Robotic foot and robot

Abstract

The utility model provides a kind of robot sole and robot, robot sole includes tip, sole main body and elastic member;Tip and sole main body are rotatably connected, so that robot sole has passive degree of freedom in walking process, improve the stability and flexibility of robot walking.Elastic member is rotatably connected with tip and sole main body respectively, the rotating direction of sole main body relative to tip is same with the rotating direction of elastic member relative to tip and sole main body;Elastic member is deformable in the direction from the one end of sole main body towards tip to the one end of sole main body away from tip.Elastic member can be deformed to play the role of buffering, effectively absorb the impact force generated in the instant of landing, reduce the noise generated when walking.Elastic member deforms along the length direction of robot sole, and the deformation space is larger, which can provide greater range of buffering force, reduce the overall thickness size of robot sole, and can be adapted to more models and sizes of robot, improve the scope of application.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robot foot and a robot. Background Technology

[0002] In existing technologies, humanoid robots can simulate human walking on roads. However, during the robot's walking process, the moment its feet touch the ground, a significant impact force is generated, which may cause wear or minor damage to the ground. At the same time, the impact force is transmitted through the body to the internal structure and electrical components, which may lead to mechanical fatigue and component loosening in the long run, reducing the robot's reliability. In addition, the noise generated by the impact not only affects the surrounding environment but may also interfere with sensor performance, thereby affecting the accuracy of the robot's motion control.

[0003] Currently, the feet of humanoid robots are mostly rigid flat structures. Soft materials (such as silicone or foam) are used to cushion the feet during walking, reducing the impact on the ground. However, to ensure the robot's stability while walking, the soft material covering the feet cannot be too thick. Reducing the thickness of the soft material, on the other hand, increases the impact force and noise generated when the robot walks.

[0004] Furthermore, existing flat feet lack the passive joints and elastic deformation capabilities of human feet. This results in robots being unable to achieve a natural gait, lacking flexibility, and struggling to adapt to complex terrain, thus limiting their mobility and application scenarios. Utility Model Content

[0005] The technical problem to be solved by this utility model is to overcome the shortcomings of existing robot foot structures, such as lack of passive degrees of freedom, poor flexibility, and large impact force and noise generated during walking, and to provide a robot foot and robot.

[0006] The present invention solves the above-mentioned technical problems through the following technical solution:

[0007] A robotic foot, the robotic foot comprising a toe, a foot body, and an elastic element;

[0008] The toe and the main body of the foot are rotatably connected, and the two ends of the elastic element are respectively rotatably connected to the toe and the main body of the foot. The rotation direction of the main body of the foot relative to the toe is the same as the rotation direction of the elastic element relative to the toe and the main body of the foot.

[0009] The elastic element is deformable in a first direction, which is from the end of the foot body facing the toe to the end of the foot body away from the toe;

[0010] When the end of the foot body away from the toe rotates toward the toe, the length of the elastic element in the first direction lengthens; when the end of the foot body away from the toe rotates toward the direction away from the toe, the length of the elastic element in the first direction shortens.

[0011] In this design, the rotational connection between the toe and the main body of the foot grants the robot's foot passive degrees of freedom during walking. Like a human foot, it can flex and adapt upon landing, improving the robot's stability and flexibility. When the main body of the foot rotates relative to the toe, the elastic element deforms to cushion the impact, effectively absorbing the force generated upon landing and reducing damage to the ground and the possibility of this force being transmitted to internal structures and electrical components, thus enhancing the robot's reliability. Furthermore, the reduced impact also lowers noise, minimizing interference with the surrounding environment. In addition, the elastic element rotates synchronously with the main body of the foot relative to the toe, ensuring its deformation direction remains constant and providing consistent cushioning. The larger length of the robot's foot allows for greater deformation space for the elastic element, providing a wider range of cushioning force, reducing the overall thickness of the robot's foot, and enabling it to adapt to more robot models and sizes, thus expanding its applicability.

[0012] Preferably, the foot body includes an arch portion, the end of the arch portion facing the toe in the first direction is directly rotatably connected to the toe, and the end of the arch portion away from the toe in the first direction is rotatably connected to the elastic element.

[0013] In this design, the elastic element is rotatably connected to the end of the arch of the foot away from the toes, which increases the length of the elastic element in the first direction, thereby increasing the deformation range of the elastic element to provide a wider range of cushioning force, reducing the overall thickness of the robot's foot, and enabling it to be adapted to more models and sizes of robots, thus improving its applicability.

[0014] Preferably, the robot foot includes a first connecting component, the first connecting component including a support column and two connecting seats spaced apart along the width direction of the robot foot, the support column being disposed between the two connecting seats and extending along the width direction of the robot foot;

[0015] The arch portion has a connecting hole at one end facing the toe in the first direction for the support column to pass through, and the two axial ends of the support column pass through the connecting hole and are connected to the connecting seat on the corresponding side.

