be adaptively opened according to the sole structure and the specific structure of the calf 3.

[0072] Optionally, part of the elastic member 2 covers the outer side surface of the calf 3, so that the connection between the calf 3 and the sole structure can be smoothly transitioned, and thus the leg structure has a good appearance design.

[0073] Optionally, a third engaging portion 25 is provided on the elastic member 2, and the third engaging portion 25 corresponds to the first locking hole 34 and the second locking hole 17, so that the locking member 37 can pass through the third engaging portion 25, pass through the second locking hole 17 and the first locking hole 34, and realize the connection between the calf 3 and the sole structure.

[0074] Optionally, the third engaging portion 25 is a gap. The locking member 37 passes through the gap to correspondingly connect the first locking hole 34 and the second locking hole 17. Preferably, the gap is a narrow gap. Thus, under the elastic action of the elastic member 2 itself, the third engaging portion 25 can block the locking member 37, and the gap can present an approximately closed state, realizing the design that there is no locking member on the appearance surface at the connection between the calf 3 and the sole structure, and meeting the good requirements of the product appearance design.

[0075] In other embodiments not shown, the third engaging portion 25 can be a combination of a bayonet and a plugging member that fits into the bayonet. The bayonet is arranged corresponding to the second locking hole 17 and the first locking hole 34. The locking member 37 passes through the bayonet to connect the first locking hole 34 and the second locking hole 17, and the plugging member fits into the bayonet to block the locking member 37, realizing the design that there is no locking member on the appearance surface at the connection between the calf 3 and the sole structure, and meeting the good appearance requirements of the product.

[0076] It should be noted that the relative positions of the first locking hole 34 and the second locking hole 17 can be set according to actual needs. For example, the first engaging portion 36 is arranged on the side of the second engaging portion 191 away from the elastic member 2. At this time, the locking member 37 can sequentially pass through the third engaging portion 25, the second locking hole 17 and the first locking hole 34 for locking connection; or, the first engaging portion 36 is arranged on the side of the second engaging portion 191 close to the elastic member 2. At this time, the locking member 37 can sequentially pass through the third engaging portion 25, the first locking hole 34 and the second locking hole 17 for locking connection.

[0077] Specifically, when the first engaging portion 36 is disposed on the side of the second engaging portion 191 away from the elastic member 2, the locking member 37 can be a screw. The first locking hole 34 is a threaded hole, and the second locking hole 17 is a through hole or a threaded hole. The screw passes through the second locking hole 17 and is locked into the first locking hole 34 to complete the further fastening and installation. Of course, when the locking member 37 is a self-tapping screw, the first locking hole 34 is a through hole that mates with the locking member 37, and the second locking hole 17 is a through hole with a larger diameter than the first locking hole 34. During locking, the locking member 37 passes through the second locking hole 17 and is locked with the first locking hole 34.

[0078] When the first engaging portion 36 is disposed on the side of the second engaging portion 191 close to the elastic member 2, the locking member 37 can be a screw. The first locking hole 34 is a through hole or a threaded hole, and the second locking hole 17 is a threaded hole. The screw passes through the first locking hole 34 and is locked into the second locking hole 17 to complete the further fastening and installation. Of course, when the locking member 37 is a self-tapping screw, the second locking hole 17 is a through hole that mates with the locking member 37, and the first locking hole 34 is a through hole with a larger diameter than the second locking hole 17. During locking, the locking member 37 passes through the first locking hole 34 and is locked with the second locking hole 17.

[0079] In a feasible embodiment, in combination Figure 18 and Figure 21 , the insert 1 is further provided with a fourth engaging portion 192, and the fourth engaging portion 192 is correspondingly arranged with the first locking hole 34 and the second locking hole 17. Thus, the locking member 37 is connected to at least two parts of the insert 1, which helps to improve the connection strength between the calf 3 and the insert 1.

[0080] Preferably, the second engaging portion 191 and the fourth engaging portion 192 are respectively disposed on both sides of the first engaging portion 36. Thus, by passing the locking member 37 through the fourth engaging portion 192, the first engaging portion 36 and the second engaging portion 191, the bonding strength between the insert 1 and the calf 3 is improved, ensuring the installation stability and reliability of the sole structure and the calf 3.

[0081] In combination Figure 21 , specifically in this embodiment, the first engaging portion 36 is disposed on the side of the second engaging portion 191 close to the elastic member 2, and the fourth engaging portion 192 can be disposed on the side of the first engaging portion 36 close to the elastic member 2. At this time, the locking member 37 sequentially passes through the third engaging portion 25, the fourth engaging portion 192, the first locking hole 34 and is locked with the second locking hole 17. Optionally, the fourth engaging portion 192 is provided with a through hole or a threaded hole, and the locking member 37 connects the first locking hole 34 and the second locking hole 17 by passing through the through hole or the threaded hole.

