A foot end structure, a support leg assembly, and a robot

Abstract

The application relates to a foot end structure, a supporting leg assembly and a robot, and the foot end structure comprises a foot end part, a foot bottom buffer, a fastening assembly and a supporting part. The application is characterized in that a second accommodating space is arranged in the foot bottom buffer, at least part of the side wall of the second accommodating space forms a foot bottom connecting part, a supporting part is arranged in the second accommodating space, the supporting part is arranged opposite to the foot bottom connecting part, and the supporting part is connected with the other side of the abutting part. In this way, the abutting part can be limited to move in the second accommodating space, so that the problem of low assembly efficiency caused by the movement of the first fastening part in the process of fixing connection of the second fastening part and the first fastening part can be avoided or improved, and the connecting strength between the foot bottom connecting part and the locking part is improved. In addition, the foot bottom connecting part is clamped and fixed between the locking part and the abutting part of the rigid structure, so that the locking force is further improved, and the problem of falling off of the foot bottom buffer is improved or avoided.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a foot structure, a support leg assembly, and a robot. Background Technology

[0002] The legs of legged robots are usually composed of both hard and soft plastic parts. The hard part is mainly made of metal and serves as a support, while the soft plastic part is usually made of silicone or rubber and serves as a cushioning, shock absorption, and noise reduction. Both are indispensable.

[0003] In related technologies, to fix the soft adhesive to the foot of the hard component, it is generally done by directly applying adhesive to the hard component (such as a metal part). This method can achieve a firm connection between the soft adhesive and the hard component, but it is not easy to disassemble the soft adhesive and the hard component. Even after tearing, there is usually adhesive residue on the hard component, which is inconvenient for maintenance. In other related technologies, the soft adhesive is directly tightened to the hard component with screws, resulting in a relatively small tightening force. In addition, since the nut is installed on the soft adhesive later, it has a certain assembly allowance, which makes the nut easy to move during the tightening process, resulting in low assembly efficiency. Utility Model Content

[0004] This application provides a foot structure, a support leg assembly, and a robot, which improves the assembly efficiency and locking force between the foot cushion and the foot end.

[0005] To achieve the above objectives, according to a first aspect of this application, a foot end structure is provided, including a foot end portion, a foot cushioning member, a fastening assembly, and a support member;

[0006] The foot end includes a locking part;

[0007] The foot cushioning component has a second receiving space, and at least a portion of the sidewall of the second receiving space forms a foot connection portion;

[0008] The fastening assembly includes a first fastener and a second fastener. The first fastener includes a fixedly connected abutting portion and a connecting portion. The abutting portion has a first position within the second accommodating space that abuts against the foot connecting portion. The support member is disposed within the second accommodating space and is disposed opposite to the foot connecting portion, and abuts against the other side of the abutting portion to restrict the movement of the abutting portion within the second accommodating space. The locking portion is disposed on the side of the foot connecting portion away from the second accommodating space. The second fastener and the connecting portion are fixedly connected to clamp and fix the foot connecting portion between the abutting portion and the locking portion.

[0009] In some embodiments of this application, the foot end includes a plurality of locking portions, each of which is fixedly connected to the foot sole connecting portion.

[0010] In some embodiments of this application, the foot connecting portion includes a pair of foot connecting portions disposed opposite each other; a second accommodating space is formed between the pair of foot connecting portions; the foot end includes a pair of locking portions, each of the locking portions being fixedly connected to the corresponding foot connecting portion.

[0011] In some embodiments of this application, the fastening components are provided on both sides of the support member, and the two sides of the support member are respectively abutting and connected to the abutting portion on the same side. The second fastener located on the same side of the support member is fixedly connected to the connecting portion.

[0012] In some embodiments of this application, the sides of the abutting portion and the supporting member that are connected to each other are in surface-to-surface contact;

[0013] And / or, the surfaces on which the abutting part and the support member abut against each other are both flat;

[0014] And / or, the orthographic projection of the abutment portion onto the support member lies within the outline of the end face of the support member.

[0015] In some embodiments of this application, the foot-sole connecting portion is provided with a positioning groove, the positioning groove is located within the second accommodating space, and the shape of the positioning groove is adapted to the shape of the abutment portion;

[0016] And / or, the fastening assembly is rigidly connected to the locking part;

[0017] And / or, the locking part is provided with a locking hole, the foot connecting part is provided with a clearance hole, and the fastening component passes through the locking hole and the clearance hole to clamp and fix the foot connecting part between the supporting part and the locking part.

[0018] In some embodiments of this application, the locking part is provided with a locking hole, the connecting part is spaced apart from the locking part, and the connecting part and the locking part at least partially overlap along the axial direction of the locking hole.

[0019] In some embodiments of this application, the foot cushioning member covers at least a portion of the foot tip;

[0020] And / or, the foot cushioning component is an integral structure.

