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, which are characterized in that a pair of locking parts and a first containing space between the pair of locking parts are arranged at a foot end part; an elastic connecting part is arranged on the surface of a foot bottom buffer; when the foot end part is connected with the foot bottom buffer, the elastic connecting part is located in the first containing space, a fastening assembly is locked on the locking parts, the pair of locking parts clamps the elastic connecting part located in the first containing space, and the elastic connecting part located in the first containing space is compressed. In the application, the fastening assembly is locked on the locking parts with higher rigidity, so that the locking force between the foot bottom buffer and the foot end part is improved. Meanwhile, the elastic connecting part is clamped between the pair of locking parts, so that the locking force between the foot bottom buffer and the foot end part is further improved, and the problem that the foot bottom buffer falls off is avoided or improved.

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 locked to the hard component with screws. That is, a clearance hole is set on the surface of the soft adhesive, and a threaded hole is set on the hard component inside the soft adhesive. The screw passes through the clearance hole and the threaded hole on the hard component to fix the soft adhesive to the hard component. However, because the soft adhesive has low hardness, in order to avoid excessive deformation of the soft adhesive affecting the appearance and internal stress concentration, the locking force is small. In this way, the soft adhesive is also prone to falling off. Utility Model Content

[0004] This application provides a foot structure, a support leg assembly, and a robot, which improves the 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, and a fastening assembly;

[0006] The foot end includes a pair of locking parts disposed opposite each other, and a first accommodating space is formed between the pair of locking parts;

[0007] The surface of the foot cushioning component is provided with an elastic connecting part;

[0008] When the foot end is connected to the foot cushion, the elastic connection portion is located within the first accommodating space, and the fastening assembly is locked onto the locking portion so that the pair of locking portions clamp the elastic connection portion located in the first accommodating space and compress the elastic connection portion located in the first accommodating space.

[0009] In some embodiments of this application, the fastening component is rigidly connected to the locking portion.

[0010] In some embodiments of this application, the elastic connection portion includes a first connection portion and a second connection portion disposed opposite to each other, and a second accommodating space is provided between the first connection portion and the second connection portion;

[0011] When the foot end is connected to the foot cushion, at least a portion of the fastening assembly is disposed within the second accommodating space, and the pair of locking portions are respectively abutting against the outer surfaces of the first connecting portion and the second connecting portion; the portion of the fastening assembly located within the second accommodating space is respectively abutting against the inner surfaces of the first connecting portion and the second connecting portion.

[0012] In some embodiments of this application, the locking part is provided with a locking hole, and the fastening assembly includes a first fastener and a second fastener. The first fastener includes a supporting part and a connecting part that are fixedly connected. The supporting part is used to abut against the first connecting part and / or the second connecting part. The connecting part passes through the first connecting part or the second connecting part and is fixedly connected to the second fastener that passes through the locking hole.

[0013] In some embodiments of this application, the connecting portion is disposed on one side of the abutting portion, and the foot end structure further includes a support member disposed within the second accommodating space, which is used to abut against the side of the abutting portion away from the connecting portion during the fastening process of the first fastener, so as to limit the movement of the abutting portion and the connecting portion.

[0014] In some embodiments of this application, the first connecting portion and / or the second connecting portion are provided with positioning grooves, the positioning grooves are located within the second accommodating space, and the shape of the positioning grooves is adapted to the shape of the abutment portion.

[0015] In some embodiments of this application, the connecting portion and the locking portion are spaced apart, and along the axial direction of the locking hole, the connecting portion and the locking portion at least partially overlap.

[0016] In some embodiments of this application, the foot cushioning member covers at least a portion of the foot tip;

[0017] And / or, the foot cushioning component is an integral structure.

[0018] In some embodiments of this application, the foot cushioning member 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, with the foot end located between the front wall and the rear wall.

[0019] In some embodiments of this application, the surface of the sidewall is provided with a mounting groove adapted to the locking part, and the elastic connecting part is located in the mounting groove;

[0020] And / or, at least one of the front wall and the rear wall is provided with a first positioning part; the foot end is provided with a second positioning part adapted to the first positioning part;

[0021] And / or, the elastic connection portion connects the front wall, the rear wall, and the side wall.

[0022] 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.

[0023] In some embodiments of this application, the foot end is integrally formed with the supporting leg body.

[0024] A third aspect of this application also provides a robot, including the aforementioned foot structure or the aforementioned support leg assembly.

