Foot structure, lower limb mechanism and robot

Abstract

The utility model discloses a foot structure, lower limb mechanism and robot, including: plantar piece, plantar piece in the length direction both ends of foot structure are provided with first embedding groove and second embedding groove respectively, the first embedding groove forms the first notch, the second embedding groove forms the second notch, and the second notch forms the second notch. The first notch and the second notch face the length direction of the foot structure, and the first notch and the second notch are oppositely arranged in the length direction of the foot structure; the supporting piece is detachably connected with the sole piece through a connecting piece, one end of the supporting piece is embedded into the first embedding groove in the first notch, the other end of the supporting piece is embedded into the second embedding groove in the second notch, and the part, not embedded into the first embedding groove and the second embedding groove, of the supporting piece is provided with a containing space; and the sensing assembly is arranged in the accommodating space. According to the technical scheme provided by the invention, the cost can be reduced, the sensing assembly located on the supporting piece does not need to be calibrated again, and the replacement step can be saved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a foot structure, a lower limb mechanism and a robot. BACKGROUND

[0002] The existing foot structure of a biped robot usually adopts a rigid material, which can provide a basic support function, but has the problems of poor anti-skid performance, weak impact buffering capacity and lack of real-time force feedback when walking on complex terrains. The traditional method depends on external sensors to measure the force on the foot bottom, which increases the system complexity and reduces the overall stability.

[0003] Many foot bottoms are rubberized, and the biped robot has a large impact load, which causes friction damage to the foot bottom material. The replacement needs to disassemble the metal rubberized lining, especially the metal parts with sensors, which results in high cost and complex operation. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the embodiment of the application is to provide a foot structure, a lower limb mechanism and a robot.

[0005] According to a first aspect of the embodiment of the application, a foot structure is provided, comprising:

[0006] A foot bottom part is provided with a first embedding groove and a second embedding groove at both ends in the length direction of the foot structure, the first embedding groove is formed with a first slot, the second embedding groove is formed with a second slot, the first slot and the second slot are both directed to the length direction of the foot structure, and the first slot and the second slot are oppositely arranged in the length direction of the foot structure;

[0007] A support part is detachably connected with the foot bottom part through a connecting part, one end of the support part is embedded into the first embedding groove through the first slot, the other end of the support part is embedded into the second embedding groove through the second slot, and the part of the support part which is not embedded into the first embedding groove and the second embedding groove is provided with an accommodation space;

[0008] A sensing assembly is arranged in the accommodation space.

[0009] Optionally, the support part comprises a first connecting part, a second connecting part, a first limiting part and a second limiting part, the first connecting part and the second connecting part are respectively located at both ends of the support part, the first connecting part is connected with the first limiting part, and the second connecting part is connected with the second limiting part.

[0010] The first connecting part is embedded in the first embedding groove, the first limiting part abuts against the sole piece in the length direction of the foot structure, the second connecting part is embedded in the second embedding groove, and the second limiting part abuts against the sole piece in the length direction of the foot structure.

[0011] Optionally, the connecting piece includes a plurality of screws, the plurality of screws are uniformly distributed and avoid the sensing assembly, the screws penetrate the support piece and the sole piece in the height direction of the foot structure to connect the support piece and the sole piece.

[0012] Optionally, the sole piece includes, in the height direction of the foot structure, a wear-resistant layer, a buffer layer and a fixing layer connected in sequence, and the support piece is arranged on the fixing layer.

[0013] Optionally, the thickness of the buffer layer ranges from 2 mm to 14 mm.

[0014] Optionally, the thickness of the sole piece ranges from 2 mm to 5 mm, the buffer layer includes a first buffer part and a second buffer part, the first buffer part and the second buffer part are arranged at intervals in the length direction of the foot structure, and the fixing layer abuts against the wear-resistant layer between the first buffer part and the second buffer part.

[0015] Optionally, the thickness of the sole piece ranges from 6 mm to 14 mm, and the thickness of both ends of the wear-resistant layer is greater than the thickness of the middle of the wear-resistant layer in the length direction of the foot structure.

[0016] Optionally, the foot structure further includes a connecting seat, the connecting seat is connected with the sole piece, and the support piece is located between the connecting seat and the sole piece.

[0017] The support piece includes a front part, a middle part and a rear part arranged in sequence in the length direction of the foot structure, the middle part is higher than the front part and the rear part, the connecting seat abuts against the middle part, the connecting seat forms a first buffer space with the front part, and the connecting seat forms a second buffer space with the rear part.