[0021] In some embodiments of this application, the foot cushioning member further includes a front wall and a rear wall disposed opposite to each other, and a side wall connecting the front wall and the rear wall. The foot connecting portion and the second accommodating space are disposed between the front wall and the rear wall. The foot connecting portion connects the front wall, the rear wall and the side wall, and the foot end is located between the front wall and the rear wall.

[0022] In some embodiments of this application, the surface of the sidewall is provided with a mounting groove adapted to the locking part, and the foot connecting part is located in the mounting groove;

[0023] And / or, the foot cushioning component further includes a front wall and a rear wall disposed opposite to each other, at least one of the front wall and the rear wall being provided with a first positioning part; and the foot end being provided with a second positioning part adapted to the first positioning part.

[0024] A second aspect of this application provides a support leg assembly, the support leg assembly including a support leg body and the foot end structure connected to each other.

[0025] In some embodiments of this application, the foot end is integrally formed with the supporting leg body.

[0026] A third aspect of this application provides a robot, including the foot structure or the supporting leg assembly.

[0027] The embodiments of this application include a foot end, a foot cushioning component, a fastening assembly, and a support component; the foot end includes a locking portion; the foot cushioning component has a second accommodating space, and at least a portion of the sidewall of the second accommodating space forms a foot connecting portion; the fastening assembly includes a first fastener and a second fastener, the first fastener including a fixedly connected abutting portion and a connecting portion; the abutting portion has a first position in the second accommodating space that abuts against the foot connecting portion; the support component is disposed in the second accommodating space and is disposed opposite to the foot connecting portion, and abuts against the other side of the abutting portion to restrict the movement of the abutting portion in the second accommodating space; the locking portion is disposed on the side of the foot connecting portion away from the second accommodating space, and the second fastener and the connecting portion are fixedly connected to clamp and fix the foot connecting portion between the abutting portion and the locking portion. Compared with existing technologies, this application provides a second accommodating space within the foot cushioning component, with at least a portion of the sidewalls of the second accommodating space forming a foot connecting portion. A support member is provided within the second accommodating space, with the support member positioned opposite the foot connecting portion and abutting against the other side of the abutting portion. That is, the opposite sides of the abutting portion abut against the foot connecting portion and the support member, respectively. This restricts the movement of the abutting portion within the second accommodating space, thereby restricting the movement of the first fastener. This avoids or improves the problem of low assembly efficiency caused by the movement of the first fastener during the fixing connection between the second fastener and the first fastener. It also helps to improve the connection strength between the foot connecting portion and the locking portion, and increases the locking force.

[0028] Furthermore, the foot-mounted connecting part in this application is clamped and fixed between the locking part and the supporting part of the rigid structure, which helps to further improve the connection strength between the foot-mounted connecting part and the locking part, increase the locking force, and thus improve or avoid the problem of the foot-mounted cushioning part falling off.

[0029] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0032] Figure 1This is a schematic diagram of the structure of one embodiment of the support leg assembly provided in this application;

[0033] Figure 2 yes Figure 1 A partial exploded view of the support leg assembly in the image;

[0034] Figure 3 yes Figure 2 A magnified view of a section at point A in the middle;

[0035] Figure 4 yes Figure 1 A structural schematic diagram of the support leg assembly from another perspective;

[0036] Figure 5 yes Figure 4 Schematic diagram of the cross section at point BB;

[0037] Figure 6 This is a schematic diagram of the structure of one embodiment of the fastening component provided in this application;

[0038] Figure 7 This is a schematic diagram of the structure of one embodiment of the foot cushioning device provided in this application;

[0039] Figure 8 This is a partially enlarged schematic diagram of the assembly of the locking part and the connecting part provided in the embodiment of this application.

[0040] Explanation of reference numerals in the attached figures:

[0041] 1. Support leg assembly; 10. Support leg body; 11. Foot end; 111. Locking part; 112. First receiving space; 113. Second positioning part; 114. Locking hole;

[0042] 2. Foot cushioning component; 21. Foot connecting part; 21a. First connecting part; 21b. Second connecting part; 211. Clearance hole; 212. First positioning part; 22. Front wall; 23. Rear wall; 24. Side wall; 25. Mounting groove; 26. Second accommodating space; 27. Positioning groove;

[0043] 3. Fastening assembly; 31. First fastener; 311. Supporting part; 312. Connecting part;

[0044] 4. Elastic support components;

[0045] 5. Gap. Detailed Implementation

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0047] Before introducing the technical solution of this application, the relevant technical background will be explained. This application relates to the field of robotics, and a legged robot will be used as an example for explanation below.

[0048] The legs of legged robots are usually composed of both hard and soft plastic parts. The hard part is mainly made of metal and serves as a support, while the soft plastic part is usually made of silicone or rubber and serves as a cushioning, shock absorption, and noise reduction. Both are indispensable.

