High-stability foot end structure and robot

Abstract

The utility model discloses a high-stability foot end structure and a robot, and the foot end structure comprises a foot skeleton which is provided with a first connecting hole; the foot pad is provided with a second connecting hole coaxial with the first connecting hole; the connecting assembly is used for detachably connecting the foot skeleton and the foot pad, the connecting assembly comprises a connecting piece, the connecting piece is arranged on the first connecting hole and the second connecting hole in a penetrating mode, a first fastening mechanism and a second fastening mechanism are arranged at the two ends of the connecting piece respectively, and at least one of the first fastening mechanism and the second fastening mechanism is detachably connected with the connecting piece. The high-stability foot end structure is applied to the robot. According to the foot end structure, the whole foot end structure is designed in a modular mode and comprises the foot framework, the foot pad, the connecting assembly and other modules, all the modules are mutually independent and tightly matched and can be rapidly assembled and adjusted according to actual requirements, the universality and expandability of the foot end structure are improved, the foot end structure is convenient to assemble, and the installation difficulty of the foot end structure is effectively simplified.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a highly stable foot structure. Background Technology

[0002] The feet of a robot need to repeatedly contact the supporting surface during the robot's walking process. Therefore, the feet are often made of elastic materials such as rubber. The foot structure of a quadruped robot is the core component that enables it to adapt to complex terrain and move flexibly.

[0003] However, the current foot structure of quadruped robots consists of a foot frame, foot rubber parts, mounting parts, and assembly plates. The assembly process generally involves assembling the foot frame and foot rubber parts together using the mounting parts, and then installing two assembly plates on the two sides of the mounting parts. The assembly plates and mounting parts are then fixed with screws, making the assembly of the entire quadruped robot's foot structure quite complex and cumbersome, and the structural stability is poor. Utility Model Content

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a highly stable foot structure and robot, wherein the robot utilizes the foot structure provided in this application.

[0005] In a first aspect, a highly stable foot structure according to an embodiment of the present invention includes:

[0006] The foot skeleton has a first connecting hole;

[0007] Foot pad, having a second connecting hole coaxial with the first connecting hole;

[0008] A connecting assembly for detachably connecting a foot skeleton and a foot pad. The connecting assembly includes a connector that passes through a first connecting hole and a second connecting hole. A first fastening mechanism and a second fastening mechanism are respectively provided at both ends of the connector. At least one of the first fastening mechanism and the second fastening mechanism is detachably connected to the connector.

[0009] According to an embodiment of the present invention, a highly stable foot end structure has at least the following beneficial effects: after the user connects the foot frame and the foot pad, the foot frame and the foot pad are fixedly connected by fastening mechanisms at both ends of the connector after the connector passes through the first connecting hole of the foot frame and the second connecting hole of the foot pad. Either the first fastening mechanism or the second fastening mechanism is detachably connected to the connector to facilitate the user's disassembly and assembly of the foot frame and the foot pad.

[0010] That is, it can be understood that when the first fastening mechanism and the connecting member are detachable, while the second connecting member is non-detachable, the user can fix the foot frame and the footpad by passing the connecting member through the first connecting hole of the foot frame and the second connecting hole of the footpad, and then fixing the first fastening mechanism to the connecting member. The second fastening mechanism acts as a limiting member to restrict the connection between the connecting member and the first and second connecting holes. Of course, in some embodiments, the second fastening mechanism can also be detachably connected to the connecting member. Optionally, the first fastening mechanism can have the same structure as the second fastening mechanism to simplify processing, reduce production costs, and facilitate user operation.

[0011] The detachable connection of the fastening mechanism and connectors simplifies the installation of the foot frame and footpad, ensuring a stable connection between the foot frame and footpad while also reducing the cost of the foot structure.

[0012] According to an embodiment of the present invention, a highly stable foot end structure includes at least one of a first fastening mechanism and a second fastening mechanism, which includes a locking member and a locking portion disposed on a connecting member, wherein the locking member is mounted on the locking portion.

[0013] According to an embodiment of the present utility model, a highly stable foot end structure is provided, the connector includes a main rod body, the main rod body passes through a first connecting hole and a second connecting hole, a baffle is provided at one end of the main rod body to form a first fastening mechanism, a snap ring groove is provided at the other end of the main rod body, a locking member is installed on the snap ring groove, and the locking member and the snap ring groove cooperate to form a second fastening mechanism.

[0014] Alternatively, the connector includes a main rod body that passes through the first connecting hole and the second connecting hole. Both the first fastening mechanism and the second fastening mechanism consist of a locking element and a snap-fit ​​ring groove located at the end of the main rod body. The locking element is installed on the snap-fit ​​ring groove.