[0016] In this solution, a direct rotatable connection between the arch and the toe is provided. This configuration ensures that the force is evenly distributed at the connection between the arch and the toe, thereby improving the stability of the robot during walking.

[0017] Preferably, the robot foot further includes a second connecting component and a third connecting component, the elastic element being rotatably connected to the toe via the second connecting component, and the elastic element being rotatably connected to the arch via the third connecting component;

[0018] At least one of the second connecting assembly and the third connecting assembly includes a connecting post and two fixed seats spaced apart along the width direction of the robot's foot. The connecting post is connected between the two fixed seats and extends along the width direction of the robot's foot. The elastic element is rotatably connected to the connecting post.

[0019] In this solution, the above-mentioned configuration allows for easy adjustment of the position of the elastic element in the width direction of the robot's foot, thereby improving the cushioning effect.

[0020] Preferably, at least one of the second connecting assembly and the third connecting assembly further includes a bushing, the bushing being sleeved on the outer periphery of the connecting post and rotatable relative to the connecting post, the elastic element being connected to the connecting post through the bushing.

[0021] In this design, the elastic element rotates relative to the toe and foot body via a bushing. This keeps the relative position between the elastic element and the bushing constant, reducing wear on the elastic element due to its own rotation, increasing its service life, and improving the stability of the structure.

[0022] Preferably, the outer peripheral surface of the bushing is recessed towards the radially inner side of the bushing to form a positioning groove, and at least part of the end of the elastic element connected to the bushing is located within the positioning groove.

[0023] In this design, the positioning groove can effectively prevent the elastic element from moving axially in the bushing, thus ensuring the stability of the elastic element relative to the bushing. This allows the elastic element to more accurately perform its buffering and elastic deformation functions, improving the stability and reliability of the entire robot foot structure and avoiding abnormal foot movement or failure caused by loose elastic elements.

[0024] Preferably, there are multiple elastic elements, and the multiple elastic elements are spaced apart along the width direction of the robot's foot;

[0025] Each bushing has a plurality of positioning grooves spaced apart along the width direction of the robot's foot. The number of positioning grooves is the same as the number of elastic elements and they are arranged in a one-to-one correspondence. At least one end of the elastic element connected to the bushing is accommodated in the corresponding positioning groove.

[0026] In this design, the use of multiple elastic elements not only alters the rigidity of the robot's foot to accommodate heavier robots but also achieves better load distribution and cushioning. Multiple elastic elements can simultaneously distribute the pressure generated when the robot's foot contacts the ground, ensuring effective support and cushioning at different locations. This further enhances the stability and impact resistance of the robot's foot, making the force distribution more even across the robot's body during walking, reducing the risk of damage caused by excessive localized stress, and improving the overall durability of the foot structure. Each elastic element is limited by a corresponding positioning groove, ensuring that the multiple elastic elements do not interfere with each other during operation and independently perform their cushioning function, further improving the cushioning performance of the robot's foot.

[0027] Preferably, the foot body further includes a heel portion, which is located on the side of the arch portion away from the toes in the first direction;

[0028] The robot foot also includes a cushioning pad and a support pad. The two ends of the cushioning pad in the thickness direction of the robot foot abut against the heel and the support pad, respectively. The elastic element and the cushioning pad are located on the same side of the foot body in the thickness direction of the robot foot.

[0029] In this design, during normal walking, the robot's heel lands first, generating a significant impact force. Therefore, adding a cushioning pad to the heel reduces this impact and further lowers noise. The elastic element is located at the bottom of the robot's foot, preventing interference with the limbs above it. Furthermore, the cushioning and support pads at the heel elevate the foot, creating space for the elastic element on the side of the foot with these pads, facilitating its placement.

[0030] Preferably, the support pad includes a support portion, an extension portion, and a connecting portion. The support portion abuts against one end of the cushioning pad in the thickness direction of the robot foot away from the heel. One end of the extension portion is connected to the support portion, and the other end of the extension portion extends toward the foot body and is connected to the connecting portion. The connecting portion is connected to the foot body, and the heel and the support pad form a receiving space for accommodating the cushioning pad.

[0031] In this design, the support structure provides a stable support base for the buffer pad, preventing the buffer pad from directly contacting the ground and reducing wear on the buffer pad.

[0032] Preferably, the extension is inclined in the first direction.

[0033] In this solution, the above-mentioned arrangement allows a gap to be formed between the buffer pad and the extension, thereby providing a certain deformation space for the buffer pad. This allows the buffer pad to deform and recover freely when compressed, preventing the buffer pad from being affected by excessive constraints or damaged. This ensures that the buffer pad can always be in good working condition, thereby guaranteeing the cushioning effect of the foot and the normal operation of the robot.