[0049] In related technologies, to fix the soft adhesive to the foot of the hard component, it is generally done by directly applying adhesive to the hard component (such as a metal part). This method can achieve a firm connection between the soft adhesive and the hard component, but it is not easy to disassemble the soft adhesive and the hard component. Even after tearing it off, there is usually adhesive residue on the hard component, which is inconvenient for maintenance. In other related technologies, the soft adhesive is directly tightened to the hard component with screws, resulting in a relatively small tightening force. In addition, since the nut is installed on the soft adhesive later, it has a certain assembly allowance, which makes the nut easy to move during the tightening process. This results in low assembly efficiency and insufficient tightening force, which also poses a risk that the soft adhesive may fall off.

[0050] Therefore, this application provides a foot structure, please refer to the embodiments provided. Figures 1 to 3 , Figure 1 This is a schematic diagram of the structure of one embodiment of the support leg assembly provided in this application. Figure 2 yes Figure 1 A partial exploded view of the support leg assembly. Figure 3 for Figure 2 A partial enlarged view at point A. The support leg assembly includes an interconnected support leg body 10 and a foot end structure. The foot end structure includes a foot end 11, a foot cushion 2, and a fastening assembly 3. The support leg body 10 mainly serves a supporting function. Exemplarily, the support leg body 10 has foot ends 11 and joint connecting parts (not shown in the figure) at both ends along its length.

[0051] It should be noted that the support leg body 10 needs to have high rigidity and is generally a one-piece molded part made of metal. For example, the support leg body 10, the foot end 11, and the joint connection (not labeled in the figure) are integrally molded from a material with high hardness (such as metal). This helps to increase the overall mechanical properties of the support leg assembly and improve assembly efficiency. Of course, the support leg body 10 can also be made of engineering plastic or fiber composite material, or the support leg body 10 can be welded or threaded to the foot end 11. There are no limitations here.

[0052] The foot end 11 is used to contact the surface to be contacted (e.g., the ground) to enable the robot to move and also to support the robot. Taking the ground as the contact surface as an example, to avoid wear or excessive noise caused by direct contact between the foot end 11 and the ground during movement, a foot cushion 2 (i.e., a soft rubber part) is generally provided on the foot end 11. The foot end 11 contacts the ground through the foot cushion 2, thereby cushioning, damping, and reducing noise. The fastening assembly 3 is used to fix the foot cushion 2 to the foot end 11.

[0053] The foot cushioning component 2 is connected to the foot end 11. The foot end 11 can contact the bottom surface through the foot cushioning component 2, thereby avoiding the problem of wear caused by direct contact between the rigid foot end 11 and the bottom surface.

[0054] Please see Figure 3 The foot end portion 11 includes a locking portion 111 for fixed connection with the foot cushioning member 2. Exemplarily, the locking portion 111 is disposed at the bottom of the foot end portion 11, and the foot end portion 11 includes a pair of oppositely disposed locking portions 111. Of course, in other embodiments of this application, the number of locking portions 111 can be one, three, or four, etc., and is not limited here. For example, the foot end portion 11 includes multiple locking portions 111, which are disposed along the periphery of the foot cushioning member 2, and each locking portion 111 is fixedly connected to the foot connecting portion 21, thereby further increasing the locking force of the foot cushioning member 2.

[0055] Specifically, the foot end 11 includes a pair of locking portions 111 disposed opposite each other, forming a first accommodating space 112 between the pair of locking portions 111. Exemplarily, the locking portions 111 may be locking plates, with a pair of locking plates disposed at the end of the foot end 11 for connection with the foot cushioning member 2. Of course, in other embodiments of this application, the locking portions 111 may also be locking blocks or locking pins, which are not limited here. Specifically, the locking portions 111 are locking plates, which simplifies the structure of the foot end 11 and allows for a larger contact area between the locking portions 111 and the foot cushioning member 2, thus further improving the locking force between the locking portions 111 and the foot cushioning member 2.

[0056] For example, the foot connecting portion 21 includes a pair of oppositely arranged foot connecting portions 21; a second accommodating space 26 is formed between the pair of foot connecting portions 21; the foot end portion 11 includes a pair of locking portions 111, each locking portion 111 being fixedly connected to the corresponding foot connecting portion 21. Thus, both ends of the foot connecting portion 21 can be fixedly connected to the locking portion 111 in different directions, which is beneficial for further improving the locking force between the locking portion 111 and the foot cushioning member 2. Furthermore, the foot connecting portion 21 is an elastic connecting portion, that is, the foot connecting portion has elasticity. In related technologies, robots move by contacting the ground with foot cushioning components at the foot end. During this process, the foot cushioning components are easily deformed by compressive force, which can easily lead to failure. For example, the connection between the foot cushioning component and the foot end is easily deformed by the pressure of the foot end. In this application, by setting the elastic connecting part between a pair of locking parts, the pair of locking parts can limit and protect the elastic connecting part inside, which helps to keep the foot cushioning component stable on the foot end and extend the service life of the foot cushioning component.