[0018] Optionally, the maximum height of the first buffer space is less than the maximum height of the second buffer space.

[0019] Optionally, the connecting seat includes a mounting plate and a baffle, the baffle is arranged in the circumferential direction of the mounting plate, the baffle extends towards the side close to the sole piece in the height direction of the foot structure, the mounting plate forms the first buffer space with the front part, and the mounting plate forms the second buffer space with the rear part.

[0020] Along the length of the foot structure, the projection of the baffle coincides with the projection of the foot sole.

[0021] According to a second aspect of the embodiments of this application, a lower limb mechanism is provided, including the foot structure described above.

[0022] According to a third aspect of the embodiments of this application, a robot is provided, comprising:

[0023] The aforementioned foot structure; or

[0024] The aforementioned lower limb structures.

[0025] One technical advantage of this application embodiment is that the sensing component is mounted on the support member, and the support member and the foot component are detachably connected by a connector. When the foot component needs to be replaced, the foot component and the support member can be separated, a new foot component can be replaced, and then the support member can be installed on the foot component. There is no need to replace the support member. On the one hand, this can reduce costs, and on the other hand, it is not necessary to recalibrate the sensing component on the support member, thereby saving replacement steps and improving replacement efficiency.

[0026] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0027] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0028] Figure 1 This is a schematic diagram of the foot structure in an embodiment of this application;

[0029] Figure 2 for Figure 1 Sectional view at point AA;

[0030] Figure 3 for Figure 2 A magnified view of point B in the image;

[0031] Figure 4 for Figure 2 A magnified view of point C in the image;

[0032] Figure 5 This is a schematic diagram of the support member in the embodiments of this application;

[0033] Figure 6 for Figure 5 A magnified view of point D in the image;

[0034] Figure 7 for Figure 5 A magnified view of point E in the image;

[0035] Figure 8 This is a schematic diagram of the support member in the embodiments of this application;

[0036] Figure 9 This is a schematic diagram of the foot sole component in an embodiment of this application;

[0037] Figure 10 This is a schematic diagram of the foot structure in an embodiment of this application.

[0038] Explanation of reference numerals in the attached figures:

[0039] Foot sole 1; wear-resistant layer 11; buffer layer 12; fixing layer 13; first embedding groove 131; first slot 132; second embedding groove 133; second slot 134;

[0040] Support member 2; First connecting part 21; Second connecting part 22; First limiting part 23; Second limiting part 24; First tabletop 25; Second tabletop 26; Front part 27; Middle part 28; Rear part 29;

[0041] Connector 3; Mounting plate 31; Baffle 32;

[0042] Sensing component 4;

[0043] First buffer space 5; second buffer space 6. Detailed Implementation

[0044] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0045] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0046] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0047] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0048] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0049] First, please refer to the appendix for the length, height, and width directions of the foot structure. Figure 1 and Figure 10 The marked directions are as follows: the length direction of the foot structure is also the length direction of the foot sole 1 and the support 2; the height direction of the foot structure is also the height direction of the foot sole 1 and the support 2; and the width direction of the foot structure is also the width direction of the foot sole 1 and the support 2. The height, length, and width directions intersect each other.

[0050] like Figures 1-10 As shown, according to a first aspect of the embodiments of this application, a foot structure is provided, including a foot sole 1, a support 2, and a sensing component 4; the foot sole 1 is provided with a first embedding groove 131 and a second embedding groove 133 at both ends of the foot structure along its length direction, the first embedding groove 131 forming a first opening 132, and the second embedding groove 133 forming a second opening 134, both the first opening 132 and the second opening 134 facing the length direction of the foot structure, and the first opening 132 and the second opening 134 being arranged opposite to each other along the length direction of the foot structure; the support 2 is detachably connected to the foot sole 1 via a connector, one end of the support 2 is embedded in the first embedding groove 131 through the first opening 132, and the other end of the support 2 is embedded in the second embedding groove 133 through the second opening 134, the portion of the support 2 not embedded in the first embedding groove 131 and the second embedding groove 133 being provided with a receiving space; the sensing component 4 is disposed in the receiving space.