[0082] In other embodiments not shown, when the first engaging portion 36 is disposed on a side of the second engaging portion 191 away from the elastic member 2, the fourth engaging portion 192 may be disposed on a side of the first engaging portion 36 away from the elastic member 2. At this time, the locking member 37 sequentially passes through the third engaging portion 25, the second locking hole 17, the first locking hole 34 and locks with the fourth engaging portion 192. It should be noted that the specific positions of the second engaging portion 191 and the fourth engaging portion 192 are not limited and may be specifically set according to the sole structure and the connection space of the calf 3. For example, the second engaging portion 191 and the fourth engaging portion 192 may also be disposed on the same side of the first engaging portion 36.

[0083] In some embodiments, such as Figure 2 and Figure 17 shown, the insert 1 is provided with a first guiding member 13, and the calf 3 is provided with a second guiding member corresponding to the first guiding member 13; among the first guiding member 13 and the second guiding member, one of them is a guiding protrusion, and the other is a guiding groove. The guiding protrusion and the guiding groove are inserted into each other to realize the guiding insertion of the calf 3 and the insert 1, improving the installation convenience.

[0084] In this embodiment, as Figure 2 and Figure 17 shown, the first guiding member 13 is a guiding protrusion, and the second guiding member is a guiding groove.

[0085] In other specific embodiments, the first guiding member 13 may be a guiding groove, and the second guiding member is a guiding protrusion.

[0086] Such as Figure 2 and Figure 17 shown, the guiding protrusion in this embodiment is three arc-shaped protrusions, which can be directly inserted into the guiding grooves formed between the ribbed bars on the inner wall of the calf 3.

[0087] In other specific embodiments, the guiding protrusion may also be a complete convex ring, or two or more arc-shaped protrusions, special-shaped protrusions, etc. arranged at intervals, as long as the guiding insertion between the insert 1 and the inner wall of the calf 3 can be realized.

[0088] Such as Figure 17 shown, the insertion surfaces of the first guiding member 13 and / or the second guiding member are provided with a plurality of glue grooves 18 for accommodating glue. In this embodiment, glue grooves 18 are provided outside the guiding protrusions of the insert 1, which is convenient for accommodating glue and facilitating the bonding and curing with glue between the insertion surfaces of the calf 3 and the insert 1. This assembly method has good assembly performance and can meet the requirements of mass assembly production.

[0089] In some embodiments, such as Figures 22 to 26As shown in the figure, a third aspect of the present application provides a leg member, including a leg structure and a thigh; the leg structure is the leg structure in the above embodiment; the thigh is rotatably connected to the calf 3 of the leg structure. The thigh includes a thigh member 4 and an appearance member 5.

[0090] Combined with Figure 23 As shown in the figure, the thigh member 4 includes a thigh bracket 41 and an ear portion 42 integrally connected to the thigh bracket 41; the thigh bracket 41 and the ear portion 42 form a U-shaped, Y-shaped or V-shaped structure, and the cavity formed by them is used to install the calf 3. The thigh bracket 41 is provided with a first shaft hole 43, and the ear portion 42 is provided with a second shaft hole 44 corresponding to the first shaft hole 43. The first shaft hole 43 and the second shaft hole 44 are used to coaxially install a rotating member.

[0091] Combined with Figure 24 As shown in the figure, the rotating member can be a pin shaft assembly. The pin shaft assembly includes a pin shaft 61 and a fastening screw 62 for locking the pin shaft 61; the pin shaft 61 can be installed from one side of the first shaft hole 43 and the second shaft hole 44, and the fastening screw 62 is installed from the other side of the two. In this embodiment, as Figure 24 As shown in the figure, the pin shaft 61 is installed by passing through the second shaft hole 44 and the first shaft hole 43 in sequence from the side of the second shaft hole 44, and the fastening screw 62 is installed through the first shaft hole 43. A buckle cover 71 covering the outside of the fastening screw 62 is provided on the thigh bracket 41, and a protective cover 72 covering the outside of the pin shaft 61 is provided on the ear portion 42.

[0092] Combined with Figure 25 As shown in the figure, a crank connecting rod assembly 8 is also connected between the thigh member 4 and the calf 3. A leg actuator is installed on the thigh member 4, and the leg actuator is used to drive the crank connecting rod assembly 8, thereby driving the calf 3 to rotate around the pin shaft 61.

[0093] As Figure 22 As shown in the figure, the appearance member 5 is installed outside the thigh member 4. The appearance member 5 can protect the thigh member 4, improve the aesthetics of the thigh structure, and at the same time, can improve the noise problem caused by the collision of components during movement.

