Antiskid sole of foot type robot

Abstract

The utility model relates to the technical field of foot-type robots, in particular to a foot-type robot anti-skid sole which comprises a base layer and a sole mounting seat, the side face of the base layer is of an arc-shaped or curved-surface structure, the section of the base layer is a fan-shaped cylindrical body, a lining plate consistent with the base layer in curvature is embedded in the base layer, and replaceable anti-skid nails are supported by the embedded lining plate. By combining the damping holes and the buckle limiting structure, the problems that traditional sole road holding force is insufficient, anti-skid nails are prone to falling off and impact resistance is poor are solved, and the anti-skid shoe is suitable for stable movement of robots under complex terrains.

Description

Technical Field

[0001] This utility model relates to the field of legged robot technology, specifically to the anti-slip sole of a legged robot. Background Technology

[0002] Legged robots are biomimetic robots that walk similarly to animals, relying primarily on the contact between their feet and the ground for support. Currently, legged robots often use rubber materials with anti-slip and wear-resistant properties. Legged robots are mainly used in entertainment, inspection, and outdoor human-robot collaboration scenarios; therefore, the stability of their movement is particularly important. While current foot designs offer sufficient stability in simple indoor or outdoor environments, they have the following shortcomings for complex outdoor environments:

[0003] Currently, Chinese patent CN220076528U discloses a shock-absorbing foot pad, which is mainly designed to effectively alleviate the forces exerted on the body and feet during movement, thus playing a shock-absorbing role. Meanwhile, Chinese patent CN219257561U discloses a foot structure for a quadruped robot, proposing a foot sole that offers excellent cushioning while also providing support and cushioning, resulting in a more wear-resistant and durable design.

[0004] However, none of the publicly disclosed information has made any targeted improvements to the anti-slip design for robots walking in the wild. Existing legged robots have poor anti-slip performance on icy and snowy surfaces, which makes it difficult to maintain stable walking. Furthermore, the existing foot structure has low friction when climbing complex or steep slopes, making it difficult to support the robot to climb steadily and complete tasks in complex environments.

[0005] In response, this technical solution proposes an anti-slip foot for legged robots. Utility Model Content

[0006] The purpose of this invention is to provide an anti-slip foot for a legged robot to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: an anti-slip foot for a legged robot, comprising a base layer and a foot mounting base. The side of the base layer is configured as a curved structure with a fan-shaped columnar cross-section. An inner liner plate with the same curvature is embedded inside the base layer. The base layer is detachably connected to the foot mounting base by a snap-fit ​​fixing structure. Multiple sets of evenly distributed anti-slip studs are detachably installed on the inner liner plate.

[0008] Preferably, the base layer is made of rubber substrate, the inner liner is made of stainless steel plate, and the thickness of the inner liner is set to 1 / 3 to 1 / 2 of the total thickness of the base layer.

[0009] Preferably, the orientation, length, and structural shape of the anti-slip studs are adjustable.

[0010] Preferably, the snap-fit ​​fixing structure includes snap-fit ​​fixing grooves formed on both sides of the base layer, and the foot mounting seat is provided with a mounting seat snap-fit ​​fixing groove at the position corresponding to the snap-fit ​​fixing groove, and the mounting seat snap-fit ​​fixing groove and the snap-fit ​​fixing groove are connected by a fixing snap.

[0011] Preferably, the contact surface between the base layer and the foot mounting base is provided with a limiting boss, and the foot mounting base is provided with a limiting groove at the position corresponding to the limiting boss, and the limiting boss and the limiting groove are designed to cooperate.

[0012] Preferably, the base layer has shock-absorbing holes inside, which are configured as a porous honeycomb array structure and are evenly distributed around the stainless steel.

[0013] Preferably, the inner lining plate corresponding to the bottom of the anti-slip nail has anti-slip nail fixing holes, and the bottom of the anti-slip nail is threadedly connected to the anti-slip nail fixing holes.

[0014] Compared with the prior art, the beneficial effects of this utility model are: by embedding several anti-slip studs of different orientations, lengths and configurations on the sole surface, the anti-slip studs' ability to penetrate icy and snowy roads and soft slopes ensures that the sole has sufficient grip, thereby ensuring the mobility of the legged robot.

[0015] By embedding a single steel plate into the base layer of the sole, and setting anti-slip nail mounting holes on the steel plate, the problem of anti-slip nails not easily falling off and tipping over is ensured.

[0016] By making the anti-skid studs detachable, it is easy to remove them after they wear out, and different types of anti-skid studs can be replaced for different road surfaces;

[0017] To ensure sufficient shock absorption, shock-absorbing holes are made in the base layer of the sole, so that the anti-slip studs can provide maximum protection when the anti-slip sole is subjected to large impacts during exercise. Attached Figure Description

[0018] Figure 1 A schematic diagram of the anti-slip foot structure for a legged robot.

[0019] Figure 2 This is a schematic diagram of the connection between the anti-slip foot and the foot mounting base of a legged robot.

[0020] Figure 3 A side view diagram illustrating the connection between the anti-slip foot and the foot mounting base of a legged robot.

[0021] Figure 4 This is a schematic diagram of the inner lining plate in the anti-slip foot of a legged robot.