[0034] Preferably, the robot foot further includes a first limiting component and a second limiting component, the cushioning pad is connected to the heel portion through the first limiting component, and the cushioning pad is connected to the support portion through the second limiting component;

[0035] At least one of the first limiting component and the second limiting component includes a mutually cooperating limiting groove and a limiting block. One of the limiting groove and the limiting block is located on one end face of the cushioning pad in the thickness direction of the robot's foot, and the other of the limiting groove and the limiting block is located on the heel or the end face of the support pad facing the cushioning pad in the thickness direction of the robot's foot.

[0036] In this solution, the limiting component can restrict the movement of the cushioning pad relative to the foot body and the support pad, preventing the cushioning pad from shifting or moving when subjected to large impacts or during long-term use, thus ensuring the continuity and reliability of the cushioning effect.

[0037] Preferably, when the foot body rotates relative to the toes, the deformation direction of the elastic element is parallel to the arch of the foot at least in one of the rotational positions of the foot body.

[0038] In this solution, the above-mentioned settings enable the robot's feet to more accurately simulate the passive degrees of freedom of human walking, thereby improving the robot's walking flexibility.

[0039] A robot comprising robotic feet as described above.

[0040] The significant advantages of this invention are as follows: the rotational connection between the toe and the main body of the foot allows the robot's foot to have passive degrees of freedom during walking, enabling it to flex and adapt upon landing, similar to a human foot, thus improving the robot's stability and flexibility. When the main body of the foot rotates relative to the toe, the elastic element can deform to provide cushioning, effectively absorbing the impact force generated upon landing, reducing damage to the ground and the possibility of the impact force being transmitted to the internal structure and electrical components through the body, thereby improving the robot's reliability. Furthermore, the reduced impact force also lowers noise, avoiding interference with the surrounding environment. In addition, the elastic element can rotate synchronously with the main body of the foot relative to the toe, ensuring that the deformation direction of the elastic element relative to the main body remains unchanged, providing a consistently stable cushioning effect. Moreover, the larger space along the length of the robot's foot provides greater deformation space for the elastic element, offering a wider range of cushioning force, reducing the overall thickness of the robot's foot, and allowing it to adapt to more robot models and sizes, thus expanding its applicability. Attached Figure Description

[0041] Figure 1 This is a three-dimensional structural diagram of the robot foot according to an embodiment of the present invention.

[0042] Figure 2 This is a schematic diagram of the exploded structure of a robot foot according to an embodiment of the present invention.

[0043] Figure 3 This is a side view of the robot's foot in the initial state according to an embodiment of the present invention.

[0044] Figure 4 This is a side view of the robot's foot when the elastic element is in a deformed state, according to an embodiment of the present invention.

[0045] Figure 5 This is a top-view structural diagram of the robot's foot according to an embodiment of the present invention.

[0046] Explanation of reference numerals in the attached figures:

[0047] toes 1

[0048] Connector 11

[0049] Support column 12

[0050] First connector 13

[0051] Foot body 2

[0052] Arch 21

[0053] Connection hole 211

[0054] Heel 22

[0055] Elastic element 3

[0056] First fixed seat 41

[0057] Second fixing seat 42

[0058] Third fixed seat 43

[0059] Fourth fixed seat 44

[0060] First connecting post 45

[0061] Second connecting post 46

[0062] First bushing 47

[0063] Second bushing 48

[0064] Second connector 49

[0065] Positioning groove 410

[0066] 5 cushioning pads

[0067] Support pad 6

[0068] Support part 61

[0069] Extension 62

[0070] Connecting part 63

[0071] Capacity 7

[0072] First protrusion

[0073] First groove 81

[0074] Second protrusion 82 Detailed Implementation

[0075] The present invention will be described more clearly and completely below with reference to the accompanying drawings, using a preferred embodiment.

[0076] This embodiment discloses a robot, including as follows: Figures 1-4 The robot's foot is shown. The robot's foot includes a toe 1, a foot body 2, and an elastic element 3. The toe 1 and the foot body 2 are rotatably connected. The two ends of the elastic element 3 are rotatably connected to both the toe 1 and the foot body 2. The rotation direction of the foot body 2 relative to the toe 1 is the same as the rotation direction of the elastic element 3 relative to both the toe 1 and the foot body 2. The elastic element 3 extends from the end of the foot body 2 facing the toe 1 to the end of the foot body 2 away from the toe 1 (hereinafter referred to as the "first direction"). Figure 3The elastic element 3 is deformable in the X direction. When the end of the foot body 2 away from the toe 1 rotates towards the toe 1 (i.e., the robot foot raises its heel), the elastic element 3 is stretched, and its length in the first direction increases. When the end of the foot body 2 away from the toe 1 rotates towards the direction away from the toe 1 (i.e., the robot foot lowers its heel), the elastic element 3 returns to its original position, and its length in the first direction decreases.

