Foot sole buffering structure of robot dog

Abstract

The utility model relates to a sole buffering structure of a robot dog, which is connected to the tail end of a leg arm of the robot dog and comprises a connecting seat and a sole body, the connecting base is detachably connected with the leg arm, and the sole body is connected with the connecting base and located below the connecting base. The sole body is in an arc shape, and an opening of the arc faces the connecting base. A center buffering part, a left buffering part and a right buffering part are arranged on the inner side face of the sole body, and the left buffering part and the right buffering part are located on the left side and the right side of the center buffering part respectively. An upper buffering part and an inner supporting block are arranged on the connecting base, the upper buffering part corresponds to the central buffering part in the vertical direction, and the inner supporting block corresponds to the upper buffering part in the vertical direction. According to the sole buffering structure of the robot dog, the structure of the bottom foot of the robot dog is improved, the stress deformation capacity is enhanced, the buffering and noise reduction performance is improved, and the transmission of ground contact impact force to the legs of the robot dog is further weakened.

Description

TECHNICAL FIELD

[0001] The utility model relates to a component structure of a robot dog, in particular to a robot dog sole buffer structure. BACKGROUND

[0002] The robot dog, also known as a quadruped robot, is a bionic robot imitating the shape of a dog and capable of walking, jumping and other actions on the ground.

[0003] The robot dog generally comprises a main body and a leg part, wherein the leg part comprises an upper leg part and a leg arm. The upper leg part is hinged to the main body, the leg arm is hinged to the bottom end of the upper leg part, and the bottom of the leg arm is provided with a bottom foot.

[0004] When the robot dog walks or jumps on the ground, the bottom foot contacts the ground and generates an impact. If the impact cannot be well inhibited, it will be transmitted to the main body through the leg part, resulting in noise and violent jolting of the main body.

[0005] In order to alleviate the impact and noise, the prior art such as the patent with the announcement number "CN218536931U" and the name "Robot dog walking leg with good stability performance" discloses the following technical solution: "A robot dog walking leg with good stability performance, comprising a walking leg body, the bottom end of the walking leg body is fixed with the upper end of a pressure sensor, the lower end of the pressure sensor is fixed with the upper end of a foot tip adapter flange, and the lower end of the foot tip adapter flange is fixed with a rubber foot tip. Preferably, the rubber foot tip comprises a trapezoidal rubber block, first and second arc-shaped rubber blocks are respectively fixed on the left and right sides of the trapezoidal rubber block, and a third arc-shaped rubber block is fixed between the first and second arc-shaped rubber blocks".

[0006] The above-mentioned solution sets the rubber foot tip at the bottom of the walking leg, and sets the rubber foot tip into an arc shape, so as to achieve the buffering and noise reduction between the rubber foot tip and the ground.

[0007] Although the above-mentioned solution can achieve certain buffering and noise reduction, the third arc-shaped rubber block is a solid block, as clearly shown in the attached drawings, so the buffering and noise reduction capacity is limited. UTILITY MODEL CONTENT

[0008] The utility model aims at:

[0009] The utility model provides a robot dog sole buffer structure, which improves the structure of the bottom foot of the robot dog, enhances the stress deformation capacity, improves the buffering and noise reduction performance, and further weakens the transmission of the ground impact force to the leg part of the robot dog.

[0010] In order to achieve the above-mentioned purpose, the utility model provides the following technical solution:

[0011] The utility model relates to a kind of robot dog sole buffer structure, connect in the end of the leg arm of robot dog, including connecting seat and sole body;The connecting seat is detachably connected with leg arm, the sole body is connected with connecting seat and is located below connecting seat;The sole body is arc-shaped, and the opening of arc shape is towards connecting seat;The inside of the sole body is provided with center buffer part, left buffer part and right buffer part, and the left buffer part and right buffer part are located in the left and right sides of center buffer part respectively;Upper buffer part and inner support block are provided on the connecting seat, and the upper buffer part corresponds with the up-down position of center buffer part, and the inner support block corresponds with the up-down position of upper buffer part.

[0012] Further, the top of the sole body is connected with the bottom of the connecting seat, and the material of the sole body is flexible material.

[0013] Further, the center buffer part, the left buffer part and the right buffer part are located in the area surrounded by the sole body and the connecting seat.

[0014] Further, the center buffer part is arc-shaped, and the opening of arc shape is towards the sole body;The center buffer part is located in the middle of the inside of the sole body.

[0015] Further, one end of the left buffer part close to the center buffer part is connected with the center buffer part;One end of the right buffer part close to the center buffer part is connected with the center buffer part.