[0094] As Figure 26 As shown in the figure, the appearance member 5 has a first rabbet 51, and the thigh member 4 has a second rabbet; in the first rabbet 51 and the second rabbet, one of them is a male rabbet, and the other is a female rabbet, and the male rabbet and the female rabbet are fitted and inserted; the appearance member 5 is provided with multiple groups of buckles 52, and the thigh member 4 is provided with slots corresponding to the buckles 52, and the buckles 52 and the slots are mutually clamped. When the appearance member 5 and the thigh member 4 are assembled, the first rabbet 51 and the second rabbet are fitted and inserted, and the buckles 52 are clamped in the slots, so as to realize the convenient assembly and reliable connection between the appearance member 5 and the thigh member 4. In this embodiment, as Figure 22As shown, the first rabbet 51 and the second rabbet form a double-rabbet structure, enabling a reliable connection between the exterior part 5 and the thigh part 4. In other embodiments, the first rabbet and the second rabbet can also be a single-rabbet structure or a reverse-rabbet structure.

[0095] As Figure 26 shown, an elastic ring 9 is provided between the first rabbet 51 and the second rabbet. The material of the elastic ring 9 can be selected from elastic materials such as foam and rubber. Disposing the elastic ring 9 at the rabbet structure can isolate the exterior part 5 and the thigh part 4, effectively reducing vibration noise.

[0096] The thigh part 4 is also provided with a through hole, and the exterior part 5 is provided with a third locking hole corresponding to the through hole. A locking structure is installed in the through hole and the third locking hole, which helps to achieve a further reliable connection between the exterior part 5 and the thigh part 4. In this embodiment, the locking hole is a threaded hole and the locking structure is a screw. Pass the screw through the through hole from the outside of the thigh part 4 and then lock it into the threaded hole, and the fixed connection between the exterior part 5 and the thigh part 4 can be achieved.

[0097] In this embodiment, the two components of the thigh in the prior art are simplified into one thigh part 4, which can improve the manufacturing precision of the first shaft hole 43 and the second shaft hole 44, and further improve the assembly precision of the thigh and the calf, reduce the assembly difficulty, facilitate mass production. At the same time, it can reduce the movement collision between components and improve the noise problem.

[0098] As a same concept, in the fourth aspect of this embodiment, a robot is further provided. The robot includes a leg component, and the leg component is the leg component in the above embodiment.

[0099] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0100] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A leg structure, characterized in that, The leg structure includes: a sole structure, the sole structure including an insert and an elastic member, the elastic member covering at least part of the outer side of the insert; and a calf, the calf and the insert being detachably connected.

2. The leg structure according to claim 1, wherein, The calf is provided with a first locking hole at the joint with the insert, the insert is provided with a second locking hole corresponding to the first locking hole, and a locking member is installed in the first locking hole and the second locking hole.

3. The leg structure according to claim 2, characterized in that, The calf includes a first engaging portion, the insert includes a second engaging portion, the first engaging portion can be superposed on the second engaging portion, the first locking hole is provided on the first engaging portion, the second locking hole is provided on the second engaging portion, and the locking member can pass through the first locking hole and the second locking hole.

4. The leg structure according to claim 3, characterized in that, The calf further includes a calf body, and the first engaging portion is connected to the calf body.

5. The leg structure according to claim 3, characterized in that, At least two spaced-apart first locking holes are provided on the first engaging portion, and at least two spaced-apart second locking holes are provided on the second engaging portion.

6. The leg structure according to claim 3, wherein, The first locking hole and the second locking hole extend along a first direction, and the first direction is the length direction of the calf; or, The first locking hole and the second locking hole extend along a second direction, and the second direction intersects with the length direction of the calf.

7. The leg structure according to claim 2, characterized in that, The elastic member is provided with a third engaging portion, and the third engaging portion corresponds to the first locking hole and the second locking hole; and / or, The insert is further provided with a fourth engaging portion, and the fourth engaging portion is correspondingly arranged with the second locking hole and the first locking hole.

8. The leg structure according to claim 7, characterized in that, The third engaging portion is a combination of a slit or a bayonet and a plugging member plugged into the bayonet.

9. The leg structure according to claim 1, characterized in that, Part of the elastic member covers the outer side of the calf.

10. The leg structure according to claim 1, wherein The elastic member and the insert are integrally formed; or, The elastic member includes a first elastic body connected to the bottom surface of the insert and a second elastic body connected to the bottom surface of the first elastic body, and the hardness of the second elastic body is greater than that of the first elastic body.

11. A robot, characterized in that, It includes the leg structure according to any one of claims 1-10.

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