[0077] Specifically, such as Figures 1-4 As shown, the foot body 2 includes an arch portion 21 and a heel portion 22 arranged sequentially in a first direction, with the toe 1 located at the end of the arch portion 21 away from the heel portion 22 in the first direction. The end of the arch portion 21 facing the toe 1 in the first direction is directly rotatably connected to the toe 1, and the end of the arch portion 21 away from the toe 1 in the first direction is rotatably connected to an elastic member 3. Since the other end of the elastic member 3 is rotatably connected to the toe 1, the end of the arch portion 21 away from the toe 1 in the first direction is indirectly rotatably connected to the toe 1 through the elastic member 3.

[0078] In this embodiment, the elastic element 3 is a tension spring. One end of the tension spring is rotatably connected to the toe 1, and the end of the tension spring away from the toe 1 is rotatably connected to the end of the arch portion 21 facing the heel portion 22 in the first direction. When the robot lifts its foot, the foot body 2 lifts first, and the end of the foot body 2 away from the toe 1 rotates in the direction of the toe 1. The tension spring rotates synchronously with the foot body 2 relative to the toe 1, causing it to be stretched. When the robot lowers its foot, the foot body 2 is lowered, and the end of the foot body 2 away from the toe 1 rotates in the direction away from the toe 1. The tension spring rotates synchronously with the foot body 2 relative to the toe 1 to achieve contraction and return to its original position.

[0079] Since the two ends of the tension spring are rotatably connected to the toe 1 and the foot body 2, the position of the tension spring relative to the foot body 2 remains basically unchanged as the tension spring rotates in the same direction as the foot body 2. Therefore, the deformation direction of the tension spring will not change during the rotation of the foot body 2, so that the tension spring always deforms in the first direction and can always play a stable cushioning role.

[0080] In this embodiment, the rotational connection between the toe 1 and the foot body 2 gives the robot's foot passive degrees of freedom during walking, allowing it to flex and adapt upon landing, similar to a human foot, thereby improving the robot's walking stability and flexibility. When the foot body 2 rotates relative to the toe 1, the elastic element 3 can deform to act as a buffer, effectively absorbing the impact force generated upon landing, reducing damage to the ground and the possibility of the impact force being transmitted to the internal structure and electrical components through the robot body, thus improving the robot's reliability. Furthermore, the reduced impact force also lowers noise, avoiding interference with the surrounding environment.

[0081] Furthermore, the elastic element 3 can rotate synchronously with the foot body 2 relative to the toe 1, so that the deformation direction of the elastic element 3 relative to the foot body 2 remains unchanged, which can always play a stable cushioning role. Moreover, the space in the length direction of the robot foot is large, which can provide a larger deformation space for the elastic element 3 to provide a wider range of cushioning force, reduce the overall thickness of the robot foot, and can be adapted to more models and sizes of robots, thus increasing the scope of application. For example, it can be applied to service robots, industrial robots, and home assistant robots.

[0082] It should be noted that, as Figure 3 and Figure 4 As shown, the first direction in this embodiment specifically refers to the direction parallel to the arch portion 21. That is, since the arch portion 21 in this embodiment is inclined from bottom to top in the direction from the end near the toe 1 to the end near the heel portion 22, the elastic element 3 is also inclined from bottom to top in the direction from the end near the toe 1 to the end near the heel portion 22, thereby more accurately simulating the direction of passive degrees of freedom when humans walk.

[0083] In this embodiment, since both ends of the elastic element 3 are rotatably connected to the toe 1 and the foot body 2, when the foot body 2 rotates relative to the toe 1, the elastic element 3 rotates synchronously with the foot body 2 to ensure that the positions of the elastic element 3 and the arch portion 21 do not change, and the deformation direction of the elastic element 3 is always parallel to the arch portion 21. In other alternative embodiments, the relative positions of the elastic element 3 and the arch portion 21 can change. When the foot body 2 rotates relative to the toe 1, the deformation direction of the elastic element 3 is parallel to the arch portion 21 at least in one rotational position of the foot body 2, so that the robot foot can more accurately simulate the passive degree of freedom direction of human walking and improve the flexibility of robot walking.

[0084] In other alternative implementations, the first direction is not limited to the direction parallel to the arch of the foot 21, but can be approximately the same as the length direction of the robot's foot. For example, the first direction can be a direction parallel to the horizontal plane, or a direction that forms a small angle with the horizontal plane.

[0085] In other alternative embodiments, the elastic element 3 can also adopt other structures, such as compression springs, elastic cords, etc. This embodiment chooses a tension spring as the elastic element 3 because tension springs have good elasticity and stability, and can provide reliable elastic force when the toe 1 rotates relative to the foot body 2. Furthermore, tension springs have high structural strength, are not prone to wear, and have a long service life.