[0051] like Figure 2 , Figure 3 and Figure 4As shown, the foot structure includes a foot sole 1, a support 2, and a sensing component 4. The foot sole 1 is a component for contacting the ground. A first embedding groove 131 and a second embedding groove 133 are respectively provided at both ends along the length of the foot sole 1. Both the first embedding groove 131 and the second embedding groove 133 are located at the end of the foot sole 1 furthest from the ground. The first embedding groove 131 forms a first opening 132, and the second embedding groove 133 forms a second opening 134. The first opening 132 faces the length direction of the foot structure, and the second opening 134 also faces the length direction of the foot structure. Furthermore, the first opening 132 and the second opening 134 are arranged opposite each other along the length direction. The support 2... One end of the support member 2 is inserted into the first embedding groove 131 through the first slot 132, and the other end of the support member 2 is inserted into the second embedding groove 133 through the second slot 134. The first embedding groove 131 and the second embedding groove 133 can restrict the movement of the support member 2 in the height and width directions of the foot structure. The support member 2 is detachably connected to the foot sole 1, and the support member 2 and the foot sole 1 are detachably connected through a connector. In this embodiment, the support member 2 is detachably connected through a connector, and the movement of the support member 2 in the width and height directions is restricted by the first embedding groove 131 and the second embedding groove 133, thereby ensuring the connection strength and connection stability between the support member 2 and the foot sole 1.

[0052] To further explain, such as Figure 8 As shown, the support member 2 has a receiving space, which avoids the part of the support member 2 that is embedded in the first embedding groove 131 and the second embedding groove 133. The sensing component 4 is disposed in the receiving space and is used to measure the force on the foot structure.

[0053] Therefore, in the foot structure of this application, the sensing component 4 is disposed on the support member 2, and the support member 2 and the foot plant 1 are detachably connected by a connector; when the foot plant 1 needs to be replaced, the foot plant 1 and the support member 2 are separated, a new foot plant 1 is replaced, and then the support member 2 is installed on the foot plant 1. There is no need to replace the support member 2. On the one hand, this can reduce costs, and on the other hand, it is not necessary to recalibrate the sensing component 4 on the support member 2, thereby saving replacement steps and improving replacement efficiency.

[0054] In an optional embodiment, the support member 2 includes a first connecting portion 21, a second connecting portion 22, a first limiting portion 23, and a second limiting portion 24. The first connecting portion 21 and the second connecting portion 22 are respectively located at both ends of the support member 2. The first connecting portion 21 is connected to the first limiting portion 23, and the second connecting portion 22 is connected to each other.

[0055] The first connecting part 21 is embedded in the first embedding groove 131, the first limiting part 23 abuts against the foot sole 1 in the length direction of the foot structure, the second connecting part 22 is embedded in the second embedding groove 133, and the second limiting part 24 abuts against the foot sole 1 in the length direction of the foot structure.

[0056] like Figure 6 , Figure 7 and Figure 9 As shown, the support member 2 includes a first connecting part 21, a second connecting part 22, a first limiting part 23, and a second limiting part 24. The first connecting part 21 and the second connecting part 22 are located at both ends of the support member 2 along its length. The first limiting part 23 is connected to the first connecting part 21, and the first limiting part 23 and the first connecting part 21 form a first platform 25, which faces the first slot 132. The second limiting part 24 is connected to the second connecting part 22, and the second limiting part 24 and the second connecting part 22 form a second platform 26, which faces the second slot 134.

[0057] To further explain, such as Figure 3 and Figure 4 As shown, the first connecting part 21 is embedded in the first embedding groove 131, the first platform 25 faces the first groove opening 132, and the first platform 25 will abut against the foot sole 1; the second connecting part 22 is embedded in the second embedding groove 133, the second platform 26 faces the second groove opening 134, and the second platform 26 will abut against the foot sole 1; therefore, the first limiting part 23 and the second limiting part 24 restrict the movement of the support member 2 in the length direction of the foot sole 1, and can also play a positioning role for installing the support member 2.

[0058] In one specific embodiment, the connector includes a plurality of screws, which are evenly distributed and avoid the sensing component 4. Along the height direction of the foot structure, the screws pass through the support member 2 and the foot sole member 1 to connect the support member 2 and the foot sole member 1. In this embodiment, the support member 2 and the foot sole member 1 are connected by screws, which provides high connection stability and convenient disassembly. Furthermore, the plurality of screws are evenly distributed and spaced apart along the length and width directions of the foot structure to further improve the connection stability between the support member 2 and the foot sole member 1, and avoid the sensing component 4 to prevent affecting the operation of the sensing component 4.

[0059] In another specific embodiment, the connector is a snap fastener, and the support member 2 is detachably connected to the foot member 1 via the snap fastener.