[0016] Further, the upper buffer part is arc-shaped, and the opening of arc shape is towards the connecting seat;There is a gap between the upper buffer part and the center buffer part;There is a gap between the inner support block and the upper buffer part.

[0017] Further, the center buffer part, the left buffer part and the right buffer part are integrally formed with the sole body;The connecting seat is detachably connected with the leg arm by screw.

[0018] The utility model has the advantages that:

[0019] The utility model relates to a kind of robot dog sole buffer structure, the structure of the bottom foot of robot dog is improved, and the bottom foot is hollowed out, sets up sole body, center buffer part, left buffer part, right buffer part, upper buffer part and inner support block, and the stress deformation capacity is enhanced to improve buffering and noise reduction performance by the stress deformation of sole body, center buffer part, left buffer part, right buffer part, upper buffer part form buffering and vibration damping, to further weaken the transmission of ground impact force to the leg of robot dog. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is the structure perspective drawing of the utility model a kind of robot dog sole buffer structure.

[0021] Figure 2Part structure diagram of the sole buffer structure of the robot dog.

[0022] Figure 3 For Figure 2 Another view of the structure.

[0023] Reference signs are:

[0024] 1, leg arm; 2, connecting seat; 21, plugboard; 22, seat body; 3, screw; 4, sole body; 5, central buffer part; 6, left buffer part; 7, right buffer part; 8, upper buffer part; 9, inner support block. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the utility model more clear and intelligible, the following will be further described in detail in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model and not to limit the utility model.

[0026] Reference Figures 1 to 3 A sole buffer structure of a robot dog is connected to the end of the leg arm 1 of the robot dog, comprising a connecting seat 2 and a sole body 4; that is, the bottom foot of the robot dog comprises the connecting seat 2 and the sole body 4.

[0027] The connecting seat 2 is detachably connected with the leg arm 1, and the sole body 4 is connected with the connecting seat 2 and located below the connecting seat 2; the sole body 4 is used to contact the ground and plays the role of supporting, buffering and noise reduction.

[0028] The sole body 4 is arc-shaped, and the opening of the arc shape faces the connecting seat 2; the arc-shaped sole body 4 can deform when subjected to pressure / impact force to achieve buffering and damping.

[0029] The inner side of the sole body 4 is provided with a central buffer part 5, a left buffer part 6 and a right buffer part 7, and the left buffer part 6 and the right buffer part 7 are respectively located on the left and right sides of the central buffer part 5; the central buffer part 5, the left buffer part 6 and the right buffer part 7 correspond to three positions of the sole body 4, and the three positions are the regular stress areas of the sole body 4.

[0030] The connecting seat 2 is provided with an upper buffer part 8 and an inner support block 9, the upper buffer part 8 corresponds to the upper and lower positions of the central buffer part 5, and the upper buffer part 8 is used to support the central buffer part 5, the left buffer part 6 and the right buffer part 7 when the sole body 4 deforms to a certain extent, and the inner support block 9 corresponds to the upper and lower positions of the upper buffer part 8, and the inner support block 9 is used to form support when the upper buffer part 8 deforms to a certain extent.

[0031] The top of the sole body 4 is connected with the bottom of the connecting seat 2, the material of the sole body 4 is flexible material, which can be selected as rubber, has soft texture, can reset itself, and has good buffering and noise reduction performance.

[0032] The center buffer part 5, the left buffer part 6 and the right buffer part 7 are located in the area surrounded by the sole body 4 and the connecting seat 2.

[0033] The center buffer part 5 is arc-shaped, and the opening of the arc shape faces the sole body 4; the center buffer part 5 is located in the middle of the inner side of the sole body 4, and the arc-shaped center buffer part 5 can form structural reinforcement on the middle of the sole body 4.

[0034] The left buffer part 6 is connected with the center buffer part 5 at one end close to the center buffer part 5, and the arc-shaped left buffer part 6 can form structural reinforcement on the left part of the sole body 4; the right buffer part 7 is connected with the center buffer part 5 at one end close to the center buffer part 5, and the arc-shaped right buffer part 7 can form structural reinforcement on the right part of the sole body 4.

[0035] The upper buffer part 8 is arc-shaped, and the opening of the arc shape faces the connecting seat 2; the material of the upper buffer part 8 is a flexible material, which can be selected as rubber, and the upper buffer part 8 is soft in texture and can be reset, has good buffering and noise reduction performance, and can be deformed towards the connecting seat 2 under stress; a gap is left between the upper buffer part 8 and the center buffer part 5 as a deformation reserved gap; a gap is left between the inner supporting block 9 and the upper buffer part 8 as a deformation reserved gap.