[0022] The components include: base layer 1, inner lining plate 2, anti-slip nail 3, foot mounting base 4, limiting boss 5, shock absorption hole 6, limiting groove 7, fixing buckle 8, buckle fixing groove 9, and anti-slip nail fixing hole 10. Detailed Implementation

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0024] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0025] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0026] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] Please see Figures 1-4 The anti-slip foot of the legged robot includes a base layer 1 and a foot mounting base 4. The side of the base layer 1 is set as a curved structure, and its cross-section is a fan-shaped column. The base layer 1 is made of rubber substrate. An inner liner plate 2 with the same curvature is embedded inside the base layer 1. By making the curvature of the inner liner plate 2 consistent with that of the base layer 1, the thickness of the outer surface of the base layer 1 can be ensured to be uniform at all points. The base layer 1 is detachably connected to the foot mounting base 4 by a snap-fit ​​fixing structure. Multiple sets of evenly distributed anti-slip nails 3 are detachably installed on the inner liner plate 2 to increase the contact friction between the base layer 1 and the ground.

[0028] The thickness of the inner lining plate 2 is set to 1 / 3 to 1 / 2 of the total thickness of the base layer 1, in order to balance the support strength and flexible buffer.

[0029] The inner lining plate 2 is made of stainless steel, and multiple sets of evenly distributed anti-slip studs 3 are detachably installed on the inner lining plate 2.

[0030] The orientation, length, and structural shape of the anti-skid studs can be adjusted according to the type of road surface. For example, long conical studs are used on icy and snowy roads, while short spiral studs are used on muddy roads.

[0031] In this embodiment of the invention, the snap-fit ​​structure includes snap-fit ​​grooves 9 opened on both sides of the base layer 1, and a mounting seat snap-fit ​​groove is opened at the position of the foot mounting seat 4 corresponding to the snap-fit ​​grooves 9. The mounting seat snap-fit ​​groove and the snap-fit ​​groove 9 are connected by a snap-fit ​​8, thereby realizing a quick installation and removal connection between the base layer 1 and the foot mounting seat 4.

[0032] A limiting boss 5 is provided on the contact surface between the base layer 1 and the foot mounting base 4. A limiting groove 7 is provided on the foot mounting base 4 at the position corresponding to the limiting boss 5. The cooperation between the limiting boss 5 and the limiting groove is used to prevent the foot from lateral displacement.

[0033] Specifically, the base layer 1 has shock-absorbing holes 6 inside to absorb the impact force of movement. The shape of the shock-absorbing holes 6 can be set as a porous honeycomb array structure and evenly distributed around the inner liner plate 2.

[0034] In one embodiment of the present invention, an anti-slip nail fixing hole 10 is installed on the inner lining plate 2 corresponding to the bottom of the anti-slip nail 3, and the bottom of the anti-slip nail 3 is threadedly connected to the anti-slip nail fixing hole 10 to ensure that the anti-slip nail 3 has the ability to be replaced.

[0035] The specific installation and usage process is as follows: The inner lining plate 2 is pre-embedded into the base layer 1 and molded; the anti-slip nail 3 is screwed into the anti-slip nail fixing hole 10.

[0036] The base layer 1 is locked to the foot mounting base 4 by the fixing buckle 8, and the limiting boss 5 is embedded in the limiting groove 7 to prevent lateral slippage;

[0037] Working process: When the robot moves, the anti-slip nails 3 penetrate the ground to provide grip, the shock-absorbing holes 6 absorb the impact, and the inner lining plate 2 ensures that the nails are subjected to vertical force.

[0038] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. Anti-slip foot for a robot, characterized in that, Including the base layer (1), the base layer (1) inside is equipped with the inner lining plate (2) with it matches, the inner lining plate (2) is installed with multiple groups of cleats (3), and the cleats (3) penetrate the base layer (1).

2. The robot foot according to claim 1, wherein The base layer (1) is a rubber base material, and the side of the base layer (1) is provided as a curved surface structure, and the cross section is a fan-shaped columnar body.

3. The robot foot according to claim 1, wherein The base layer (1) and the foot mounting seat (4) are detachably connected.

4. The robot foot according to claim 3, wherein The base layer (1) is detachably connected with the foot mounting seat (4) through the buckle fixing structure.

5. The robot foot according to claim 4, wherein The buckle fixing structure includes buckle fixing grooves (9) opened on both sides of the base layer (1), and the foot mounting seat (4) is provided with a mounting seat buckle fixing groove corresponding to the position of the buckle fixing groove (9), and the mounting seat buckle fixing groove and the buckle fixing groove (9) are connected through a fixing buckle (8).

6. The robot foot according to claim 5, wherein The contact surface of the base layer (1) and the foot mounting seat (4) is provided with a limiting boss (5), and the foot mounting seat (4) is provided with a limiting groove (7) corresponding to the position of the limiting boss (5), and the limiting boss (5) and the limiting groove are cooperatively designed.

7. The robot foot according to claim 1, wherein The inner lining plate (2) is a stainless steel plate, and the inner lining plate (2) is detachably installed with multiple groups of evenly distributed cleats (3).

8. The robot foot according to claim 5, wherein The base layer (1) is provided with a damping hole (6) inside, the damping hole (6) is provided as a porous honeycomb array structure, and is uniformly distributed around the inner lining plate (2).

9. The robot footed non-slip sole according to claim 7, wherein, The inner lining plate (2) is provided with a cleat fixing hole (10) corresponding to the bottom of the cleat (3), and the bottom of the cleat (3) is threadedly connected with the cleat fixing hole (10).

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