Robot sole, robot leg and robot

Abstract

The utility model discloses a robot foot sole, a robot leg and a robot. The foot sole comprises a foot sole supporting piece, a foot sole mounting piece and an elastic piece. The plantar supporting piece comprises a plantar supporting outer surface far away from one side of the robot and a plantar supporting inner surface close to one side of the robot, and a plantar supporting mounting part is arranged on the plantar supporting inner surface; the plantar mounting piece is detachably connected with the plantar supporting mounting part; the elastic piece is arranged in the sole supporting piece; the foot sole mounting piece is detachably connected with the foot sole supporting mounting part, so that the foot sole supporting piece is convenient to disassemble and assemble, the operation time is greatly shortened, and the maintenance efficiency is greatly improved; the elastic piece is arranged in the sole supporting piece, the mechanical damping function is achieved, the sole supporting piece can be made of a hard material, then the abrasion resistance of the sole supporting piece is improved, meanwhile, it is guaranteed that the sole has the good buffering performance through the arrangement of the elastic piece, and the selection contradiction problem of damping performance and durability in a traditional structure is solved.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to a robot foot, a robot leg, and a robot. Background Technology

[0002] With the rapid development of robotics technology, quadruped robots are increasingly being used in industrial inspection, disaster relief, and household services. The foot structure, as a key component in the contact between the quadruped robot and the ground, directly affects the robot's motion stability, energy efficiency, and lifespan due to its cushioning performance and ease of maintenance.

[0003] In existing technologies, the feet of quadruped robots mostly adopt a fixed rubber structure design, typically reinforced by double-sided clamping components and an inner skeleton. This structure achieves shock absorption and gripping functions by selecting rubber materials of different hardnesses, but it presents the following technical problems in practical applications:

[0004] Disassembly and replacement are cumbersome: Due to the use of a double-sided clamping structure with multiple parts, there are many mating surfaces, which makes the disassembly and replacement of the sole rubber complicated. It requires professional tools and a long operation time, which reduces maintenance efficiency.

[0005] The dilemma in rubber performance selection: Existing structures rely solely on the hardness of the rubber material to achieve a balance between vibration damping and durability. If a rubber with a lower Shore hardness is used, it can provide a better vibration damping effect, but the material is prone to wear and requires frequent replacement; if a rubber with a higher Shore hardness is used, it can improve durability, but the vibration damping performance will be significantly reduced, affecting the robot's stability in complex terrain.

[0006] Therefore, how to simplify the replacement process and reduce maintenance costs while ensuring the shock absorption performance and durability of the foot structure of quadruped robots has become a technical problem that urgently needs to be solved in this field. Utility Model Content

[0007] The purpose of this invention is to address the technical problems of cumbersome disassembly and replacement of robot feet and the difficulty in meeting the performance requirements of foot materials in the prior art. This invention provides a robot foot, robot leg, and robot, which improves the above-mentioned technical problems through a reasonable design of the robot foot structure.

[0008] To achieve the above objectives, the technical solution provided by this utility model is as follows:

[0009] The present invention relates to a robot foot, comprising a foot support, a foot mounting component, and an elastic component; the foot support includes an outer foot support surface away from the robot and an inner foot support surface closer to the robot, and a foot support mounting portion is provided on the inner foot support surface; the foot mounting component is detachably connected to the foot support mounting portion; the elastic component is disposed within the foot support.

[0010] Preferably, the robot foot further includes a threaded fixing component, the foot support mounting part is provided with a foot support mounting hole, and the foot mounting component is provided with a foot mounting hole corresponding to the foot support mounting hole; the threaded fixing component is detachably passed through the foot support mounting hole and the foot mounting hole to realize the detachable connection between the foot mounting component and the foot support mounting part.

[0011] Preferably, the threaded fixing assembly includes a first threaded fixing member and a second threaded fixing member. The first threaded fixing member is provided with a first fixing thread, which is an external thread. The second threaded fixing member is provided with a second fixing thread, which is an internal thread that mates with the first fixing thread. The first threaded fixing member is provided with a first fixing step, and the second threaded fixing member is provided with a second fixing step. The first fixing step and the second fixing step respectively abut against both sides of the foot mounting member.

[0012] Preferably, the elastic element is disposed between the foot mounting component and the foot support component. The first elastic surface of the elastic element abuts against the inner surface of the foot support component. The end of the foot mounting component is provided with a first elastic element fixing part, and the second elastic surface of the elastic element is provided with a second elastic element fixing part. The first elastic element fixing part and the second elastic element fixing part are connected to fix the second elastic surface of the elastic element to the foot mounting component. The first elastic element fixing part is a groove, and the second elastic element fixing part is a protrusion that cooperates with the first elastic element fixing part; or, the first elastic element fixing part is a protrusion, and the second elastic element fixing part is a groove that cooperates with the first elastic element fixing part.