[0057] For example, the foot-mounted connecting portion 21 is elastic, and is clamped and compressed between the supporting portion 311 and the locking portion 111. This helps to further increase the compressive force and interfacial friction between the foot-mounted connecting portion 21 and the supporting portion 311 and the locking portion 111, and also helps to further increase the locking force between the locking portion 111 and the foot-mounted cushioning member 2.

[0058] Please combine Figure 7 , Figure 7 This is a schematic diagram of one embodiment of the foot cushioning component in this application. The foot cushioning component 2 has a second accommodating space 26. At least a portion of the sidewall of the second accommodating space 26 forms a foot connecting portion 21, which is used to be fixedly connected to a locking portion 111. Specifically, a pair of foot connecting portions 21 are formed on the left and right sidewalls of the second accommodating space 26. A locking portion 111 is provided opposite to each foot connecting portion 21 on its outer side and near the foot connecting portion 21. Each foot connecting portion 21 is fixedly connected to the corresponding locking portion 111. In this way, both ends of the foot connecting portion 21 in the left and right directions can be fixedly connected to the locking portion 111, which is beneficial to further improve the locking force between the locking portion 111 and the foot cushioning component 2.

[0059] Please combine Figures 3 to 7The fastening assembly 3 includes a first fastener 31 (e.g., a flange nut) and a second fastener 32 (e.g., a bolt that mates with the flange nut). The first fastener 31 includes a support portion 311 and a connecting portion 312 that are fixedly connected. For example, the support portion 311 is a metal plate, and the connecting portion 312 is a tubular connecting portion disposed on one side of the support portion 311. The tubular connecting portion is provided with a threaded portion, and a bolt is inserted into the tubular connecting portion and threadedly connected.

[0060] The abutting part 311 has a first position within the second accommodating space 26 where it abuts against the foot connecting part 21. The support member 4 is disposed within the second accommodating space 26 and is disposed opposite to the foot connecting part 21, and abuts against the other side of the abutting part 311. That is, the support member 4 abuts against the other side of the abutting part 311 located in the first position, and the abutting part 311 is pressed between the foot connecting part 21 and the abutting part 311, thereby restricting the movement of the abutting part 311 within the second accommodating space 26. The locking part 111 is disposed on the side of the foot connecting part 21 away from the second accommodating space 26, and the second fastener 32 and the connecting part 312 are fixedly connected so that the foot connecting part 21 is clamped and fixed between the abutting part 311 and the locking part 111.

[0061] This application provides a second accommodating space within the foot cushioning component, with at least a portion of the sidewalls of the second accommodating space forming a foot connecting portion. A support member is disposed within the second accommodating space, opposite to the foot connecting portion and abutting against the other side of the abutting portion. That is, the opposite sides of the abutting portion abut against the foot connecting portion and the support member, respectively. This restricts the movement of the abutting portion within the second accommodating space, thus restricting the movement of the first fastener. This avoids or improves the problem of low assembly efficiency caused by the movement of the first fastener during the fixing of the second and first fasteners. It also helps to improve the connection strength between the foot connecting portion and the locking portion, increasing the locking force. Furthermore, in this application, the foot connecting portion is clamped and fixed between the locking portion and the abutting portion of the rigid structure, further improving the connection strength between the foot connecting portion and the locking portion, increasing the locking force, and thus improving or preventing the foot cushioning component from detaching.

[0062] In some embodiments of this application, along the axial direction of the locking hole 114, a fastening component 3 is provided on each side of the support member 4, and the two sides of the support member 4 are respectively abutting and connected to the abutting portion 311 on the same side. The second fastener 32 and the connecting portion 312 located on the same side of the support member 4 are fixedly connected. In this way, by having the two sides of the support member 4 respectively abutting and connected to the abutting portion 311 on the same side, it is beneficial to improve the structural compactness of the foot end structure.

[0063] In some embodiments of this application, the fastening component 3 is a threaded connector, and the fastening component 3 is rigidly connected to the locking part 111. It can also be understood that both the locking part 111 and the fastening component 3 are rigid structural components. For example, the first fastener 31 can be a metal flange nut or a metal stud. This helps to further increase the locking force between the locking part 111 and the foot connection part 21.

[0064] In some embodiments of this application, the side of the locking part 111 that contacts the foot connecting part 21 is a roughened surface or a friction surface. In other words, the side of the locking part 111 that contacts the foot connecting part 21 is relatively rough and has greater friction. This helps to further increase the interaction force at the interface between the locking part 111 and the foot connecting part 21, and further improves or avoids the problem of the soft rubber easily falling off due to movement relative to the locking part 111.

[0065] In some embodiments of this application, the surfaces of the abutting part 311 and the support member 4 that abut against each other are in surface-to-surface contact. For example, both surfaces of the abutting part 311 and the support member 4 are planar. This increases the contact area between the abutting part 311 and the support member 4, improves the stability of the interface connection, and enhances the interaction force at the interface between the abutting part 311 and the support member 4, thereby improving the limiting effect.