[0086] In other alternative embodiments, the end of the elastic member 3 furthest from the toe 1 can also be connected to other locations on the arch 21, such as the middle of the arch 21, or the end of the elastic member 3 furthest from the toe 1 can also be connected to the heel 22, as long as sufficient cushioning is provided for the robot. In this embodiment, the end of the elastic member 3 furthest from the toe 1 is designed to be connected to the end of the arch 21 facing the heel 22 in the first direction. This increases the length of the elastic member 3 in the first direction, increases the deformation range of the elastic member 3, provides a wider range of cushioning force, reduces the overall thickness of the robot's foot, and can be adapted to more models and sizes of robots, thus improving its applicability.

[0087] Furthermore, such as Figure 2 As shown, in this embodiment, the foot body 2 is an integral structure, with the arch portion 21 and the heel portion 22 being two parts of the foot body 2. In other alternative embodiments, the arch portion 21 and the heel portion 22 can also be two independently formed structures, assembled by a fixed connection to ensure that the relative positions of the arch portion 21 and the heel portion 22 are fixed.

[0088] like Figure 1 and Figure 2 As shown, the robot's foot also includes a first connecting assembly, which includes a support column 12 and two supports along the width direction of the robot's foot. Figure 1 Connecting seats 11 are spaced apart in the Y direction (as shown in the diagram). Each connecting seat 11 is fixed to the upper surface of the toe 1. A support column 12 is positioned between the two connecting seats 11 and extends along the width direction of the robot's foot. The arch portion 21 has a connecting hole 211 at its end facing the toe 1 in the first direction, through which the support column 12 passes. The connecting hole 211 extends through both ends in the width direction of the robot's foot. The axial ends of the support column 12 pass through the connecting hole 211. A first connecting member 13 passes through the connecting seat 11 from the outside to connect with the support column 12, thus fixing the position of the support column 12 relative to the connecting seat 11 and allowing the arch portion 21 to rotate relative to the support column 12. In this embodiment, the support column 12 provides support for the arch portion 21, ensuring uniform force distribution at the connection point between the arch portion 21 and the toe 1, thereby improving the stability of the robot during walking.

[0089] In this embodiment, the first connector 13 can be a bolt, pin, or other similar structure. In other alternative embodiments, the connection between the support column 12 and the connecting seat 11 can also be achieved in other ways, such as snap-fit.

[0090] like Figure 1 and Figure 2As shown, the robot's foot also includes a second connecting component and a third connecting component. The elastic element 3 is rotatably connected to the toe 1 through the second connecting component, and the elastic element 3 is rotatably connected to the arch portion 21 through the third connecting component. In this embodiment, the elastic element 3 is located at the lower end of the foot body 2 to avoid interference with the limbs above the robot's foot.

[0091] Specifically, such as Figure 2 and Figure 5 As shown, the second connecting assembly includes a first fixing seat 41, a second fixing seat 42, a first connecting post 45, and a first bushing 47. The first fixing seat 41 and the second fixing seat 42 are fixed to the toe 1 and located on the side of the connecting seat 11 facing the foot body 2. The first fixing seat 41 and the second fixing seat 42 are spaced apart along the width direction of the robot's foot. The first connecting post 45 extends along the width direction of the robot's foot and is located between the first fixing seat 41 and the second fixing seat 42. A second connecting member 49 passes through the first fixing seat 41 and the second fixing seat 42 from the outside to connect with the first connecting post 45, thereby fixing the position of the first connecting post 45 relative to the first fixing seat 41 and the second fixing seat 42. The first bushing 47 is sleeved on the outer periphery of the first connecting post 45 and can rotate relative to the first connecting post 45. The rotation direction of the first bushing 47 is the same as the rotation direction of the foot body 2 relative to the toe 1. The end of the elastic element 3 facing the toe 1 is connected to the first bushing 47. The elastic element 3 is indirectly rotatably connected to the first connecting post 45 through the first bushing 47, thereby realizing rotation relative to the toe 1.

[0092] like Figure 2 and Figure 5 As shown, the third connecting assembly includes a third fixing seat 43, a fourth fixing seat 44, a second connecting post 46, and a second bushing 48. The third fixing seat 43 and the fourth fixing seat 44 are fixed to the lower end face of the arch portion 21 and located at the end of the arch portion 21 facing the heel portion 22. The third fixing seat 43 and the fourth fixing seat 44 are spaced apart along the width direction of the robot's foot. The second connecting post 46 extends along the width direction of the robot's foot and is located between the third fixing seat 43 and the fourth fixing seat 44. A second connecting member 49 passes through the third fixing seat 43 and the fourth fixing seat 44 from the outside to connect with the second connecting post 46, thereby fixing the position of the second connecting post 46 relative to the third fixing seat 43 and the fourth fixing seat 44. The second bushing 48 is sleeved on the outer periphery of the second connecting post 46 and can rotate relative to the second connecting post 46. The rotation direction of the second bushing 48 is the same as the rotation direction of the foot body 2 relative to the toe 1. The end of the elastic element 3 away from the toe 1 is connected to the second bushing 48. The elastic element 3 is indirectly rotatably connected to the second connecting post 46 through the second bushing 48, thereby realizing rotation relative to the foot body 2.

