Wear-resistant foot structure with shock absorption and noise reduction functions and robot

Abstract

The utility model relates to a wear-resisting foot structure with shock absorption and noise reduction functions and a robot, and belongs to the technical field of robot equipment.The foot structure comprises a foot sole connecting piece and foot sole outer layer rubber, and the foot sole connecting piece comprises an upper connecting piece and a lower connecting piece; a back-hooking groove structure is formed in the connecting position of the upper connecting piece and the lower connecting piece, the sole outer layer rubber is connected with the back-hooking groove structure, a plurality of through holes are formed in the lower connecting piece, and the lower connecting piece and the sole outer layer rubber are fixed through the through holes. The high-strength plastic connecting piece is adopted, the foot sole is light and extremely high in replaceability, the foot sole buffer layer is made of supercritical foaming materials, the shock absorption and noise reduction effects are achieved by means of the high resilience characteristic of the supercritical foaming materials, the foot sole outer layer rubber on the outermost layer is made of high-hardness rubber, the wear resistance of the foot sole is guaranteed, and the service life of the foot sole is prolonged.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot equipment, and in particular relates to a wear-resistant foot structure and a robot with shock-absorbing and noise-reducing functions. Background Art

[0002] Legged robots typically have four legs, each connected by multiple joints that can mimic the gait and posture of animals. The number and type of joints on each leg can vary depending on design requirements and the target task.

[0003] In existing technology, legged robots achieve walking and other functions by lifting and pressing their feet. The soles of these robots are often covered in a single rubber coating, with shock absorption relying on the thickness of the rubber itself to create a cushioning layer. Considering the lifespan of the sole, wear resistance is often also a consideration. Therefore, traditional sole designs struggle to achieve both wear resistance and noise reduction. Furthermore, for quadruped robots carrying large loads, the sole connectors are often made of metal, increasing replacement costs. Utility Model Content

[0004] In order to solve the technical problems existing in the above-mentioned background technology, the utility model provides a wear-resistant foot structure and a robot with shock-absorbing and noise-reducing functions.

[0005] The purpose of the utility model can be achieved through the following technical solutions:

[0006] A wear-resistant foot structure with shock-absorbing and noise-reducing functions, comprising a sole connector and a sole outer rubber layer, wherein:

[0007] The sole connecting member includes an upper connecting member and a lower connecting member. A hook groove structure is formed at the connection between the upper connecting member and the lower connecting member. The outer rubber layer of the sole is connected to the hook groove structure. The lower connecting member is provided with a plurality of through holes and is fixed to the outer rubber layer of the sole through the plurality of through holes.

[0008] Furthermore, it also includes a sole cushioning layer, which is arranged between the sole connecting piece and the sole outer rubber layer.

[0009] Furthermore, the upper connecting member includes a groove and a plurality of mounting holes, and the mounting holes are arranged on the wall surface of the groove and communicated with the groove.

[0010] Furthermore, the lower connecting member is a semicircular structure, and the outer surface of the lower connecting member is connected to the inner surface of the sole cushioning layer.

[0011] Furthermore, the outer surface of the outer rubber layer of the sole is provided with a plurality of notches.

[0012] Furthermore, the sole cushioning layer is an arc-shaped structure and is adapted to the shape of the lower connecting piece.

[0013] Furthermore, the inner surface of the sole cushioning layer is adhered to the sole connecting piece by glue, and the outer surface of the sole cushioning layer is in direct contact with the sole outer rubber layer.

[0014] Furthermore, the sole connecting piece is made of high-strength plastic.

[0015] Furthermore, the sole cushioning layer is formed by supercritical foaming.

[0016] On the other hand, the present application also provides a wear-resistant robot with shock-absorbing and noise-reducing functions, wherein the robot includes the aforementioned wear-resistant foot structure.

[0017] Beneficial effects of the utility model:

[0018] A wear-resistant foot structure with shock-absorbing and noise-reducing functions, using high-strength plastic connectors, a lightweight sole, and highly replaceable. The sole cushioning layer uses supercritical foam material, which utilizes its high rebound properties to achieve shock absorption and noise reduction. The outermost sole rubber layer is made of high-hardness rubber, ensuring the sole's wear resistance and extending its service life.