[0015] According to an embodiment of the present invention, a highly stable foot end structure is provided, wherein the locking element is an elastic snap ring and the locking element is provided with a disassembly hole.

[0016] According to an embodiment of the present utility model, a highly stable foot end structure includes a connecting member comprising a main rod body, the main rod body passing through a first connecting hole and a second connecting hole, a baffle provided at one end of the main rod body to form a first fastening mechanism, an external thread provided at the other end of the main rod body, an internal thread provided by a locking member, the locking member being threadedly connected to the main rod body, and the locking member engaging with the external thread of the main rod body to form a second fastening mechanism.

[0017] Alternatively, the connecting component includes a main rod body, and both the first and second fastening mechanisms consist of a locking element and an external thread located at the end of the main rod body. The locking element has an internal thread and is threadedly connected to the main rod body.

[0018] A highly stable foot structure according to an embodiment of the present invention includes an installation mechanism. The installation mechanism includes a first groove and a plug-in block. The first groove is plugged into the plug-in block. One of the first groove and the plug-in block is provided with a first connecting hole, and the other of the first groove and the plug-in block is provided with a second connecting hole.

[0019] According to an embodiment of the present invention, a highly stable foot structure includes a foot skeleton comprising a main body and a first protrusion disposed on the main body, two first protrusions being disposed opposite to each other, the space between the two first protrusions forming a first groove, and a second protrusion being disposed on the top of the foot pad to form an insertion block.

[0020] According to an embodiment of the present invention, a highly stable foot end structure includes a foot pad comprising a fixing member and an elastic member covering the outside of the fixing member, a second protrusion being disposed on the top of the fixing member, and the side of the elastic member being arc-shaped.

[0021] According to an embodiment of the present invention, a highly stable foot end structure includes a fixing member comprising a first hole and an elastic member comprising a first filling portion filling the first hole.

[0022] And / or, the fastener includes a connecting post, and the elastic element includes a second hole for insertion into the connecting post;

[0023] And / or, the fastener is provided with a first groove, and a plurality of first grooves are evenly distributed on the outer wall surface of the fastener, and the elastic member includes a second filling portion that fills the first groove;

[0024] And / or, the fastener is provided with a third protrusion, and a plurality of third protrusions are evenly distributed on the outer wall surface of the fastener, and the elastic member includes a second groove that is inserted into the third protrusion.

[0025] Secondly, a robot according to an embodiment of the present invention utilizes the aforementioned highly stable foot structure.

[0026] According to an embodiment of the present invention, a robot has at least the following beneficial effects: after the user connects the foot frame and the foot pad, the foot frame and the foot pad are fixedly connected by fastening mechanisms at both ends of the connector after the connector passes through the first connecting hole of the foot frame and the second connecting hole of the foot pad. Either the first fastening mechanism or the second fastening mechanism is detachably connected to the connector to facilitate the user to assemble and disassemble the foot frame and the foot pad.

[0027] That is, it can be understood that when the first fastening mechanism and the connecting member are detachable, while the second connecting member is non-detachable, the user can fix the foot frame and the footpad by passing the connecting member through the first connecting hole of the foot frame and the second connecting hole of the footpad, and then fixing the first fastening mechanism to the connecting member. The second fastening mechanism acts as a limiting member to restrict the connection between the connecting member and the first and second connecting holes. Of course, in some embodiments, the second fastening mechanism can also be detachably connected to the connecting member. Optionally, the first fastening mechanism can have the same structure as the second fastening mechanism to simplify processing, reduce production costs, and facilitate user operation.

[0028] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0029] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0030] Figure 1 This is a structural diagram of a highly stable foot end structure according to an embodiment of the present invention;

[0031] Figure 2 This is an exploded view of a highly stable foot end structure according to an embodiment of the present invention;

[0032] Figure 3 This is a structural diagram of the locking component according to an embodiment of the present utility model;

[0033] Figure 4 This is a structural diagram of the fastener according to an embodiment of the present utility model;

[0034] Figure 5 This is a cross-sectional view of the foot pad according to an embodiment of the present invention;

[0035] Explanation of reference numerals in the attached figures:

[0036] Foot frame 100; first connecting hole 110; first groove 120; first protrusion 130;

[0037] Foot pad 200; second connecting hole 210; second protrusion 220; fastener 230; first hole 231; first groove 232; elastic element 240; anti-slip part 241;

[0038] Connector 300; snap ring groove 310; baffle 320;

[0039] Locking part 400; disassembly hole 410. Detailed Implementation

[0040] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0041] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this utility model.