[0060] In one optional embodiment, the foot sole 1 includes a wear-resistant layer 11, a buffer layer 12, and a fixing layer 13 connected in sequence in the height direction of the foot structure, and the support member 2 is disposed on the fixing layer 13.

[0061] like Figure 1 , Figure 9 and Figure 10 As shown, the foot sole 1 includes a wear-resistant layer 11, a cushioning layer 12, and a fixing layer 13. Specifically, the wear-resistant layer 11 is in contact with the ground and can play a role in preventing slipping. The cushioning layer 12 is located on the side of the wear-resistant layer 11 away from the ground and can play a role in shock absorption. The fixing layer 13 is located on the side of the cushioning layer 12 away from the wear-resistant layer 11. The support member 2 is set on the fixing layer 13 and can connect the cushioning layer 12 and the support member 2.

[0062] Specifically, the first embedding groove 131 and the second embedding groove 133 are located at the end of the fixed layer 13 away from the buffer layer 12, and the support member 2 is located on the fixed layer 13.

[0063] In one alternative embodiment, the wear-resistant layer 11 is made of PU or fiber rubber; and / or the buffer layer 12 is made of foam; and / or the fixing layer 13 is made of TPU.

[0064] Specifically, the wear-resistant layer 11 is used in contact with the ground, and the wear of the wear-resistant layer 11 will be more severe. Therefore, the wear-resistant layer 11 is made of PU material or fiber rubber material. The PU material is polyurethane, which has excellent elasticity, wear resistance, tear resistance and high tensile strength, thereby improving the service life of the wear-resistant layer 11. The fiber rubber material has good elasticity and wear resistance, which can improve the service life of the wear-resistant layer 11.

[0065] The buffer layer 12 is made of foam material, which has good compressibility and high resilience, so it can play a good cushioning role.

[0066] The fixing layer 13 is made of TPU material, which is a thermoplastic polyurethane elastomer. It has high tensile strength and high impact resistance, so it is easy to embed the support 2 on the fixing layer 13 and can improve the protection of the support 2.

[0067] In one optional embodiment, the thickness of the buffer layer 12 ranges from 2mm to 14mm; the thickness range of the buffer layer 12 refers to the dimension of the buffer layer 12 in the height direction of the foot structure; when the foot structure is used in a robot with high mobility, the thickness range of the buffer layer 12 can be 8mm to 12mm to provide a better cushioning effect; when the foot structure is used in a robot with low mobility, the thickness range of the buffer layer 12 can be 2mm to 6mm.

[0068] Among them, "high mobility" means that the robot runs or jumps more often in its usage scenarios; "low mobility" means that the robot walks more often in its usage scenarios.

[0069] In one optional embodiment, the thickness of the foot sole 1 is in the range of 4mm-6mm. The cushioning layer 12 includes a first cushioning portion and a second cushioning portion. The first cushioning portion and the second cushioning portion are respectively located near the two ends of the foot structure and are spaced apart along the length direction of the foot structure. Between the first cushioning portion and the second cushioning portion, the fixing layer 13 abuts against the wear-resistant layer 11. In this embodiment, the thickness of the foot sole 1 is relatively small. Therefore, the cushioning layer 12 includes a first cushioning portion and a second cushioning portion. The first cushioning portion and the second cushioning portion are spaced apart along the length direction of the foot structure. The first cushioning portion and the second cushioning portion are respectively located at the two ends of the foot structure. In the length direction, there is no connection between the first cushioning portion and the second cushioning portion. However, in the height direction, the wear-resistant layer 11 directly abuts against the fixing layer 13.

[0070] To further explain, the thickness of the end of the first buffer portion away from the second buffer portion is greater than the thickness of the first buffer portion near the second buffer portion, and the thickness of the end of the second buffer portion away from the first buffer portion is greater than the thickness of the second buffer portion near the first buffer portion, so that the wear-resistant layer 11 located between the first buffer portion and the second buffer portion can abut against the fixing layer 12.

[0071] In one alternative embodiment, the thickness of the foot sole 1 ranges from 7mm to 20mm, and in the length direction of the foot structure, the thickness at both ends of the wear-resistant layer 11 is greater than the thickness in the middle of the wear-resistant layer 11. In this embodiment, the thickness of the foot sole 1 is relatively large, so the buffer layer 12 is integral, and the buffer layer 12 is directly located between the fixing layer 11 and the wear-resistant layer 13. The thickness at both ends of the buffer layer 12 is greater than the thickness in the middle of the buffer layer 12.