[0093] In this embodiment, the elastic element 3 is connected to the toe 1 and the foot body 2 via a connecting post, facilitating adjustment of the position of the elastic element 3 in the width direction of the robot's foot to improve the cushioning effect. The elastic element 3 rotates relative to the toe 1 and the foot body 2 via a bushing, thereby keeping the relative position between the elastic element 3 and the bushing constant, reducing wear on the elastic element 3 due to its own rotation, increasing the service life of the elastic element 3, and improving the stability of the structure.

[0094] In this embodiment, the second connector 49 can specifically be a bolt, pin, or other similar structure. In other alternative embodiments, the connection between the connecting column and the fixed seat can also be achieved in other ways, such as snap-fit.

[0095] In other alternative embodiments, the connection between the elastic element 3 and the toe 1 or the foot body 2 can also be different. For example, instead of using a bushing, the tension spring can be directly hung on the connecting post, and the tension spring can rotate directly relative to the connecting post. Further, in this embodiment, the connection between the elastic element 3 and the toe 1 is the same as the connection between the elastic element 3 and the foot body 2. In other alternative embodiments, the connection between the elastic element 3 and the toe 1 can also be different from the connection between the elastic element 3 and the foot body 2. For example, the end of the elastic element 3 facing the toe 1 can be rotatably connected to the toe 1 through the first bushing 47, and the end of the elastic element 3 away from the toe 1 can be directly rotatably connected to the second connecting post 46, thereby achieving a rotatable connection with the foot body 2.

[0096] In other alternative implementations, the elastic element 3 can also be located at the upper end of the foot body 2 to avoid interference with the limbs above the robot's foot.

[0097] like Figure 2 and Figure 5 As shown, the outer circumferential surface of the bushing is recessed radially inward to form a positioning groove 410. At least part of the end of the elastic element 3 connected to the bushing is located within the positioning groove 410. The positioning groove 410 can effectively prevent the elastic element 3 from moving axially in the bushing, ensuring the stability of the elastic element 3 relative to the bushing. This allows it to more accurately perform its buffering and elastic deformation functions, improving the stability and reliability of the entire robot foot structure and avoiding abnormal foot movement or failure caused by loosening of the elastic element 3.

[0098] Furthermore, such as Figure 2As shown, in this embodiment, there are multiple elastic elements 3, specifically three. The three elastic elements 3 are spaced apart along the width direction of the robot's foot. A single bushing is provided with multiple positioning grooves 410 spaced apart along the width direction of the robot's foot. The number of positioning grooves 410 is the same as the number of elastic elements 3 and they are arranged one-to-one. The end of the elastic element 3 connected to the bushing is at least partially accommodated in the corresponding positioning groove 410, so that each elastic element 3 is limited by the corresponding positioning groove 410, ensuring that the multiple elastic elements 3 do not interfere with each other during operation and play an independent buffering role, further improving the buffering performance of the robot's foot.

[0099] In this embodiment, the multiple elastic elements 3 not only alter the rigidity of the robot's foot to accommodate heavier robots, but also achieve better load distribution and cushioning. The multiple elastic elements 3 can simultaneously distribute the pressure generated when the robot's foot contacts the ground, ensuring effective support and cushioning at different locations. This further enhances the stability and impact resistance of the robot's foot, making the force distribution more even across the robot's body during walking, reducing the risk of damage caused by excessive localized stress, and improving the overall durability of the foot structure.

[0100] In other alternative implementations, the number of elastic elements 3 can be different, but at least one, and can be determined based on factors such as the robot's model and size. Adjusting the number of elastic elements 3 changes the rigidity of the robot's feet to adapt to different walking environments and load conditions. The more elastic elements 3 there are, the higher the rigidity of the robot's feet, making it more suitable for heavy-duty robots.

[0101] During normal walking, the robot's heel 22 lands first, generating a significant impact force on the ground. Therefore, if... Figure 2 and Figure 3 As shown, the robot foot in this embodiment also includes a cushioning pad 5 and a support pad 6. The cushioning pad 5 is located in the thickness direction of the robot foot. Figure 3 The two ends of the foot (in the Z direction) respectively abut against the heel part 22 and the support pad 6. In this embodiment, the support pad 6 is fixedly connected to the foot body 2 to fix the position of the support pad 6 relative to the foot body 2. The foot body 2 and the support pad 6 clamp the cushioning pad 5 to fix the position of the cushioning pad 5. In this embodiment, by further providing the cushioning pad 5 in the heel part 22, the impact force generated by the heel part 22 hitting the ground can be reduced, and noise can be further reduced.