[0066] In some embodiments of this application, the orthographic projection of the abutting portion 311 onto the support member 4 lies within the contour line of the end face of the support member 4. That is, the size of the side of the abutting portion 311 that abuts against the support member 4 is the contact area between the abutting portion 311 and the support member 4. This helps to increase the contact area between the abutting portion 311 and the support member 4, improves the stability of the interface connection, and enhances the interaction force at the interface between the abutting portion 311 and the support member 4, thereby improving the limiting effect.

[0067] For example, the locking part 111 is a locking plate, and the side of the locking plate that is opposite to the foot connecting part 21 can fit together. In this way, it is beneficial to have a larger contact area between the locking part 111 and the foot connecting part 21, which is beneficial to further improve the locking force between the locking part 111 and the foot cushion 2, and further improve or avoid the problem of the foot cushion 2 easily falling off due to movement relative to the locking part 111.

[0068] In some embodiments of this application, please refer to Figure 5 and Figure 7A pair of foot-mounted connecting portions 21 include a first connecting portion 21a and a second connecting portion 21b disposed opposite to each other, forming a second accommodating space 26 between the first connecting portion 21a and the second connecting portion 21b. When the foot end 11 is connected to the foot-mounted cushioning member 2, at least a portion of the fastening assembly 3 is disposed within the second accommodating space 26, and the pair of locking portions 111 are respectively abutting against the outer surfaces of the first connecting portion 21a and the second connecting portion 21b; the portion of the fastening assembly 3 located within the second accommodating space 26 (i.e., the abutting portion 311) is respectively abutting against the inner surfaces of the first connecting portion 21a and the second connecting portion 21b.

[0069] It should be noted that the outer surface of the first connecting portion 21a refers to the side of the first connecting portion 21a facing away from the second connecting portion 21b, which is also one side surface of the foot cushion 2, and is directly opposite to a corresponding locking portion 111. The inner surface of the first connecting portion 21a refers to the side of the first connecting portion 21a facing the second connecting portion 21b, and is also part of the wall surface of the second accommodating space 26. The outer surface of the second connecting portion 21b refers to the side of the second connecting portion 21b facing away from the first connecting portion 21a, which is also another side surface of the foot cushion 2, and is directly opposite to the other locking portion 111 of the pair of locking portions 111. The inner surface of the second connecting portion 21b refers to the side of the second connecting portion 21b facing the first connecting portion 21a, and is also another part of the wall surface of the second accommodating space 26. Thus, in this embodiment, the foot connecting part 21 includes a first connecting part 21a and a second connecting part 21b arranged opposite to each other. The first connecting part 21a and the second connecting part 21b are connected to a pair of locking parts 111, thereby forming a locking structure on both opposite sides of the foot connecting part 21, which is beneficial to further increase the locking force between the foot connecting part 21 and the foot end 11.

[0070] Specifically, please refer to Figure 3 , Figure 5 and Figure 6 The locking part 111 is provided with a locking hole 114. The fastening component 3 includes a first fastener 31 and a second fastener 32. The first fastener 31 includes a fixedly connected abutting part 311 and a connecting part 312. The abutting part 311 is used to abut against the first connecting part and / or the second connecting part. The connecting part 312 passes through the first connecting part 21a or the second connecting part 21b and is fixedly connected to the second fastener 32 that passes through the locking hole 114.

[0071] For example, the supporting portion 311 is fixedly disposed at one end of the connecting portion 312, the connecting portion 312 is cylindrical, and the plane of the supporting portion 311 is substantially perpendicular to the axial direction of the connecting portion 312. There are two fastening components 3: a first connecting portion 21a is clamped between the supporting portion 311 and a locking portion 111 of one fastening component 3, and a second connecting portion 21b is clamped between the supporting portion 311 and another locking portion 111 of the other fastening component 3. Please refer to... Figure 7 The foot-mounted connecting portion 21 is provided with a clearance hole 211, and the abutment portion 311 is located within the second accommodating space 26. When the foot end portion 11 is connected to the foot-mounted cushioning member 2, the connecting portion 312 is located within the clearance hole 211, and the bolt passes through the locking hole 114 and is threadedly connected to the connecting portion 312. Both sides of the foot-mounted connecting portion 21 are elastically abutted and connected to the abutment portion 311 and the locking portion 111 on the same side, respectively. In this way, each foot-mounted connecting portion 21 can be fixed to the corresponding locking portion 111 by a corresponding screw. A pair of locking portions 111 and a pair of foot-mounted connecting portions 21 form a series-locking structure, which is beneficial to further improve the locking force between the foot-mounted cushioning member 2 and the foot end portion 11.