[0072] The thickness range of the foot component 1 refers to the height of the heel position of the foot structure. The heel can be understood as the position of the rear part 29 of the support component 2.

[0073] In an optional embodiment, the wear-resistant layer 11, the buffer layer 12, and the fixing layer 13 are an integral structure; wherein, the wear-resistant layer 11, the buffer layer 12, and the fixing layer 13 can be bonded together to form an integral structure; or, the wear-resistant layer 11, the buffer layer 12, and the fixing layer 13 can be integrally injection molded to form an integral structure. In this embodiment, the wear-resistant layer 11, the buffer layer 12, and the fixing layer 13 are an integral structure, which can improve the structural strength of the foot sole 1 and facilitate the installation and disassembly of the foot sole 1.

[0074] In one optional embodiment, the foot structure further includes a connecting seat 3, which is connected to the foot sole 1, and the support member 2 is located between the connecting seat 3 and the foot sole 1;

[0075] The support member 2 includes a front part 27, a middle part 28 and a rear part 29 arranged sequentially along the length of the foot structure. The middle part 28 is higher than the front part 27 and the rear part 29. The connecting seat 3 abuts against the middle part 28. The connecting seat 3 and the front part 27 form a first buffer space 5. The connecting seat 3 and the rear part 29 form a second buffer space 6.

[0076] like Figure 1 and Figure 10 As shown, the foot structure also includes a connecting seat 3, which can be connected to the lower leg structure via a cross seat; the connecting seat 3 is connected to the foot sole 1, specifically, the connecting seat 3 is connected to the fixing layer 13, and the support member 2 is located between the fixing layer 13 and the connecting seat 3.

[0077] To further explain, such as Figure 5 As shown, the support member 2 consists of a front part 27, a middle part 28, and a rear part 29 in the length direction. The front part 27 is located between the middle part 28 and the first connecting part 21, and the rear part 29 is located between the second connecting part 22 and the middle part 28. In the height direction, the middle part 28 is higher than the front part 27, and the middle part 28 is higher than the rear part 29. Therefore, as... Figure 3 and Figure 4 As shown, a first buffer space 5 is formed in the height direction between the front part 27 of the connecting seat 3 and the support member 2. The height of the first buffer space 5 gradually increases from the front part 27 to the rear part 29. The height of the second buffer space 6 gradually decreases from the front part 27 to the rear part 29. A second buffer space 6 is formed in the height direction between the rear part 29 of the connecting seat 3 and the support member 2. The front part 27 of the support member 2 is also the front part 27 of the foot structure, which corresponds to the position of the toes. The rear part 29 of the support member 2 is also the rear part 29 of the foot structure, which corresponds to the position of the heel. In this embodiment, when the foot structure is installed on the robot, the robot walks or runs in a manner that mimics the gait of a human. Therefore, the front part 27 and the rear part 29 of the foot structure are subjected to greater forces. Thus, the first buffer space 5 between the front part 27 of the connecting seat 3 and the support member 2 can play a buffering role, and the second buffer space 6 between the rear part 29 of the connecting seat 3 and the support member 2 can also play a buffering role, thereby improving the stability of the robot's movement and extending the service life of the foot structure.

[0078] In one alternative embodiment, the maximum height of the first buffer space 5 is less than the maximum height of the second buffer space 6. Specifically, when a person walks, the force on the heel is greater than the force on the toes. Therefore, the maximum height of the second buffer space 6 is greater than the maximum height of the first buffer space 5, which means that the buffer space of the heel is greater than the buffer space of the toes. This makes the foot structure more reasonable and achieves more stable and flexible gait control.

[0079] In one alternative embodiment, the connecting seat 3 includes a mounting plate 31 and a baffle 32. The baffle 32 is arranged circumferentially around the mounting plate 31. In the height direction of the foot structure, the baffle 32 extends toward the side closer to the foot sole 1. The mounting plate 31 and the front portion 27 form the first buffer space 5, and the mounting plate 31 and the rear portion 29 form the second buffer space 6.

[0080] Along the length of the foot structure, the projection of the baffle 32 coincides with the projection of the foot sole 1.