[0019] The utility model provides a wear-resistant robot with shock-absorbing and noise-reducing functions, including a foot structure, which adopts high-strength plastic connecting parts, the sole of the foot is light and highly replaceable, the sole cushioning layer adopts supercritical foaming material, and utilizes its high rebound characteristics to achieve the effect of shock absorption and noise reduction, and the outermost sole rubber layer adopts high-hardness rubber to ensure the wear resistance of the sole and extend the service life of the robot. The multiple grooves of the sole rubber layer increase the friction with the ground, so that the quadruped robot can move in more scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 This is a schematic diagram of the exploded structure of a wear-resistant foot structure with shock-absorbing and noise-reducing functions in an embodiment of the present utility model;

[0022] Figure 2 This is a cross-sectional view of a wear-resistant foot structure with shock-absorbing and noise-reducing functions in an embodiment of the present invention;

[0023] Figure 3This is a schematic structural diagram of the sole connector described in an embodiment of the present utility model;

[0024] Figure 4 This is a front structural diagram of the sole connecting member described in an embodiment of the present utility model;

[0025] Figure 5 This is a schematic structural diagram of the sole cushioning layer described in an embodiment of the present utility model;

[0026] Figure 6 This is a schematic diagram of the structure of the outer rubber layer of the sole of the foot in an embodiment of the present utility model;

[0027] Figure 7 This is a structural schematic diagram of another embodiment of a wear-resistant foot structure with shock-absorbing and noise-reducing functions in an embodiment of the present utility model.

[0028] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0029] 1. Sole connector; 101. Upper connector; 102. Lower connector; 103. Hook-back groove structure; 104. Through hole; 105. Groove; 106. Mounting hole; 2. Sole cushioning layer; 3. Sole outer rubber layer; 301. Notch. DETAILED DESCRIPTION

[0030] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] A wear-resistant foot structure with shock-absorbing and noise-reducing functions, such as Figure 1 and Figure 2 As shown, it includes a sole connecting member 1 and a sole outer rubber layer 3, wherein:

[0032] The sole connector 1 includes an upper connector 101 and a lower connector 102. A hooking groove structure 103 is formed at the connection between the upper connector 101 and the lower connector 102. The sole outer rubber layer 3 is connected to the hooking groove structure 103. The lower connector 102 is provided with a plurality of through holes 104 and is fixed to the sole outer rubber layer 3 through the plurality of through holes 104. The foot structure also includes a sole cushioning layer 2, which is disposed between the sole connector 1 and the sole outer rubber layer 3.

[0033] Specifically, the wear-resistant foot structure, which provides shock and noise reduction, is secured to the robot's lower leg via four countersunk screws. A foot connector 1 is secured to the lower leg; a foot cushioning layer 2 is sandwiched between the foot connector 1 and the outer rubber layer 3, providing cushioning. The outer rubber layer 3 directly contacts the ground.

[0034] The sole connector 1 is formed through a complex molding process. Its upper portion is secured to the calf by four countersunk screws. Its lower portion is a semicircular structure, its surface contacting the inner surface of the sole cushioning layer 2. Furthermore, the sole connector 1 is made of high-strength plastic, thus significantly reducing replacement costs compared to metal materials while maintaining strength and rigidity.

[0035] The sole outer rubber layer 3 is formed by overmolding high-hardness rubber. This overmolding process involves pouring the rubber into a mold. The rubber, at this point a hot liquid, fills the entire mold cavity and flows into the through-hole 104 of the lower connector 102 of the sole connector 1. As the temperature cools, the rubber hardens, securing the sole connector 1. This prevents the sole outer rubber layer 3 from easily falling off the sole connector 1.

[0036] The sole cushioning layer 2 is formed by supercritical foaming, which reduces vibrations on the sole of the foot, thereby reducing noise. The inner surface of the sole cushioning layer 2 is bonded to the sole connector 1 with a specific glue, and the outer surface of the sole cushioning layer 2 is in direct contact with the sole outer rubber layer 3.

[0037] Specifically, supercritical foaming is an advanced method for producing foam materials using supercritical fluid technology. This method combines supercritical fluid and foaming technology to produce foam materials with unique structures and excellent properties. Products produced through supercritical foaming generally have the advantages of low density and high strength.