[0072] For example, the support member 4 is an elastic support member, such as die-cut foam. It should be noted that since the connecting part 312 is located on one side of the supporting part 311, when assembling the first fastener 31, the first fastener 31 needs to be placed into the second receiving space 26 first, and the connecting part 312 needs to be aligned with the clearance hole 211. Then, the supporting part 311 is pushed towards the foot connecting part 21 so that the connecting part 312 is inserted into the clearance hole 211. In this way, in order to facilitate the assembly of the first fastener 31, the first fastener 31 has a large degree of freedom of movement in the second receiving space 26. Meanwhile, due to certain errors in machining accuracy, the axes of the locking hole 114 and the connecting part 312 are not completely coincident. During the process of the screw passing through the locking hole 114 and connecting to the connecting part 312, under the action of external force, the screw is prone to push the connecting part 312 away from the locking part 111, making it difficult for the screw to achieve a threaded connection with the connecting part 312. That is, it is not easy to lock the foot connecting part and the locking part during the screwing process. This embodiment improves or avoids the movement of the connecting part 312 away from the locking part 111 under the driving force of external force by setting the support member 4, which abuts against the supporting part 311. This is beneficial to improving assembly efficiency.

[0073] In some embodiments of this application, the foot-mounted connecting portion is provided with a positioning groove 27, which is located within the second accommodating space 26, and the shape of the positioning groove 27 is adapted to the shape of the supporting portion 311. Specifically, the first connecting portion 21a and / or the second connecting portion 21b are provided with positioning grooves 27, which are located within the second accommodating space 26, and the shape of the positioning groove 27 is adapted to the shape of the supporting portion 311. This helps to improve assembly accuracy.

[0074] Please refer to some embodiments of this application. Figure 3 and Figure 7 At least one of the front wall 22 and the rear wall 23 is provided with a first positioning part 212; the foot end 11 is provided with a second positioning part 113 adapted to the first positioning part 212. Thus, the cooperation of the first positioning part 212 and the second positioning part 113 helps to improve the assembly accuracy between the foot end 11 and the foot cushioning member 2. Furthermore, the provision of the first positioning part 212 on at least one of the front wall 22 and the rear wall 23, and the provision of the second positioning part 113 on the foot end 11, helps to further increase the contact area between the foot cushioning member 2 and the foot end 11, and helps to improve the interaction force at the interface between the foot cushioning member 2 and the foot end 11.

[0075] For example, a first positioning part 212 (e.g., a positioning hole) is provided on the front wall 22 near the center, and a second positioning part 113 (e.g., a positioning rib) is provided on the foot end 11 to match the first positioning part 212. In other embodiments, the first positioning part 212 may also be provided on the rear wall 23 near the center. Specifically, a positioning hole is provided on both the front wall 22 and the rear wall 23 near the center, and a positioning rib is provided on each of the foot end 11 in the front-rear direction. This helps to further improve the assembly accuracy of the foot end 11 and the foot cushion 2, and also improves the interaction force at the interface between the foot cushion 2 and the foot end 11.

[0076] For example, both the first connecting portion 21a and the second connecting portion 21b are provided with positioning grooves 27. Further, the supporting portion 311 is triangular, square, polygonal, or elliptical. This improves the assembly accuracy of the first fastener 31 and prevents the first fastener 31 from rotating relative to the foot connecting portion 21 during thread tightening, thus avoiding inconvenience in assembly and disassembly.

[0077] In some embodiments of this application, the connecting portion 312 and the locking portion 111 are spaced apart, and along the axial direction of the locking hole 114, the connecting portion 312 and the locking portion 111 at least partially overlap.

[0078] Specifically, please refer to Figure 8 Before the fastening assembly 3 is locked (e.g., before the first fastener 31 and the connecting part 312 are locked together), the connecting part 312 and the locking part 111 are spaced apart. That is, there is a gap 5 between the side of the connecting part 312 facing the corresponding locking part 111 and the locking part 111, and the connecting part 312 and the locking part 111 at least partially overlap along the axial direction of the first locking hole 114.

[0079] Specifically, after the first fastener 31 is assembled, the distance between the front end face of the connecting part 312 (the end of the connecting part 312 facing away from the supporting part 311) and the locking part 111 is greater than the distance between the foot connecting part 21 and the locking part 111 on the same side. Thus, during the screw tightening process, the supporting part 311, driven by the screw, compresses the foot connecting part 21, causing elastic deformation. The foot connecting part 21, driven by the supporting part 311, moves towards the locking part 111, and is compressed and clamped between the locking part 111 and the supporting part 311. When the foot connecting part 21 is compressed and deformed to a preset extent, the front end face of the connecting part 312 rigidly abuts against the inner surface of the locking part 111, thereby limiting the continued movement of the locking part 111 and the supporting part 311 towards each other. This helps to avoid the problem of the foot connecting part 21 located between the locking part 111 and the supporting part 311 being excessively compressed and damaged. For example, after the first fastener 31 is assembled, the distance between the front end face of the connecting part 312 and the locking part 111 is small, generally within 5mm. It should be noted that after the first fastener 31 is assembled, the distance between the front end face of the connecting part 312 and the locking part 111, as well as the distance between the foot connecting part 21 on the same side and the locking part 111, can be set according to specific circumstances, and is not limited here.