[0025] The foot structure in this embodiment includes a foot end, a foot cushioning component, and a fastening assembly. A pair of locking portions and a first accommodating space between the locking portions are provided at the foot end. An elastic connecting portion is provided on the surface of the foot cushioning component. When the foot end is connected to the foot cushioning component, the elastic connecting portion is located within the first accommodating space, and the fastening assembly is locked onto the locking portions. This causes the pair of locking portions to clamp the elastic connecting portion located within the first accommodating space, and compresses the elastic connecting portion within the first accommodating space. Compared to related prior art, the locking portion with higher hardness in this application is located on the outer surface, and the fastening assembly is locked onto the locking portion. That is, the fastening assembly can abut against the locking portion with higher hardness, thereby improving or avoiding the problem of insufficient locking force and easy detachment of the soft rubber caused by the fastening assembly locking onto the soft rubber.

[0026] Furthermore, in related technologies, robots move by contacting the ground with the foot cushioning component of the foot end structure. During this process, the foot cushioning component is 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 compression of the foot end. In this application, by setting the elastic connecting part in the first accommodating space and clamping the elastic connecting part located in the first accommodating space, 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.

[0027] In addition, the elastic connection is compressed and clamped between a pair of locking parts, which helps to further improve the interaction force between the elastic connection and the locking parts, and helps to further improve or avoid the problem of the foot cushion falling off.

[0028] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0029] 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.

[0030] 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.

[0031] Figure 1 This is a schematic diagram of the structure of one embodiment of the support leg assembly provided in this application;

[0032] Figure 2 yes Figure 1 A partial exploded view of the support leg assembly in the image;

[0033] Figure 3 yes Figure 2 A magnified view of a section at point A in the middle;

[0034] Figure 4 yes Figure 1 A structural schematic diagram of the support leg assembly from another perspective;

[0035] Figure 5 yes Figure 4 Schematic diagram of the cross section at point BB;

[0036] Figure 6 This is a schematic diagram of the structure of one embodiment of the fastening component provided in this application;

[0037] Figure 7 This is a schematic diagram of the structure of one embodiment of the foot cushioning device provided in this application;

[0038] Figure 8 This is a partially enlarged schematic diagram of the assembly of the locking part and the connecting part provided in the embodiments of this application;

[0039] Figure 9 This is a schematic diagram of another embodiment of the support leg assembly provided in 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. Elastic 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. 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 foot structure of existing legged robots usually consists of a rigid part (such as the foot tip) and a soft part (such as the foot cushion). The rigid part is mainly composed of metal and mainly serves a supporting function, while the soft part is usually made of silicone or rubber and mainly serves to cushion, absorb shock, and reduce noise; both are indispensable.

[0049] In related technologies, to fix soft rubber to a rigid foot end (i.e., the sole), the soft rubber is generally fixed to the hard part (such as a metal component) by applying adhesive directly to it. This method achieves a firm connection between the soft rubber and the hard part, but it makes it difficult to disassemble. Even after tearing, residual adhesive usually remains on the hard part, making maintenance inconvenient. To achieve a detachable assembly method, some related technologies directly screw the soft rubber onto the hard part. For example, clearance holes are provided on the surface of the soft rubber, and threaded holes are provided on the hard part inside the soft rubber. The screw passes through the clearance holes on the soft rubber and then through the threaded holes on the hard part to fix the soft rubber to the hard part. However, because the soft rubber has low hardness, it is usually not suitable to tighten it too much to avoid excessive deformation that affects the appearance. This also poses a risk that the soft rubber may easily 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 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 on this.

[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, allowing the foot end 11 to contact the bottom surface through the foot cushioning component 2, thus avoiding wear caused by direct contact between the rigid foot end 11 and the bottom surface. Please refer to... Figure 3 The foot end portion 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 portion 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 portion 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.

[0054] In this regard, please combine Figure 7 , Figure 7 This is a schematic diagram of one embodiment of the foot cushioning member 2 in this application. The surface of the foot cushioning member 2 is provided with an elastic connecting portion 21. When the foot end 11 is connected to the foot cushioning member 2, please refer to... Figure 3 , Figure 5 as well as Figure 9 The elastic connecting portion 21 is located within the first accommodating space 112, and the fastening component 3 is locked onto the locking portion 111, so that the pair of locking portions 111 clamp the elastic connecting portion 21 located in the first accommodating space, and compress the elastic connecting portion 21 located within the first accommodating space 112. Compared with related prior art, the locking portion with higher hardness in this application is located on the outer surface, and the fastening component is locked onto the locking portion, that is, the fastening component can abut against the locking portion with higher hardness, thereby improving or avoiding the problem of insufficient locking force caused by the fastening component locking onto the soft rubber, and the soft rubber easily falling off.