[0036] The center buffer part 5, the left buffer part 6 and the right buffer part 7 are integrally formed with the sole body 4, and can guarantee the service life after being impacted for many times; the connecting seat 2 is detachably connected with the leg arm 1 through the screw 3, that is, the bottom foot can be replaced relative to the leg arm 1.

[0037] The connecting seat 2 comprises an insertion plate 21 and a seat body 22, and the insertion plate 21 is located at the upper part of the seat body 22; the insertion plate 21 can be inserted into the groove at the bottom of the leg arm 1 to form positioning, and locking connection is realized through the screw 3.

[0038] The specific use mode of the scheme of the utility model is as follows:

[0039] When the four-legged robot dog is walking or jumping, the main body of the robot dog drives the leg arm 1 to move, including moving towards the ground and lifting away from the ground.

[0040] When the leg arm 1 drives the bottom foot to move towards the ground, the bottom of the sole body 4 first contacts the ground; at this time, the leg arm 1 continues to move downwards, the arc-shaped sole body 4 is deformed under the action of impact force and pressure, reverses to face the connecting seat 2, the gap between the center buffer part 5 and the upper buffer part 8 is reduced, buffering and vibration reduction are realized, and no obvious noise is emitted in this process.

[0041] When the impact force or pressure is large, such as the force position of the instep body 4 is close to the left buffer part 6, the gap between the left buffer part 6 and the upper buffer part 8 is reduced until abutting, at this time the upper buffer part 8 can form an internal support to the left buffer part 6; such as the force position of the instep body 4 is close to the center buffer part 5, the gap between the center buffer part 5 and the upper buffer part 8 is reduced until abutting, at this time the upper buffer part 8 can form an internal support to the center buffer part 5; such as the force position of the instep body 4 is close to the right buffer part 7, the gap between the right buffer part 7 and the upper buffer part 8 is reduced until abutting, at this time the upper buffer part 8 can form an internal support to the right buffer part 7.

[0042] When the impact force or pressure is very large, the upper buffer part 8 will be deformed under the extrusion of the center buffer part 5 or the left buffer part 6 or the right buffer part 7, thereby forming a secondary buffer damping. When the deformation amount reaches a certain degree, it can be in contact with the internal support block 9, the internal support block can form an internal support to the upper buffer part 8, avoid further excessive deformation, and ensure safety.

[0043] The above embodiments are used to further illustrate the present application, but the present application is not limited to these specific embodiments. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be understood as within the protection scope of the present application.

Claims

1. A cushion structure for a robot dog's foot, attached to the end of a leg arm (1) of a robot dog, characterized by: The application relates to a detachable connecting seat (2) and a sole body (4); the connecting seat (2) is detachably connected with a leg arm (1), and the sole body (4) is connected with the connecting seat (2) and located below the connecting seat (2); the sole body (4) is arc-shaped, and the opening of the arc shape faces the connecting seat (2); the inner side of the sole body (4) is provided with a central buffer part (5), a left buffer part (6) and a right buffer part (7), the left buffer part (6) and the right buffer part (7) are respectively located on the left and right sides of the central buffer part (5); the connecting seat (2) is provided with an upper buffer part (8) and an inner support block (9), the upper buffer part (8) corresponds to the up-and-down position of the central buffer part (5), and the inner support block (9) corresponds to the up-and-down position of the upper buffer part (8).

2. The cushion structure of the robot dog's foot according to claim 1, wherein: The top of the sole body (4) is connected with the bottom of the connecting seat (2), and the material of the sole body (4) is a flexible material.

3. The cushion structure of the robot dog's foot according to claim 2, wherein: The central buffer part (5), the left buffer part (6) and the right buffer part (7) are located in the area surrounded by the sole body (4) and the connecting seat (2).

4. The cushion structure of the dog-like robot foot according to claim 3, wherein: The central buffer part (5) is arc-shaped, and the opening of the arc shape faces the sole body (4); the central buffer part (5) is located in the middle of the inner side of the sole body (4).

5. The cushion structure of the dog robot foot according to claim 4, wherein: The left buffer part (6) is connected with the central buffer part (5) at one end close to the central buffer part (5); the right buffer part (7) is connected with the central buffer part (5) at one end close to the central buffer part (5).

6. The cushion structure of the dog robot foot according to claim 5, wherein: The upper buffer part (8) is arc-shaped, and the opening of the arc shape faces the connecting seat (2); a gap is left between the upper buffer part (8) and the central buffer part (5); a gap is left between the inner support block (9) and the upper buffer part (8).

7. The cushioning structure of a robot dog's foot according to any one of claims 1-6, wherein: The central buffer part (5), the left buffer part (6) and the right buffer part (7) are integrally formed with the sole body (4); the connecting seat (2) is detachably connected with the leg arm (1) through a screw (3).

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