[0080] In some embodiments of this application, the surface of the foot cushion 2 is provided with a mounting groove 25 adapted to the locking part 111. When the foot end 11 (i.e., the support leg 1) is connected to the foot cushion 2, the locking part 111 is located in the mounting groove 25, the fastening component 3 is abutting and connected to the locking part 111, and the locking part 111 and the foot connecting part 21 are fixedly connected; the foot connecting part 21 is compressed, and at least a portion of the foot connecting part 21 is located within the first accommodating space 112. Exemplarily, the foot connecting part 21 is located within the first accommodating space 112, which helps to increase the locking force between the foot connecting part 21 and the locking part 111, and makes the foot end structure in this application more compact and reduces volume.

[0081] In some embodiments of this application, the foot cushion 2 covers at least a portion of the foot end 11.

[0082] In some embodiments of this application, the surface of the foot cushion 2 is provided with a mounting groove 25 adapted to the locking part 111, and the foot cushion 2 covers at least part of the foot end 11. In this application, a pair of locking parts 111 and a first accommodating space 112 located between the pair of locking parts 111 are provided on the foot end 11; the foot cushion 2 covers the foot end 11, and the surface is provided with a mounting groove 25 adapted to the locking part 111 and a foot connecting part 21 located in the mounting groove 25; when the support leg 1 is connected to the foot cushion 2, the locking part 111 is located in the mounting groove 25, the fastening component 3 abuts against the locking part 111, and fixes the locking part 111 and the foot connecting part 21; the foot connecting part 21 is compressed and located in the first accommodating space 112. Compared with existing technologies, in this application, the locking part 111 of the rigid structure is disposed on the outer surface, and the fastening component 3 can be abutted and connected to the locking part 111 of the rigid structure, that is, the fastening component 3 is locked onto the locking part 111 of the rigid structure, thereby improving or avoiding the problem of insufficient locking force caused by the fastening component 3 being locked onto the soft rubber, and the soft rubber easily falling off. In addition, the foot connecting part 21 in this application is compressed and at least partially located within the first accommodating space 112, that is, the foot connecting part 21 is compressed and clamped between a pair of locking parts 111, which is beneficial to further improve the interaction force between the foot connecting part 21 and the locking part 111, and is beneficial to further improve or avoid the problem of the foot cushion 2 falling off.

[0083] In some embodiments of this application, along the movement direction of the supporting leg 1, the foot cushion 2 includes a front wall 22 and a rear wall 23 disposed opposite to each other, and a side wall 24 connecting the front wall 22 and the rear wall 23. The mounting groove 25 is located on the side wall 24, and the foot end 11 is located between the front wall 22 and the rear wall 23. Exemplarily, the front wall 22 covers the front side of the foot end 11, and the rear wall 23 covers the rear side of the foot end 11. It should be noted that the foot end of the supporting leg 1 generally moves back and forth. In this embodiment, by covering the front and rear sides of the foot end 11 with the oppositely disposed front wall 22 and rear wall 23, it is beneficial to avoid rigid collisions that could cause damage to the supporting leg 1 near the foot end 11 during movement. At the same time, the front wall 22 and rear wall 23 can increase the contact area between the foot cushion 2 and the foot end 11, which is beneficial to improve the connection force between the foot cushion 2 and the foot end 11, and further improve or avoid the problem of the foot cushion 2 easily falling off.

[0084] In some embodiments of this application, the foot-mounted connecting portion 21 connects the front wall 22, the rear wall 23, and the side wall 24. This is beneficial for increasing the mechanical properties of the foot-mounted cushioning member 2.

[0085] In some embodiments of this application, the foot cushioning member 2 is a one-piece structure. This is beneficial for further improving the overall strength of the foot cushioning member 2 and enhancing its mechanical properties.

[0086] In some embodiments of this application, the foot cushioning member 2 is provided with a second accommodating space 26, which is located between a pair of foot connecting portions 21. This helps to avoid the foot connecting portions 21 being too thick, which would complicate the manufacturing process, and also helps to reduce the amount of raw materials used in the foot cushioning member 2, thereby reducing costs.

[0087] A second aspect of this application provides a support leg assembly, which includes a support leg body and a foot end structure connected to each other. The support leg body and the foot end structure can be an integral structure or a threaded connection, and are not limited thereto. It should be noted that since the support leg assembly in this application includes the aforementioned foot end structure, it necessarily has the corresponding effects of the foot end structure described above, which will not be repeated here.