[0042] In the description of a utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If the terms "first" and "second" are used, they are merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly specifying the number of indicated technical features or the order of the indicated technical features.

[0043] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0044] Reference Figures 1 to 5 This utility model embodiment provides a highly stable foot end structure, such as... Figure 2 As shown, the foot structure includes a foot frame 100, a foot pad 200, and a connecting component, wherein the foot frame 100 and the foot pad 200 are fixedly connected by the connecting component.

[0045] Specifically, such as Figure 2 As shown, the foot frame 100 is provided with a first connecting hole 110, and correspondingly, the foot pad 200 is provided with a second connecting hole 210 coaxial with the first connecting hole 110. The connecting assembly includes a connector 300 and a locking member 400, wherein the connector 300 is provided with a locking part that matches the connector 300, and the locking member 400 is detachably connected to the locking part. That is, it can be understood that when the user inserts the connector 300 into the first connecting hole 110 and the second connecting hole 210, the foot frame 100 and the foot pad 200 can be fixedly connected by the cooperation of the locking member 400 and the locking part. This not only effectively reduces the installation difficulty of the foot frame 100 and the foot pad 200, but also improves production efficiency.

[0046] Furthermore, the coaxial design of the first connecting hole 110 and the second connecting hole 210 ensures that the connector 300 can accurately pass through the two connecting holes, making the connection more stable and reliable, and avoiding problems such as bending or loose fastening of the connector 300 due to misalignment of the connecting holes.

[0047] In some embodiments of this application, the two ends of the connector 300 are respectively provided with a first fastening mechanism and a second fastening mechanism, and the foot frame 100 and the foot pad 200 are fixedly connected by the cooperation of the two fastening mechanisms.

[0048] When the structures of the first fastening mechanism and the second fastening mechanism are different, such as Figure 2 As shown, this application provides a first embodiment of the first fastening mechanism and the second fastening mechanism, such as... Figure 2 As shown, the connector 300 includes a main rod body that passes through the first connecting hole 110 and the second connecting hole 210. One end of the main rod body is provided with a baffle 320 to form a first fastening mechanism, and the other end of the main rod body is provided with a snap ring groove 310. A locking member 400 is installed on the snap ring groove 310, and the locking member 400 and the snap ring groove 310 cooperate to form a second fastening mechanism.

[0049] Preferably, such as Figure 2 As shown, the connector 300 can be a pin, and the baffle 320 at one end of the pin forms a first fastening mechanism, while the snap ring groove 310 is provided at the other end of the pin, and the locking member 400 is connected to the snap ring groove 310.

[0050] Optionally, the locking element 400 can be a spring clip, which achieves quick locking through radial contraction, resulting in a simple and practical structure.

[0051] Furthermore, as an improvement to the plan, such as Figure 3 As shown, the elastic retaining ring is provided with a disassembly hole 410 to facilitate quick disassembly and assembly by the user using auxiliary tools.

[0052] Alternatively, the locking element 400 can be a connecting bolt or a connecting nut, achieving quick locking through a threaded connection.

[0053] When the first fastening mechanism and the second fastening mechanism have the same structure, the connector 300 includes a main rod body, which passes through the first connecting hole 110 and the second connecting hole 210. Both the first fastening mechanism and the second fastening mechanism are composed of a locking member 400 and a snap ring groove 310 provided at the end of the main rod body. The locking member 400 is installed on the snap ring groove 310.

[0054] Alternatively, both ends of the main rod are provided with external threads, and the locking part 400 is a connecting nut, which achieves quick locking through threaded connection.

[0055] According to some embodiments of this application, an installation mechanism is provided between the foot frame 100 and the foot pad 200 to achieve quick positioning and connection between the foot frame 100 and the foot pad 200. The installation mechanism includes a first groove 120 and a plug-in block. The first groove 120 is plugged into the plug-in block. One of the first groove 120 and the plug-in block is provided with a first connecting hole 110, and the other of the first groove 120 and the plug-in block is provided with a second connecting hole 210.

[0056] Specifically, such as Figure 2 As shown, the foot frame 100 includes a main body and a first protrusion 130 disposed on the main body. Two first protrusions 130 are disposed opposite each other, and the space between the two first protrusions 130 forms a first groove 120. The foot pad 200 includes a fixing member 230 and an elastic member 240 covering the outside of the fixing member 230. A second protrusion 220 is disposed on the top of the fixing member 230, wherein the second protrusion 220 forms a plug-in block. By setting the plug-in structure of the first groove 120 and the plug-in block, the foot frame 100 and the foot pad 200 can be quickly positioned and connected, simplifying the installation process and improving assembly efficiency. At the same time, combined with the connecting components of this application, it facilitates the disassembly of the foot frame 100 and the foot pad 200 and the replacement of the foot pad 200 by the user.

