Robot foot mechanism

Abstract

The utility model relates to the technical field of robot feet, and discloses a robot foot mechanism which comprises four thighs installed on a robot body and four shanks installed at the other ends of the four thighs, the ends, away from the thighs, of the four shanks are all connected with power mechanisms, the output ends of the four power mechanisms are all connected with anti-skid assemblies, and the anti-skid assemblies are connected with the robot body. The other ends of the four anti-skid assemblies are connected with semicircular soles, and the ends, away from the power mechanism, of the anti-skid assemblies penetrate out of the semicircular soles. According to the robot foot mechanism, through the telescopic design of the anti-skid assembly, the anti-skid insertion rod can stretch out and be inserted into the ground under the outdoor wet and slippery road condition, the contact friction force between the foot sole and the ground is remarkably improved, a robot is effectively prevented from slipping or toppling over, and the walking stability is guaranteed; the antiskid assembly is in linkage with the motor, the semicircular sole is driven to rotate when the leg of the robot is lifted, adhered soil or sundries are thrown away through centrifugal force, the load of the foot is reduced, and the situation that the ground gripping performance is affected due to soil accumulation is avoided.

Description

Technical Field

[0001] This utility model relates to the field of robot foot technology, specifically a robot foot mechanism. Background Technology

[0002] A quadruped robot is a mobile robot with four mechanical legs that mimics the walking style of animals such as dogs, cats, or horses. As a key component controlling the movement of a quadruped robot, the robot's leg mechanism controls the robot's contact with the ground and enables actions such as walking, running, and jumping.

[0003] Patent CN221091031U discloses a leg structure for a quadruped robot. The structure includes a fixed connecting seat, a hip connecting seat, a thigh mounting seat, a thigh, a lower leg joint seat, a lower leg, a foot, and a hydraulic cylinder. The fixed connecting seat and the hip connecting seat are oscillatingly engaged via a first drive mechanism. The thigh mounting seat is bolted to the lower end of the hip connecting seat. The thigh mounting seat and the thigh are rotatably connected via a first shaft. The thigh mounting seat and the thigh are oscillatingly engaged via a second drive mechanism. During the reduction of the angle between the lower leg and thigh, the hydraulic cylinder is compressed and begins to store energy. When the quadruped robot needs to jump, a third drive mechanism drives the lower leg and thigh to quickly extend, simultaneously releasing the energy from the hydraulic cylinder, which helps to increase the jump height. Furthermore, when the robot lands, the hydraulic cylinder absorbs energy and cushions the impact as the angle between the lower leg and thigh decreases, improving the quadruped robot's jumping agility.

[0004] However, the aforementioned robot leg structure still presents the following problems in practical use: When the robot performs outdoor inspection tasks in mountainous or jungle areas, these areas are mostly composed of soil, which becomes extremely slippery after rain or snow. The legs of quadruped robots typically employ a simple circular design, which results in low friction with the slippery surface, easily causing the robot to slip or even fall. This not only interrupts the normal progress of the monitoring task but may also damage the robot, causing significant inconvenience and increasing additional costs. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a robot foot mechanism that can increase the gripping effect when the robot body walks.

[0006] To achieve the above object, the utility model provides the following technical scheme: a robot foot mechanism, including four thighs installed on the robot main body and four shanks installed on the other end of four thighs, the end of four shanks away from the thigh is connected with a power mechanism, the output end of four power mechanisms is connected with anti -skid sub -assembly, the other end of four anti -skid sub -assemblies is connected with semicircular sole, and the end of anti -skid sub -assembly away from power mechanism is penetrated to the outside of semicircular sole.

[0007] Further, the inside of the lower end of four shanks is provided with a receiving cavity, and four power mechanisms and four anti-skid sub-assemblies are located inside four receiving cavities respectively.

[0008] Further, the power mechanism includes an electric push rod and a motor, the outer wall of the electric push rod is fixedly connected with the inner wall of the receiving cavity, the output end of the electric push rod is fixedly connected with the outer wall of the motor, and the output shaft of the motor is connected with the anti-skid sub-assembly.

[0009] Further, the surface of the semicircular sole is provided with a plurality of sockets, and the end of the anti-skid sub-assembly away from the motor penetrates through the plurality of sockets.

[0010] Further, the anti-skid sub-assembly includes a connecting plate and a plurality of anti-skid insertion rods, one side of the connecting plate is fixedly connected with the output shaft of the motor, the other side of the connecting plate is fixedly connected with one end of the plurality of anti-skid insertion rods, the other end of the plurality of anti-skid insertion rods penetrates through the plurality of sockets respectively, and the anti-skid insertion rod is slidingly connected with the socket.

[0011] Further, the inner wall of the end of the plurality of anti-skid insertion rods penetrating through the socket is fixedly connected with a pressure sensor.