[0102] In this embodiment, the cushioning pad 5 is made of high-performance microporous polyurethane elastomer material, which can deform in the thickness direction of the foot body 2 to absorb the impact force generated at the heel. The thickness and deformation capacity of the cushioning pad 5 can be selected according to the actual robot being adapted, as long as the deformation of the cushioning pad 5 meets the expectations and does not affect the robot's normal walking.

[0103] In other alternative embodiments, the cushioning pad 5 can also be made of other highly elastic cushioning materials capable of achieving the above-mentioned functions. Highly elastic cushioning materials can effectively absorb impact energy during walking, reducing damage to the ground and noise. This characteristic helps protect the ground, especially in indoor environments.

[0104] like Figure 2 and Figure 3 As shown, the elastic element 3 and the cushioning pad 5 are located on the same side of the foot body 2 in the thickness direction of the robot's foot, that is, at the lower end of the foot body 2. The placement of the elastic element 3 and the cushioning pad 5 at the lower end of the heel 22 raises the height of the heel 22, increasing the distance between the heel 22 and the ground. This creates a space for the elastic element 3 on the side of the foot body 2 where the cushioning pad 5 and the support pad 6 are located, facilitating its placement, preventing friction between the elastic element 3 and the ground during walking, improving the service life of the elastic element 3, and enhancing the stability of the robot's walking.

[0105] like Figure 2 and Figure 3 As shown, the support pad 6 includes a support portion 61, an extension portion 62, and a connecting portion 63. The support portion 61 abuts against the end of the cushioning pad 5 away from the heel portion 22 in the thickness direction of the robot's foot. One end of the extension portion 62 is connected to the support portion 61, and the other end of the extension portion 62 extends towards the foot body 2 and is connected to the connecting portion 63. The connecting portion 63 is connected to the foot body 2. The heel portion 22 and the support pad 6 form a receiving space 7 for accommodating the cushioning pad 5. The support portion 61 provides a stable support base for the cushioning pad 5, preventing the cushioning pad 5 from directly contacting the ground and reducing wear on the cushioning pad 5.

[0106] Furthermore, such as Figure 3As shown, the extension 62 is inclined in the first direction. Specifically, the extension 62 is located on the side of the cushioning pad 5 facing the arch portion 21 in the first direction, and the connecting part 63 is connected to the arch portion 21. The extension 62 is inclined from top to bottom in the direction from the toe 1 to the heel portion 22, so that a gap can be formed between the cushioning pad 5 and the extension 62. The end of the receiving space 7 away from the arch portion 21 in the first direction is an open end, that is, the end of the cushioning pad 5 away from the arch portion 21 in the first direction is exposed. The gap between the cushioning pad 5 and the extension 62 and the open end of the receiving space 7 can provide a certain deformation space for the cushioning pad 5, so that the cushioning pad 5 can freely deform and recover when compressed, avoiding the cushioning pad 5 from being affected by excessive restraint or causing damage, ensuring that the cushioning pad 5 can always be in good working condition, thereby ensuring the cushioning effect of the foot and the normal operation of the robot.

[0107] In other alternative embodiments, the extension 62 may also be located on the side of the cushioning pad 5 away from the arch portion 21 in the first direction, or the extension 62 may be provided on the outer periphery of the cushioning pad 5. In this embodiment, the extension 62 is designed to be located on the side of the cushioning pad 5 facing the arch portion 21 in the first direction so that the connecting part 63 does not occupy the space of the heel portion 22, so that the heel portion 22 can fully contact the cushioning pad 5, thereby improving the cushioning effect on the heel portion 22.

[0108] Furthermore, such as Figure 2 As shown, the robot's foot also includes a first limiting component and a second limiting component. The cushioning pad 5 is connected to the heel portion 22 via the first limiting component, and the cushioning pad 5 is connected to the support portion 61 via the second limiting component.

[0109] Specifically, the first limiting component includes a first protrusion (not shown in the figure) and a first groove 81 that cooperate with each other. The first protrusion is located at one end of the heel portion 22 facing the cushioning pad 5 in the thickness direction of the robot foot, and the first groove 81 is located at one end of the cushioning pad 5 facing the heel portion 22 in the thickness direction of the robot foot. The first protrusion is accommodated in the first groove 81, and the relative movement between the foot body 2 and the cushioning pad 5 is limited by the cooperation of the first protrusion and the first groove 81.

[0110] The second limiting component includes a second protrusion 82 and a second groove (not shown in the figure) that cooperate with each other. The second protrusion 82 is provided at one end of the support portion 61 facing the buffer pad 5 in the thickness direction of the robot foot, and the second groove is provided at one end of the buffer pad 5 facing the support portion 61 in the thickness direction of the robot foot. The relative movement between the support pad 6 and the buffer pad 5 is limited by the cooperation of the second protrusion 82 and the second groove.

[0111] The limiting component can restrict the movement of the cushioning pad 5 relative to the foot body 2 and the support pad 6, preventing the cushioning pad 5 from shifting or moving when subjected to large impact forces or during long-term use, thus ensuring the continuity and reliability of the cushioning effect.