[0013] Preferably, the elastic element is wholly or partially embedded inside the foot support member, and / or the elastic element is a bent metal spring sheet, and / or the foot support member is a rubber member.

[0014] This utility model also discloses a robot leg, including a leg frame and the aforementioned robot foot sole. One end of the leg frame is a foot end, which is connected to a foot sole mounting component. The other end of the leg frame is a joint end, which is connected to the robot's joint.

[0015] This utility model further discloses a robot, including the aforementioned robot legs.

[0016] Compared with the prior art, the technical advantages of this utility model are as follows:

[0017] 1. This utility model discloses a robot foot, comprising a foot support component, a foot mounting component, and an elastic component; the foot support component includes an outer surface of the foot support component away from the robot and an inner surface of the foot support component closer to the robot, and a foot support mounting portion is provided on the inner surface of the foot support component; the foot mounting component is detachably connected to the foot support mounting portion; the elastic component is disposed within the foot support component; the detachable connection between the foot mounting component and the foot support mounting portion facilitates the disassembly and installation of the foot support component, greatly shortening operation time and significantly improving maintenance efficiency; furthermore, by setting the elastic component within the foot support component, a mechanical shock absorption function is achieved, which allows for the improvement of the hardness of the foot support component material, thereby enhancing its wear resistance. Simultaneously, the elastic component ensures that the foot has good cushioning performance, resolving the contradiction between shock absorption and durability in traditional structures.

[0018] 2. A robot foot of this utility model, the robot foot further includes a threaded fixing component, the foot support mounting part is provided with a foot support mounting hole, and the foot mounting component is provided with a foot mounting hole corresponding to the foot support mounting hole; the threaded fixing component is detachably passed through the foot support mounting hole and the foot mounting hole to realize the detachable connection between the foot mounting component and the foot support mounting part; with the setting of the threaded fixing component, when it is necessary to disassemble or install the foot support component, it is only necessary to unscrew the threaded fixing component, the operation is simple and convenient, no professional tools are required, and the disassembly and installation efficiency is improved.

[0019] 3. A robot foot of this utility model, wherein the threaded fixing assembly includes a first threaded fixing member and a second threaded fixing member. The first threaded fixing member is provided with a first fixing thread, which is an external thread. The second threaded fixing member is provided with a second fixing thread, which is an internal thread that mates with the first fixing thread. The first threaded fixing member is provided with a first fixing step, and the second threaded fixing member is provided with a second fixing step. The first fixing step and the second fixing step respectively abut against both sides of the foot mounting member. Through the bidirectional abutment design of the first fixing step and the second fixing step, the connection stability of the foot support member on the foot mounting member is improved, ensuring that the foot support member can stably withstand impact forces during use.

[0020] 4. A robot foot of this utility model, wherein the elastic element is disposed between a foot mounting component and a foot support component. The first elastic surface of the elastic element abuts against the inner surface of the foot support component. The end of the foot mounting component is provided with a first elastic element fixing part, and the second elastic surface of the elastic element is provided with a second elastic element fixing part. The first elastic element fixing part and the second elastic element fixing part are connected to fix the second elastic surface of the elastic element to the foot mounting component. The first elastic element fixing part is a groove, and the second elastic element fixing part is a protrusion that cooperates with the first elastic element fixing part; or, the first elastic element fixing part is a protrusion, and the second elastic element fixing part is a groove that cooperates with the first elastic element fixing part. Through the concave-convex cooperation between the first elastic element fixing part and the second elastic element fixing part, the elastic element improves the elasticity of the foot support component while ensuring its structural connection stability. Attached Figure Description

[0021] Figure 1 This is an exploded view of the sole of a robot according to this utility model;

[0022] Figure 2 This is a cross-sectional view of the foot of a robot according to the present invention;

[0023] Figure 3 This is a schematic diagram of a robot leg structure according to the present invention.

[0024] 100. Leg skeleton; 101. Foot end; 102. Joint end;

[0025] 111. Foot mounting component; 112. Foot mounting hole; 113. First elastic element fixing part;

[0026] 200. Threaded fastening assembly; 210. First threaded fastener; 211. First fixing thread; 212. First fixing step; 220. Second threaded fastener; 221. Second fixing thread; 222. Second fixing step;

[0027] 300, elastic element; 301, first elastic surface; 302, second elastic surface; 310, second elastic element fixing part;

[0028] 400. Foot support component; 401. Outer surface of foot support; 402. Inner surface of foot support; 403. Foot support mounting part; 410. Foot support mounting hole. Detailed Implementation

[0029] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings and embodiments.