[0081] like Figure 1 , Figure 3 and Figure 4 As shown, the connecting seat 3 includes a mounting plate 31 and a baffle 32; wherein, the mounting plate 31 is used to connect to the lower leg structure via a cross shaft, and the baffle 32 is annular and is arranged around the circumference of the mounting plate 31, and the baffle 32 extends towards the side closer to the foot sole 1 in the height direction; the support member 2 is located between the mounting plate 31 and the foot sole 1, and the front part 27 of the support member 2 forms a first buffer space 5 between it and the mounting plate 31, and the rear part 29 of the support member 2 forms a second buffer space 6 between it and the mounting plate 31; in the length direction, the projection of the baffle 32 coincides with the working part of the foot sole 1, so the baffle 32 can close the first buffer space 5 and the second buffer space 6 in the height direction to prevent dust or particles from entering the first buffer space 5 or the second buffer space 6.

[0082] According to a second aspect of the embodiments of this application, a lower limb mechanism is provided, including the foot structure described above.

[0083] According to a third aspect of the embodiments of this application, a robot is provided, characterized in that it includes the foot structure described above; or the lower limb mechanism described above.

[0084] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A foot structure, characterized in that, include: The foot sole component has a first embedding groove and a second embedding groove at both ends of the foot structure along its length. The first embedding groove has a first opening, and the second embedding groove has a second opening. Both the first opening and the second opening face the length direction of the foot structure, and the first opening and the second opening are arranged opposite to each other along the length direction of the foot structure. A support member is detachably connected to the foot sole member via a connector. One end of the support member is embedded in the first groove and the other end of the support member is embedded in the second groove and the portion of the support member not embedded in the first groove and the second groove is provided with a receiving space. A sensing component, wherein the sensing component is disposed in the receiving space.

2. The foot structure according to claim 1, characterized in that, The support member includes a first connecting part, a second connecting part, a first limiting part, and a second limiting part. The first connecting part and the second connecting part are respectively located at both ends of the support member. The first connecting part is connected to the first limiting part, and the second connecting part is connected to the second connecting part. The first connecting part is embedded in the first embedding groove, the first limiting part abuts against the foot sole in the length direction of the foot structure, the second connecting part is embedded in the second embedding groove, and the second limiting part abuts against the foot sole in the length direction of the foot structure.

3. The foot structure according to claim 1, characterized in that, The connector includes a plurality of screws, which are evenly distributed and avoid the sensing component. Along the height direction of the foot structure, the screws pass through the support and the foot sole to connect the support and the foot sole.

4. The foot structure according to claim 1, characterized in that, The foot sole component includes a wear-resistant layer, a cushioning layer, and a fixing layer connected in sequence along the height direction of the foot structure, and the support component is disposed on the fixing layer.

5. The foot structure according to claim 4, characterized in that, The thickness of the buffer layer ranges from 2mm to 14mm.

6. The foot structure according to claim 5, characterized in that, The thickness of the foot sole is 2mm-5mm. The cushioning layer includes a first cushioning part and a second cushioning part. The first cushioning part and the second cushioning part are spaced apart along the length direction of the foot structure. Between the first cushioning part and the second cushioning part, the fixing layer abuts against the wear-resistant layer.

7. The foot structure according to claim 5, characterized in that, The thickness of the foot sole component ranges from 6mm to 14mm, and in the length direction of the foot structure, the thickness at both ends of the wear-resistant layer is greater than the thickness in the middle of the wear-resistant layer.

8. The foot structure according to claim 1, characterized in that, The foot structure further includes a connecting seat, which is connected to the foot sole component, and the support component is located between the connecting seat and the foot sole component; The support member includes a front part, a middle part, and a rear part arranged sequentially along the length of the foot structure. The middle part is higher than the front part and the rear part. The connecting seat abuts against the middle part. The connecting seat and the front part form a first buffer space, and the connecting seat and the rear part form a second buffer space.

9. The foot structure according to claim 8, characterized in that, The maximum height of the first buffer space is less than the maximum height of the second buffer space.

10. The foot structure according to claim 8, characterized in that, The connecting seat includes a mounting plate and a baffle. The baffle is arranged circumferentially around the mounting plate. In the height direction of the foot structure, the baffle extends towards the side closer to the foot sole. The mounting plate and the front part form a first buffer space, and the mounting plate and the rear part form a second buffer space. Along the length of the foot structure, the projection of the baffle coincides with the projection of the foot sole.

11. A lower limb mechanism, characterized in that, Includes the foot structure as described in any one of claims 1-10.

12. A robot, characterized in that, include: The foot structure as described in any one of claims 1-10; or The lower limb mechanism as described in claim 11.

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