[0057] In addition, the foot pad 200 adopts a structure combining a fixing component 230 and an elastic component 240, which not only ensures the structural strength of the foot pad 200, but also utilizes the elastic properties of the elastic component 240 to better adapt to different terrains, increase the contact area and friction with the ground, and improve the stability of the robot's foot.

[0058] In some embodiments of this application, such as Figure 2 As shown, a first groove 120 can be formed by hollowing out a portion of the structure at the lower end of the foot skeleton 100, and two first protrusions 130 are disposed opposite each other at the two ends of the first groove 120.

[0059] Furthermore, the side of the elastic element 240 is arc-shaped, that is, it can be understood that the elastic element 240 can be a semi-circular structure, which helps to reduce frictional resistance with the ground during walking, while facilitating the fit and transition of the foot with the ground.

[0060] Furthermore, the fixing member 230 includes a first hole 231, and the elastic member 240 includes a first filling portion that fills the first hole 231. It is understood that a portion of the structure of the elastic member 240 can extend into and fill the first hole 231 to improve the connection strength between the elastic member 240 and the fixing member 230, effectively preventing displacement or detachment of the elastic member 240 during use, while also enhancing the integrity and durability of the footpad 200.

[0061] Alternatively, in some other embodiments, the fixing member 230 is provided with a connecting post, and the elastic member 240 is provided with a second hole. The connecting post is inserted into the second hole to achieve a stable connection between the elastic member 240 and the fixing member 230.

[0062] As a further improvement to the plan, such as Figure 4 and Figure 5 As shown, the fastener 230 is provided with a first groove 232, and multiple first grooves 232 are evenly distributed on the outer wall surface of the fastener 230. The elastic member 240 includes a second filling part that fills the first groove 232 to improve the connection strength between the elastic member 240 and the fastener 230 and effectively prevent the elastic member 240 from displacing or falling off during use.

[0063] Optionally, the first groove 232 may be a strip groove evenly distributed on the outside of the fixing member 230, or the outer surface of the fixing member 230 may be recessed in the direction toward the foot skeleton 100 to form the first groove 232, and the second filling portion on the elastic member 240 is designed according to the shape of the first groove 232.

[0064] Alternatively, the fixing member 230 may be provided with a third protrusion, with multiple third protrusions evenly distributed on the outer wall surface of the fixing member 230, and the elastic member 240 may include a second groove that engages with the third protrusion. The principle is the same as described above, and will not be repeated here.

[0065] As a further improvement to the plan, such as Figure 5 As shown, the elastic member 240 includes an anti-slip portion 241, which is disposed on the outer surface of the elastic member 240. Specifically, the anti-slip portion 241 can be formed by providing spaced-apart fourth protrusions on the surface of the elastic member 240, or by providing spaced-apart third grooves on the surface of the elastic member 240. By providing the anti-slip portion 241 on the outer surface of the elastic member 240, the friction between the foot and the ground is further improved, enhancing the robot's grip performance, making it more stable in complex terrain, and effectively preventing slippage.

[0066] Preferably, the elastic element 240 of this application is a rubber element, which has good elasticity, wear resistance, and weather resistance. It can fully utilize its elastic advantages, allowing the footpad 200 to deform more significantly upon contact with the ground, thereby better adapting to different terrains, increasing the contact area with the ground, and improving grip and stability. Furthermore, the rubber material of the elastic element 240 effectively absorbs ground impact, providing good shock absorption and cushioning, protecting the robot body and joints from excessive impact damage, and improving the robot's service life and reliability.

[0067] Furthermore, the high coefficient of friction between the rubber and the ground allows the footpad 200 to provide stronger grip when the robot walks, reducing the possibility of slipping. This advantage is even more pronounced on smooth or slippery surfaces, effectively improving the robot's walking stability and safety.

[0068] In addition, when the rubber elastic element 240 is fixedly connected to the fastener 230, some of the rubber is filled in the hole during the rubber coating process. The elasticity and flexibility of the rubber allow it to better adapt to the shape of the fastener 230 during the filling and insertion process.

[0069] Furthermore, when the first groove 120 is inserted into the plug block, that is, when the second protrusion 220 is inserted between the two first protrusions 130, preferably, the outer wall of the second protrusion 220 fits against the outer wall of the first protrusion 130 to reduce the gap between the second protrusion 220 and the first protrusion 130, which helps to reduce the movement of the foot pad 200 and the foot frame 100 in the axial direction and improve the stability of the robot when walking.