[0012] Further, the side of the shank away from the thigh is fixedly connected with an anti-dropping ring, the side of the semicircular sole close to the shank is provided with an anti-dropping opening, and the anti-dropping ring is slidingly connected with the anti-dropping opening.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] 1. The robot foot mechanism, through the telescopic design of the anti-skid sub-assembly, the anti-skid insertion rod can be inserted into the ground under the outdoor wet and slippery road conditions, the contact friction force between the sole and the ground is significantly improved, the robot is effectively prevented from slipping or toppling, and the walking stability is ensured.

[0015] 2. The robot foot mechanism, the anti-skid sub-assembly is connected with the motor, drives the semicircular sole to rotate when the robot lifts the leg, uses centrifugal force to shake off the adhered soil or sundries, reduces the foot load, and avoids the influence of soil accumulation on the ground holding performance.

[0016] 3、The robot foot mechanism, the anti-skid plug rod tail end is equipped with a pressure sensor, can monitor the plug-in resistance in real time, combines the robot control system dynamic adjustment plug-in depth, avoids the mechanism damage caused by hard collision, and simultaneously optimizes energy consumption;

[0017] 4、The robot foot mechanism, the power mechanism and the anti-skid component are integrated in the accommodation cavity of the lower leg, reduce external exposure risk, improve the mechanism protection, prolong service life. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is overall appearance schematic diagram of the utility model;

[0019] Figure 2 It is cross-sectional schematic diagram of lower leg and semicircular foot sole of the utility model;

[0020] Figure 3 It is explosion schematic diagram of thigh, lower leg and semicircular foot sole of the utility model;

[0021] Figure 4 It is the utility model Figure 3 It is the utility model

[0022] Figure 5 It is detailed connection schematic diagram of power mechanism and anti-skid component of the utility model.

[0023] In the drawing: 1, robot main body;2, thigh;3, lower leg;4, semicircular foot sole;5, electric push rod;6, motor;7, connecting plate;8, anti-skid plug rod;9, anti-dropping ring;10, pressure sensor;301, accommodation cavity;401, anti-dropping mouth;402, plug mouth. DETAILED DESCRIPTION

[0024] The technical scheme in the embodiments of the utility model will be described clearly and completely in conjunction with the drawings in the embodiments of the utility model, and obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments.

[0025] Please refer to Figures 1-5 A robot foot mechanism, including four thighs 2 installed on the robot main body 1 and four lower legs 3 installed on the other end of the four thighs 2, the end of the four lower legs 3 away from the thigh 2 is connected with a power mechanism, the output end of the four power mechanisms is connected with an anti-skid component, the other end of the four anti-skid components is connected with a semicircular foot sole 4, and the end of the anti-skid component away from the power mechanism is penetrated to the outside of the semicircular foot sole 4.

[0026] As Figures 1-5As shown, the robot foot mechanism in the utility model walks on the conventional road surface, at this time the power mechanism is in the closed state, and the anti-skid assembly is in the storage state, so the robot main body 1 can normally walk through the four big legs 2, four small legs 3 and four semicircular soles 4;

[0027] When the robot main body 1 walks on the muddy and sloping road surface, the semicircular sole 4 may slip, after the robot main body 1 monitors the road condition in front, the internal controller of the robot main body 1 will start the power of the power mechanism, after the power mechanism is started, the output end will first push the anti-skid assembly to the outside of the semicircular sole 4, increase the grip of the semicircular sole 4, and when the leg is lifted, the semicircular sole 4 is rotated through the power mechanism to generate centrifugal force, so that the mud and the like adhered to the semicircular sole 4 can be thrown off.

[0028] Please mainly refer to Figures 1-5 The lower end of the four small legs 3 is internally provided with a storage cavity 301, and the four power mechanisms and the four anti-skid assemblies are located inside the four storage cavities 301.

[0029] More specifically, by arranging the storage cavity 301, the power mechanism and the anti-skid assembly can be stored inside the storage cavity 301, the probability of damage of the power mechanism and the anti-skid assembly is reduced, and the external space occupied by the power mechanism and the anti-skid assembly is reduced.

[0030] Please mainly refer to Figures 1-5 The power mechanism comprises an electric push rod 5 and a motor 6, the outer wall of the electric push rod 5 is fixedly connected with the inner wall of the storage cavity 301, the output end of the electric push rod 5 is fixedly connected with the outer wall of the motor 6, and the output shaft of the motor 6 is connected with the anti-skid assembly.

[0031] More specifically, when the robot main body 1 walks on the muddy and sloping road surface, the internal controller of the robot main body 1 wirelessly or wiredly connects to start the electric push rod 5, the output end of the electric push rod 5 is extended outward, so that the motor 6 and the anti-skid assembly connected with the motor 6 are pushed together, and stop until the anti-skid assembly passes through the semicircular sole 4;

[0032] When it is necessary to throw off the mud adhered to the semicircular sole 4, the motor 6 is only started, the output shaft of the motor 6 rotates with the anti-skid assembly and the semicircular sole 4, so that a part of the mud adhered to the semicircular sole 4 and the anti-skid assembly can be thrown off, and the load of the robot main body 1 is reduced.