[0030] The structures, proportions, and sizes illustrated in the accompanying drawings are merely for illustrative purposes and to aid those skilled in the art in understanding and reading the invention. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, provided they do not affect the effectiveness or purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and not intended to limit the scope of implementation. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention. In addition, the various embodiments of the invention are not independent but can be combined.

[0031] Example 1

[0032] One embodiment of the robot includes robotic legs, such as... Figure 3 As shown, the robot leg includes a leg frame 100 and a robot foot. One end of the leg frame 100 is a foot end 101, which is connected to the foot mounting component 111 of the foot. The other end of the leg frame 100 is a joint end 102, which is connected to the robot's joint.

[0033] like Figure 1 The robot foot shown in this embodiment includes a foot support 400, a foot mounting component 111, and an elastic component 300. The foot support 400 includes an outer foot support surface 401 away from the robot and an inner foot support surface 402 closer to the robot. The foot support 400 is made of rubber. In this embodiment, it is integrally molded from nitrile rubber with a Shore hardness of 75. The outer foot support surface 401 is provided with a diamond-shaped anti-slip texture.

[0034] like Figure 2As shown, a foot support mounting portion 403 is provided on the inner surface 402 of the foot support. In this embodiment, a cavity is provided within the inner surface 402 of the foot support, and the foot support mounting portion 403 is located within the cavity. The foot mounting component 111 is detachably connected to the foot support mounting portion 403, which can be a conventional mechanical detachable connection mechanism. In this embodiment, the robot foot includes a threaded fixing assembly 200. The foot support mounting portion 403 is provided with a foot support mounting hole 410, and the foot mounting component 111 is provided with a foot mounting hole 112 corresponding to the foot support mounting hole 410. The threaded fixing assembly 200 detachably passes through the foot support mounting hole 410 and the foot mounting hole 112, thereby achieving a detachable connection between the foot mounting component 111 and the foot support mounting portion 403. The detachable connection between the foot mounting component 111 and the foot support mounting portion 403 facilitates the disassembly and installation of the foot support component 400, greatly shortening the operation time and significantly improving maintenance efficiency.

[0035] Specifically, the threaded fixing assembly 200 includes a first threaded fixing member 210 and a second threaded fixing member 220. The first threaded fixing member 210 has a first fixing thread 211, which is an external thread. The second threaded fixing member 220 has a second fixing thread 221, which is an internal thread that mates with the first fixing thread 211. The first threaded fixing member 210 has a first fixing step 212, and the second threaded fixing member 220 has a second fixing step 222. The first fixing step 212 and the second fixing step 222 abut against both sides of the foot support member 111. Through the bidirectional abutment design of the first fixing step 212 and the second fixing step 222, the connection stability of the foot support member 400 on the foot support member 111 is improved, ensuring that the foot support member 400 can stably withstand impact forces during use.

[0036] In this embodiment, when the threaded fixing assembly 200 is assembled, the first threaded fixing member 210 and the second threaded fixing member 220 pass through the foot mounting hole 112 and the foot support mounting hole 410, are rotated and threadedly connected, and after tightening, the first fixing step 212 and the second fixing step 222 abut against the two sides of the foot mounting member 111 respectively.

[0037] The elastic element 300 is disposed within the foot support member 400. In this embodiment, the elastic element 300 is disposed between the foot mounting member 111 and the foot support member 400. Specifically, the first elastic surface 301 of the elastic element 300 abuts against the inner surface 402 of the foot support member. The end of the foot mounting member 111 is provided with a first elastic element fixing part 113, and the second elastic surface 302 of the elastic element 300 is provided with a second elastic element fixing part 310. The first elastic element fixing part 113 and the second elastic element fixing part 310 are connected to fix the second elastic surface 302 of the elastic element 300 to the foot mounting member 111.

[0038] In this embodiment, the elastic element 300 is a bent metal spring sheet. The first elastic element fixing part 113 is a groove, and the second elastic element fixing part 310 is a protrusion that cooperates with the first elastic element fixing part 113; or, the first elastic element fixing part 113 is a protrusion, and the second elastic element fixing part 310 is a groove that cooperates with the first elastic element fixing part 113. Through the interlocking of the first elastic element fixing part 113 and the second elastic element fixing part 310, the elastic element 300 improves the elasticity of the foot support 400 while ensuring its structural connection stability.