[0055] Furthermore, in related technologies, robots move by contacting the ground with the foot cushioning component of the foot end structure. During this process, the foot cushioning component is 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 compression of the foot end. In this application, by setting the elastic connecting part in the first accommodating space and clamping the elastic connecting part located in the first accommodating space, 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.

[0056] In some embodiments of this application, the fastening component 3 is rigidly connected to the locking part 111. This can also be understood as both the locking part 111 and the fastening component 3 being rigid structural members. Please refer to [link to relevant documentation]. Figure 5 and Figure 9 For example, the locking part 111 is a sheet metal component, and the fastening component 3 is a threaded locking part made of metal. The fastening component 3 is threadedly connected to the locking part 111. This helps to further increase the locking force between the locking part 111 and the elastic connecting part 21.

[0057] In some embodiments of this application, the side of the locking part 111 that contacts the elastic connecting part 21 is a roughened surface or a friction surface. In other words, the side of the locking part 111 that contacts the elastic 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 elastic 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.

[0058] In some embodiments of this application, the locking part 111 is a locking plate, and the sides of the locking plate and the elastic connecting part 21 that are opposite to each other can fit together. This is beneficial for the locking part 111 and the elastic connecting part 21 to have a larger contact area, which is beneficial for further improving the locking force between the locking part 111 and the foot cushion 2, and further improving or avoiding the problem of the foot cushion 2 easily falling off due to movement relative to the locking part 111.

[0059] In some embodiments of this application, please refer to Figure 5 and Figure 7 The elastic connecting part 21 includes a first connecting part 21a and a second connecting part 21b disposed opposite to each other, and a second accommodating space 26 is provided between the first connecting part 21a and the second connecting part 21b; when the foot end 11 is connected to the foot cushion 2, at least a portion of the fastening component 3 is disposed in the second accommodating space 26, and the pair of locking parts 111 are respectively abutting and connected to the outer surfaces of the first connecting part 21a and the second connecting part 21b; the portion of the fastening component 3 located in the second accommodating space 26 is respectively abutting and connected to the inner surfaces of the first connecting part 21a and the second connecting part 21b.

[0060] 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 elastic 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 respectively connected to a pair of locking parts 111, thereby forming a locking structure on both sides of the elastic connecting part 21, which is beneficial to further increase the locking force between the elastic connecting part 21 and the foot end 11.

[0061] Specifically, please refer to Figure 3 , Figure 5 and Figure 6The 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.

[0062] Exemplarily, the first fastener 31 is a screw, and the first fastener 31 includes an abutment portion 311 and a connecting portion 312 connected to each other. Exemplarily, the abutment portion 311 is fixedly disposed at one end of the connecting portion 312, the connecting portion 312 is cylindrical, and the plane of the abutment 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 abutment portion 311 and a locking portion 111 of one fastening component 3, and a second connecting portion 21b is clamped between the abutment portion 311 and another locking portion 111 of the other fastening component 3. Please refer to... Figure 7 The elastic connecting part 21 is provided with a clearance hole 211, and the abutment part 311 is located within the second accommodating space 26. When the foot end 11 is connected to the foot cushion 2, the connecting part 312 is located within the clearance hole 211, and the screw passes through the locking hole 114 and is threadedly connected to the connecting part 312. The two sides of the elastic connecting part 21 are elastically abuttingly connected to the abutment part 311 and the locking part 111 on the same side, respectively. In this way, each elastic connecting part 21 can be fixed to the corresponding locking part 111 by a corresponding screw, and a pair of locking parts 111 and a pair of elastic connecting parts 21 form a series-locking structure, which is beneficial to further improve the locking force between the foot cushion 2 and the foot end 11.

[0063] Further, please refer to Figure 3 and Figure 5 The connecting part 312 is disposed on one side of the supporting part 311. The foot end structure also includes a support member 4, which is disposed in the second accommodating space 26 and is used to abut against the side of the supporting part 311 away from the connecting part 312 during the fastening of the first fastener 31, so as to limit the movement of the supporting part 311 and the connecting part 312.

[0064] 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 to move closer to the elastic 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 elastic 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.

[0065] In some embodiments of this application, 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 grooves 27 is adapted to the shape of the supporting portion 311. This helps to improve assembly accuracy.

[0066] 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.

[0067] 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.

[0068] For example, both the first connecting portion 21a and the second connecting portion 21b are provided with positioning grooves 27. Further, the abutment 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 elastic connecting portion 21 during thread tightening, thus avoiding inconvenience in assembly and disassembly.

[0069] 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.

[0070] 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.

[0071] 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 elastic connecting part 21 and the locking part 111 on the same side. Thus, during screw tightening, the supporting part 311, driven by the screw, compresses the elastic connecting part 21, causing elastic deformation. The elastic 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 elastic 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 damage caused by excessive compression of the elastic connecting part 21 located between the locking part 111 and the supporting part 311. 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 elastic connecting part 21 on the same side and the locking part 111, can be set according to specific circumstances, and are not limited here.