[0088] A third aspect of this application provides a robot including the aforementioned foot structure or supporting leg assembly. Exemplarily, the robot is a legged robot. It should be noted that since the robot in this application includes the aforementioned supporting leg assembly, it necessarily also has the corresponding effects of the supporting leg assembly described above, which will not be elaborated upon here.

[0089] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0090] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0091] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0092] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A foot-end structure, characterized in that, It includes the foot end (11), the foot cushioning component (2), the fastening assembly (3), and the support component (4); The foot end (11) includes a locking part (111); The foot cushion (2) is provided with a second accommodating space (26), and at least a portion of the sidewall of the second accommodating space (26) forms a foot connecting part (21); The fastening assembly (3) includes a first fastener (31) and a second fastener (32). The first fastener (31) includes a fixedly connected abutment portion (311) and a connecting portion (312). The abutment portion (311) is disposed within the second accommodating space (26), and one side of the abutment portion is abutted against the foot connecting portion (21). The support member (4) is disposed within the second accommodating space (26) and is disposed opposite to the foot connecting portion (21). It is also connected to the other side of the abutment (311) to restrict the movement of the abutment (311) within the second accommodating space (26); the locking part (111) is disposed on the side of the foot connecting part (21) away from the second accommodating space (26), and the second fastener (32) and the connecting part (312) are fixedly connected so that the foot connecting part (21) is clamped and fixed between the abutment (311) and the locking part (111).

2. The foot-end structure as described in claim 1, characterized in that, The foot end (11) includes a plurality of locking parts (111), each of which is fixedly connected to the foot sole connecting part (21).

3. The foot-end structure as described in claim 2, characterized in that, The foot connection portion (21) includes a pair of foot connection portions (21) arranged opposite to each other; a second accommodating space (26) is formed between the pair of foot connection portions (21); the foot end portion (11) includes a pair of locking portions (111), each of the locking portions (111) being fixedly connected to the corresponding foot connection portion (21).

4. The foot-end structure as described in claim 3, characterized in that, The fastening assembly (3) is provided on both sides of the support member (4), and the two sides of the support member (4) are respectively abutted and connected to the abutting part (311) on the same side. The second fastener (32) and the connecting part (312) located on the same side of the support member (4) are fixedly connected.

5. The foot-end structure as described in claim 1, characterized in that, The abutting part (311) and the support member (4) are in surface-to-surface contact on the abutting connection side; And / or, the surfaces on which the abutting part (311) and the support member (4) abut against each other are both flat; And / or, the orthographic projection of the abutment (311) on the support (4) is located within the outline of the end face of the support (4).

6. The foot-end structure as described in claim 1, characterized in that, The foot connecting part is provided with a positioning groove (27), the positioning groove (27) is located in the second accommodating space (26), and the shape of the positioning groove (27) is adapted to the shape of the supporting part (311); And / or, the fastening assembly (3) is rigidly connected to the locking part (111); And / or, the locking part (111) is provided with a locking hole (114), the foot connecting part (21) is provided with a clearance hole (211), and the fastening component (3) passes through the locking hole (114) and the clearance hole (211) so that the foot connecting part (21) is clamped and fixed between the supporting part (311) and the locking part (111).

7. The foot-end structure as described in claim 1, characterized in that, The locking part (111) is provided with a locking hole (114), the connecting part (312) is spaced apart from the locking part (111), and the connecting part (312) and the locking part (111) at least partially overlap along the axial direction of the locking hole (114).

8. The foot-end structure as described in claim 1, characterized in that, The foot cushioning element (2) covers at least a portion of the foot tip (11); And / or, the foot cushioning element (2) is an integral structure.

9. The foot-end structure as described in claim 8, characterized in that, The foot cushioning member (2) further includes a front wall (22) and a rear wall (23) disposed opposite to each other, and a side wall (24) connecting the front wall (22) and the rear wall (23). The foot connecting part (21) and the second accommodating space (26) are disposed between the front wall (22) and the rear wall (23). The foot connecting part (21) connects the front wall (22), the rear wall (23) and the side wall (24). The foot end (11) is located between the front wall (22) and the rear wall (23).

10. The foot-end structure as described in claim 6, characterized in that, The surface of the side wall (24) is provided with a mounting groove (25) that is adapted to the locking part (111), and the foot connecting part (21) is located in the mounting groove (25); And / or, the foot cushion (2) further includes a front wall (22) and a rear wall (23) disposed opposite to each other, at least one of the front wall (22) and the rear wall (23) is provided with a first positioning part (212); the foot end (11) is provided with a second positioning part (113) adapted to the first positioning part (212).

11. A support leg assembly, characterized in that, The support leg assembly (1) includes interconnected support leg bodies (10) and foot end structures as described in any one of claims 1 to 10.

12. The support leg assembly as claimed in claim 11, characterized in that, The foot end (11) is integrally structured with the supporting leg body (10).

13. A robot, characterized in that, Includes the foot structure as described in any one of claims 1 to 10 or the support leg assembly as described in claim 11 or 12.

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