[0033] Please mainly refer to Figures 1-5 A plurality of insertion holes 402 are formed through the surface of the semicircular sole 4, and the end, away from the motor 6, of the anti-skid assembly penetrates through the plurality of insertion holes 402.

[0034] More specifically, by setting the socket 402, the anti-skid assembly can be given an extension and retraction of the active space, not only can increase stability, but also in the process of anti-skid assembly retraction, through the socket 402, the soil on the surface of the anti-skid assembly is scraped off.

[0035] Please mainly refer to Figures 1-5 , the anti-skid assembly includes a connecting plate 7 and a plurality of anti-skid rods 8, one side of the connecting plate 7 is fixedly connected with the output shaft of the motor 6, the other side of the connecting plate 7 is fixedly connected with one end of the plurality of anti-skid rods 8, the other end of the plurality of anti-skid rods 8 is respectively penetrated through the plurality of sockets 402, and the anti-skid rod 8 is slidably connected with the socket 402.

[0036] More specifically, when the electric push rod 5 is started, the motor 6 will push the connecting plate 7 and the plurality of anti-skid rods 8 to move together, and the anti-skid rod 8 will pass through the socket 402 to the outside of the semicircular foot 4 during the movement, at this time, when the semicircular foot 4 of the robot body 1 is stepped on the ground, the plurality of anti-skid rods 8 will be inserted into the soil, thereby increasing the overall anti-skid property of the robot body 1.

[0037] Please mainly refer to Figures 1-5 , the plurality of anti-skid rods 8 are fixedly connected with the pressure sensor 10 on the inner wall of one end of the socket 402.

[0038] More specifically, by setting the pressure sensor 10, the pressure of the anti-skid rod 8 when inserted into the soil can be monitored in real time, so that after the judgment of the internal processor of the robot body 1, the insertion depth of the anti-skid rod 8 can be appropriately reduced, and when the anti-skid rod 8 is inserted into the soil and contacts with the hard stone in the soil, the robot body 1 can be timely judged and stopped, thereby reducing the probability of damage.

[0039] Please mainly refer to Figures 1-5 , the calf 3 is fixedly connected with the anti-falling ring 9 on the side away from the thigh 2, the semicircular foot 4 is provided with the anti-falling opening 401 on the side close to the calf 3, and the anti-falling ring 9 is slidably connected with the anti-falling opening 401.

[0040] More specifically, by setting the anti-falling ring 9 and the anti-falling opening 401, not only can the semicircular foot 4 be ensured to normally rotate with the anti-skid assembly, but also the semicircular foot 4 can be prevented from falling off the calf 3.

[0041] Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or make equivalent replacement to part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the utility model shall be included in the protection scope of the utility model.

Claims

1. A robot foot mechanism, comprising four thighs (2) mounted on a robot body (1) and four lower legs (3) mounted on the other end of the four thighs (2), characterized in that: The ends of the four lower legs (3) away from the thighs (2) are all connected to the power mechanism. The output ends of the four power mechanisms are all connected to anti-slip components. The other ends of the four anti-slip components are all connected to the semi-circular foot (4). The end of the anti-slip component away from the power mechanism extends through to the outside of the semi-circular foot (4).

2. The robot foot mechanism according to claim 1, characterized in that: The lower ends of the four lower legs (3) are provided with storage cavities (301), and the four power mechanisms and four anti-slip components are located inside the four storage cavities (301).

3. The robot foot mechanism according to claim 2, characterized in that: The power mechanism includes an electric push rod (5) and a motor (6). The outer wall of the electric push rod (5) is fixedly connected to the inner wall of the storage cavity (301). The output end of the electric push rod (5) is fixedly connected to the outer wall of the motor (6). The output shaft of the motor (6) is connected to the anti-slip component.

4. The robot foot mechanism according to claim 3, characterized in that: The surface of the semi-circular foot (4) is provided with several slots (402), and the end of the anti-slip component away from the motor (6) is provided with several slots (402).

5. A robot foot mechanism according to claim 4, characterized in that: The anti-slip assembly includes a connecting plate (7) and several anti-slip rods (8). One side of the connecting plate (7) is fixedly connected to the output shaft of the motor (6), and the other side of the connecting plate (7) is fixedly connected to one end of several anti-slip rods (8). The other ends of several anti-slip rods (8) pass through several sockets (402) respectively, and the anti-slip rods (8) are slidably connected to the sockets (402).

6. A robot foot mechanism according to claim 5, characterized in that: Several anti-slip rods (8) are fixedly connected to pressure sensors (10) on the inner wall of one end of the insertion port (402).

7. A robot foot mechanism according to claim 1, 2, 3, 4, 5 or 6, characterized in that: A detachment ring (9) is fixedly connected to the side of the lower leg (3) away from the thigh (2), and a detachment opening (401) is provided on the side of the semi-circular foot (4) close to the lower leg (3). The detachment ring (9) is slidably connected to the detachment opening (401).

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