[0039] By setting an elastic element 300 inside the foot support 400, mechanical shock absorption function can be achieved. This allows the foot support 400 to be made of a harder material, thereby improving its wear resistance. At the same time, the setting of the elastic element 300 also ensures that the foot has good cushioning performance, thus improving the contradiction between shock absorption and durability in traditional structures.

[0040] Example 2

[0041] This embodiment is basically the same as embodiment 1, except that in this embodiment, the elastic element 300 is integrally formed by injection molding, and all or part of the elastic element 300 is embedded in the interior of the foot support element 400. The foot support element 400 is made of fluororubber with a Shore hardness of 80.

[0042] The present invention has been described in detail above with reference to specific exemplary embodiments. However, it should be understood that various modifications and variations can be made without departing from the scope of the present invention as defined by the appended claims. The detailed description and drawings should be considered illustrative only and not restrictive, and any such modifications and variations shall fall within the scope of the present invention described herein. Furthermore, the background art is intended to illustrate the current state of research and development and significance of the technology, and is not intended to limit the scope of application of the present invention or this application.

[0043] More specifically, although exemplary embodiments of the present invention have been described herein, the present invention is not limited to these embodiments, but includes any and all embodiments modified, omitted, such as combinations between various embodiments, adaptive changes, and / or substitutions, as would be apparent to those skilled in the art from the foregoing detailed description. The limitations in the claims are to be interpreted broadly as used in the language of the claims and are not limited to the examples described in the foregoing detailed description or during the implementation of this application, which should be considered non-exclusive. Any step listed in any method or process claim may be performed in any order and is not limited to the order set forth in the claims. Therefore, the scope of the present invention should be determined solely by the appended claims and their legal equivalents, and not by the description and examples given above.

Claims

1. A robotic foot, characterized in that, include: The foot support component (400) includes an outer foot support surface (401) away from the robot and an inner foot support surface (402) close to the robot, wherein the inner foot support surface (402) is provided with a foot support mounting part (403). Foot mounting component (111), which is detachably connected to foot support mounting component (403); An elastic element (300) is disposed within the foot support element (400).

2. The robotic foot according to claim 1, characterized in that, It also includes a threaded fixing assembly (200), the foot support mounting part (403) is provided with a foot support mounting hole (410), and the foot mounting member (111) is provided with a foot mounting hole (112) corresponding to the foot support mounting hole (410); the threaded fixing assembly (200) is detachably passed through the foot support mounting hole (410) and the foot mounting hole (112), and the foot mounting member (111) is detachably connected to the foot support mounting part (403).

3. The robotic foot according to claim 2, characterized in that, The threaded fastening assembly (200) includes a first threaded fastening member (210) and a second threaded fastening member (220). The first threaded fastening member (210) is provided with a first fixing thread (211), which is an external thread. The second threaded fastening member (220) is provided with a second fixing thread (221), which is an internal thread that mates with the first fixing thread (211).

4. The robotic foot according to claim 3, characterized in that, The first threaded fastener (210) is provided with a first fixed step (212), and the second threaded fastener (220) is provided with a second fixed step (222). The first fixed step (212) and the second fixed step (222) respectively abut against the two sides of the foot mounting component (111).

5. The robotic foot according to claim 1, characterized in that, The elastic element (300) is disposed between the foot mounting component (111) and the foot support component (400). The first elastic surface (301) of the elastic element (300) abuts against the inner surface (402) of the foot support component. The end of the foot mounting component (111) is provided with a first elastic element fixing part (113). The second elastic surface (302) of the elastic element (300) is provided with a second elastic element fixing part (310). The first elastic element fixing part (113) and the second elastic element fixing part (310) are connected to fix the second elastic surface (302) of the elastic element (300) to the foot mounting component (111).

6. The robotic foot according to claim 5, characterized in that, The first elastic element fixing part (113) is a groove, and the second elastic element fixing part (310) is a protrusion that cooperates with the first elastic element fixing part (113); or, the first elastic element fixing part (113) is a protrusion, and the second elastic element fixing part (310) is a groove that cooperates with the first elastic element fixing part (113).

7. The robotic foot according to claim 1, characterized in that, The elastic element (300) is wholly or partially embedded inside the foot support element (400).

8. A robotic foot according to any one of claims 1-7, characterized in that, The elastic element (300) is a bent metal spring sheet, and / or the foot support element (400) is a rubber element.

9. A robotic leg, characterized in that, It includes a leg frame (100) and a foot, wherein the foot is the robot foot as described in any one of claims 1-8, one end of the leg frame (100) is a foot end (101), which is connected to the foot mounting part (111) of the foot, and the other end of the leg frame (100) is a joint end (102), which is connected to the joint of the robot.

10. A robot, characterized in that, Including the robotic leg as described in claim 9.

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