[0038] Furthermore, in a preferred embodiment of the present application, Figure 3 and 4 As shown, the upper connecting member 101 includes a groove 105 and a plurality of mounting holes 106. The mounting holes 106 are arranged on the wall surface of the groove 105 and communicate with the groove 105 to facilitate connection with the lower leg of the robot.

[0039] Furthermore, in another preferred embodiment of the present application, Figure 3 and 4 As shown, the lower connecting member 102 is a semicircular structure, and the outer surface of the lower connecting member 102 is connected to the inner surface of the sole cushioning layer 2.

[0040] Furthermore, in a preferred embodiment of the present application, Figure 5 As shown, the sole cushioning layer 2 is an arc-shaped structure and is adapted to the shape of the lower connecting member 102 .

[0041] Furthermore, in a preferred embodiment of the present application, the inner surface of the sole cushioning layer 2 is adhered to the sole connector 1 by means of specific glue, and the outer surface of the sole cushioning layer 2 is in direct contact with the sole outer rubber layer 3 .

[0042] Furthermore, in a preferred embodiment of the present application, Figure 6 As shown, the outer surface of the outer sole rubber layer 3 is provided with several notches 301. During the overmolding process, the mold is provided with a structure that forms these notches. After casting, the outer surface of the outer sole rubber layer is formed with several notches 301. Specifically, the bottom and sides of the outer sole rubber layer 3 are provided with multiple notches 301. These notches 301 increase friction with the ground, enabling the quadruped robot to operate in a wider range of scenarios.

[0043] In other embodiments, the sole cushioning layer 2 is removed, and the contact mode between the sole connector and the calf is also changed from the original lateral lock to a longitudinal lock. Figure 7 As shown, the outer rubber layer 3 of the sole is directly coated on the sole connecting piece, which saves production costs and has a certain shock absorption effect.

[0044] Specifically, the lower connector 102 is a semicircular structure, its surface contacting the inner surface of the sole cushioning layer 2. A through hole in the center reinforces and secures the sole outer rubber layer 3, preventing it from falling off. Furthermore, the sole connector 1 is made of high-strength plastic, thus significantly reducing replacement costs compared to metal materials while maintaining strength and rigidity.

[0045] On the other hand, the present application also provides a wear-resistant robot with shock-absorbing and noise-reducing functions, and the robot includes the aforementioned wear-resistant foot structure.

[0046] In the present application, the fixed connection method can be screw connection, riveting, plug connection, or connection through a third component, and those skilled in the art can choose according to actual conditions.

[0047] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0048] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0049] The above is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0050] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0051] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

Claims

1. A wear-resistant foot structure with shock-absorbing and noise-reducing functions, characterized in that: It includes a sole connecting piece and a sole outer rubber layer, wherein: The sole connecting member includes an upper connecting member and a lower connecting member. The connection between the upper connecting member and the lower connecting member forms a hook groove structure. The outer rubber layer of the sole is connected to the hook groove structure. The lower connecting member is provided with a plurality of through holes and is fixed to the outer rubber layer of the sole through the plurality of through holes. The footwear further comprises a sole cushioning layer, the sole cushioning layer being disposed between the sole connector and the sole outer rubber layer; the lower connector being a semicircular structure, the outer surface of the lower connector being bonded to the inner surface of the sole cushioning layer by glue; the outer surface of the sole cushioning layer being in direct contact with the sole outer rubber layer; The sole cushioning layer is formed by supercritical foaming; and the sole connecting piece is made of high-strength plastic.

2. A wear-resistant foot structure with shock absorption and noise reduction function according to claim 1, characterized in that: The upper connecting piece includes a groove and a plurality of mounting holes. The mounting holes are arranged on the wall surface of the groove and communicated with the groove.

3. The wear-resistant foot structure with shock absorption and noise reduction function according to claim 1, characterized in that: The outer surface of the sole outer layer rubber is provided with a plurality of notches.

4. The wear-resistant foot structure with shock absorption and noise reduction function according to claim 1, characterized in that: The sole cushioning layer is an arc-shaped structure and is adapted to the shape of the lower connecting piece.

5. A wear-resistant robot with shock absorption and noise reduction function, characterized in that: The robot comprises the wear-resistant foot structure according to any one of claims 1-4.

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