[0072] In some embodiments of this application, the surface of the foot cushion 2 is provided with a mounting groove 25 that is 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 abuts against the locking part 111, and the locking part 111 and the elastic connecting part 21 are fixedly connected; the elastic connecting part 21 is compressed, and at least a portion of the elastic connecting part 21 is located within the first accommodating space 112. Exemplarily, the elastic connecting part 21 is located within the first accommodating space 112, which helps to increase the locking force between the elastic connecting part 21 and the locking part 111, and makes the foot end structure in this application more compact and reduces volume.

[0073] In some embodiments of this application, the foot cushion 2 covers at least a portion of the foot end 11.

[0074] 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 at the foot end 11; the foot cushion 2 covers the foot end 11, and its surface is provided with a mounting groove 25 adapted to the locking part 111 and an elastic 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 assembly 3 abuts against the locking part 111, and fixes the locking part 111 and the elastic connecting part 21; the elastic 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 elastic connecting part 21 in this application is compressed and at least partially located within the first accommodating space 112, that is, the elastic 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 elastic 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.

[0075] 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.

[0076] In some embodiments of this application, the elastic 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 cushioning member 2.

[0077] 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.

[0078] In some embodiments of this application, the foot cushion 2 is provided with a second accommodating space 26, which is located between a pair of elastic connecting portions 21. This helps to avoid the elastic 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 cushion 2, thereby reducing costs.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0084] 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 tip (11), the foot cushioning component (2), and the fastening assembly (3); The foot end (11) includes a pair of locking parts (111) disposed opposite each other, and a first accommodating space (112) is formed between the pair of locking parts (111); The surface of the foot cushioning component (2) is provided with an elastic connecting part (21); When the foot end (11) is connected to the foot cushion (2), the elastic connection part (21) is located in the first accommodating space (112), and the fastening component (3) is locked on the locking part (111) so that the pair of locking parts (111) clamp the elastic connection part (21) located in the first accommodating space and compress the elastic connection part (21) located in the first accommodating space.

2. The foot-end structure as described in claim 1, characterized in that, The fastening component (3) is rigidly connected to the locking part (111).

3. The foot-end structure as described in claim 1, characterized in that, The elastic connecting part (21) includes a first connecting part (21a) and a second connecting part (21b) disposed opposite to each other, and a second accommodating space (26) is provided between the first connecting part (21a) and the second connecting part (21b); When the foot end (11) is connected to the foot cushion (2), at least a portion of the fastening assembly (3) is disposed in the second accommodating space (26), and the pair of locking portions (111) are respectively abutting and connected to the outer surfaces of the first connecting portion (21a) and the second connecting portion (21b); the portion of the fastening assembly (3) located in the second accommodating space (26) is respectively abutting and connected to the inner surfaces of the first connecting portion (21a) and the second connecting portion (21b).

4. The foot-end structure as described in claim 3, characterized in that, The locking part (111) is provided with a locking hole (114). The fastening assembly (3) includes a first fastener (31) and a second fastener (32). The first fastener (31) includes a fixedly connected abutment part (311) and a connecting part (312). The abutment 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).

5. The foot-end structure as described in claim 4, characterized in that, The connecting part (312) is disposed on one side of the supporting part (311), and the foot end structure further includes a support member (4), which is disposed in the second accommodating space (26) and is used to abut against the side of the supporting part (311) away from the connecting part (312) during the fastening of the first fastener (31) to limit the movement of the supporting part (311) and the connecting part (312).

6. The foot-end structure as described in claim 4, characterized in that, The first connecting part (21a) and / or the second connecting part (21b) are provided with positioning grooves (27), the positioning grooves (27) are located in the second accommodating space (26), and the shape of the positioning grooves (27) is adapted to the shape of the abutment part (311).

7. The foot-end structure as described in claim 4, characterized in that, The connecting portion (312) is spaced apart from the locking portion (111), and along the axial direction of the locking hole (114), the connecting portion (312) and the locking portion (111) at least partially overlap.

8. The foot-end structure as described in any one of claims 1 to 7, 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) 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), with the foot end (11) located between the front wall (22) and the rear wall (23).

10. The foot-end structure as described in claim 9, characterized in that, The side wall surface is provided with a mounting groove (25) that is adapted to the locking part (111), and the elastic connecting part (21) is located in the mounting groove (25); And / or, 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); And / or, the elastic connection (21) connects the front wall (22), the rear wall (23), and the side wall (24).

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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