[0070] Preferably, the fastener 230 is made of metal.

[0071] This application also provides a robot (not shown) that uses the above-mentioned highly stable foot structure. The entire foot structure is modularly designed, including various modules such as the foot skeleton 100, foot pads 200, and connecting components. Each module is independent yet closely coordinated, and can be quickly assembled and adjusted according to actual needs, which improves the versatility and scalability of the foot structure. In addition, its assembly is convenient, which effectively simplifies the installation difficulty of the foot structure.

[0072] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0073] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A high-stability foot end structure, characterized by, include: The foot skeleton (100) has a first connecting hole (110); Foot pad (200) has a second connecting hole (210) coaxial with the first connecting hole (110); A connecting assembly for detachably connecting the foot skeleton (100) and the foot pad (200), the connecting assembly including a connector (300) passing through the first connecting hole (110) and the second connecting hole (210), the connector (300) having a first fastening mechanism and a second fastening mechanism respectively provided at both ends of the connector (300), at least one of the first fastening mechanism and the second fastening mechanism being detachably connected to the connector (300).

2. The high stability foot end structure of claim 1, wherein At least one of the first fastening mechanism and the second fastening mechanism includes a locking member (400) and a locking portion disposed on the connector (300), the locking member (400) being mounted on the locking portion.

3. The high stability foot end structure of claim 2, wherein The connector (300) includes a main rod body that passes through the first connecting hole (110) and the second connecting hole (210). One end of the main rod body is provided with a baffle (320) to form the first fastening mechanism. The other end of the main rod body is provided with a snap ring groove (310). The locking member (400) is installed on the snap ring groove (310). The locking member (400) and the snap ring groove (310) cooperate to form the second fastening mechanism. Alternatively, the connector (300) includes a main rod body that passes through the first connecting hole (110) and the second connecting hole (210). Both the first fastening mechanism and the second fastening mechanism are composed of a locking member (400) and a snap-fit ​​ring groove (310) disposed at the end of the main rod body. The locking member (400) is installed on the snap-fit ​​ring groove (310).

4. The high stability foot end structure of claim 3, wherein The locking member (400) is an elastic snap ring, and the locking member (400) is provided with a disassembly hole (410).

5. The high stability foot end structure of claim 2, wherein The connector (300) includes a main rod body that passes through the first connecting hole (110) and the second connecting hole (210). One end of the main rod body is provided with a baffle (320) to form the first fastening mechanism. The other end of the main rod body is provided with an external thread. The locking member (400) is provided with an internal thread. The locking member (400) is threadedly connected to the main rod body. The locking member (400) and the external thread of the main rod body cooperate to form the second fastening mechanism. Alternatively, the connector (300) includes a main rod body, and both the first fastening mechanism and the second fastening mechanism are composed of a locking member (400) and an external thread provided at the end of the main rod body. The locking member (400) is provided with an internal thread, and the locking member (400) is threadedly connected to the main rod body.

6. The high stability foot end structure of claim 1, wherein The mounting mechanism comprises a first slot (120) and a plug block, the first slot (120) is plugged with the plug block, one of the first slot (120) and the plug block is provided with the first connecting hole (110), and the other of the first slot (120) and the plug block is provided with the second connecting hole (210).

7. The high stability foot end structure of claim 6, wherein The foot skeleton (100) comprises a main body and a first protruding part (130) arranged on the main body, two first protruding parts (130) are oppositely arranged, and a space between the two first protruding parts (130) forms the first slot (120), and a top of the foot pad (200) is provided with a second protruding part (220) to form the plug block.

8. The high stability foot end structure of claim 7, wherein The foot pad (200) comprises a fixing part (230) and an elastic part (240) wrapped outside the fixing part (230), the second protruding part (220) is arranged on a top of the fixing part (230), and a side of the elastic part (240) is arc-shaped.

9. The high stability foot end structure of claim 8, wherein The fixing part (230) comprises a first hole (231), and the elastic part (240) comprises a first filling part filling the first hole (231); And / or, the fixing part (230) comprises a connecting column, and the elastic part (240) comprises a second hole plugged with the connecting column; And / or, the fixing part (230) is provided with a first recess (232), a plurality of first recesses (232) are uniformly distributed on an outer wall surface of the fixing part (230), and the elastic part (240) comprises a second filling part filling the first recess (232); And / or, the fixing part (230) is provided with a third protruding part, a plurality of third protruding parts are uniformly distributed on an outer wall surface of the fixing part (230), and the elastic part (240) comprises a second recess plugged with the third protruding part.

10. A robot, characterized in that The high-stability foot end structure comprises the foot end structure according to any one of claims 1 to 9.

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