[0112] In this embodiment, the first protrusion and the second protrusion 82 have the same shape and size, and the first groove 81 and the second groove have the same shape and size. In other alternative embodiments, the first protrusion and the second protrusion 82 may have different shapes and / or sizes, and the first groove 81 and the second groove may have different shapes and / or sizes.

[0113] In other alternative embodiments, the first groove 81 can be provided on the heel portion 22, and the first protrusion can be provided on the cushioning pad 5; or the second groove can be provided on the support pad 6, and the second protrusion 82 can be provided on the cushioning pad 5. In this embodiment, providing the first protrusion on the heel portion 22 and the second protrusion 82 on the support pad 6 can reduce the thickness of the heel portion 22 and the support pad 6, while ensuring the thickness of the cushioning pad 5. This ensures the walking effect while preventing the thickness of the robot's foot and heel area from becoming too thick, thus improving the stability of the robot's walking.

[0114] In other alternative embodiments, the cushioning pad 5 can be connected to the foot body 2 and the support pad 6 in other ways, such as by bonding or fastener connection. Furthermore, in this embodiment, the connection method between the cushioning pad 5 and the heel portion 22 is the same as the connection method between the cushioning pad 5 and the support portion 61. In other alternative embodiments, the connection methods between the cushioning pad 5 and the heel portion 22 and the connection method between the cushioning pad 5 and the support portion 61 can also be different.

[0115] The robot's foot structure in this embodiment is simple, allowing for easy adjustment of the deformation range of the elastic element 3 and the buffer pad 5 according to the adapted robot, thus enabling compatibility with a wider range of robot types. Furthermore, the structure of each component is uncomplicated, facilitating manufacturing and maintenance, and reducing production and maintenance costs.

[0116] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown by the device or component in actual use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0117] While specific embodiments of this utility model have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this utility model is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this utility model, but all such changes and modifications fall within the scope of protection of this utility model.

Claims

1. A robotic foot, characterized in that, The robot's foot includes a toe, a foot body, and an elastic component; The toe and the main body of the foot are rotatably connected, and the two ends of the elastic element are respectively rotatably connected to the toe and the main body of the foot. The rotation direction of the main body of the foot relative to the toe is the same as the rotation direction of the elastic element relative to the toe and the main body of the foot. The elastic element is deformable in a first direction, which is from the end of the foot body facing the toe to the end of the foot body away from the toe; When the end of the foot body away from the toe rotates toward the toe, the length of the elastic element in the first direction elongates; When the end of the foot body away from the toe rotates in a direction away from the toe, the length of the elastic element in the first direction shortens.

2. The robot foot as described in claim 1, characterized in that, The foot body includes an arch portion, the end of which, in the first direction, faces the toe and is directly rotatably connected to the toe, and the end of which, in the first direction, is away from the toe and is rotatably connected to the elastic element.

3. The robotic foot as described in claim 2, characterized in that, The robot foot includes a first connecting component, which includes a support column and two connecting seats spaced apart along the width direction of the robot foot. The support column is located between the two connecting seats and extends along the width direction of the robot foot. The arch portion has a connecting hole at one end facing the toe in the first direction for the support column to pass through, and the two axial ends of the support column pass through the connecting hole and are connected to the connecting seat on the corresponding side.

4. The robot foot as described in claim 2, characterized in that, The robot foot also includes a second connecting component and a third connecting component. The elastic element is rotatably connected to the toe via the second connecting component, and the elastic element is rotatably connected to the arch via the third connecting component. At least one of the second connecting assembly and the third connecting assembly includes a connecting post and two fixed seats spaced apart along the width direction of the robot's foot. The connecting post is connected between the two fixed seats and extends along the width direction of the robot's foot. The elastic element is rotatably connected to the connecting post.

5. The robotic foot as described in claim 4, characterized in that, At least one of the second connecting assembly and the third connecting assembly further includes a bushing, which is sleeved on the outer periphery of the connecting post and is rotatable relative to the connecting post, and the elastic element is connected to the connecting post through the bushing.

6. The robotic foot as described in claim 5, characterized in that, The outer peripheral surface of the bushing is recessed towards the radial inner side of the bushing to form a positioning groove, and at least part of the end of the elastic element connected to the bushing is located in the positioning groove.

7. The robotic foot as described in claim 6, characterized in that, The number of elastic elements is multiple, and the multiple elastic elements are spaced apart along the width direction of the robot's foot; Each bushing has a plurality of positioning grooves spaced apart along the width direction of the robot's foot. The number of positioning grooves is the same as the number of elastic elements and they are arranged in a one-to-one correspondence. At least one end of the elastic element connected to the bushing is accommodated in the corresponding positioning groove.

8. The robotic foot as described in claim 2, characterized in that, The foot body also includes a heel portion, which is located on the side of the arch portion away from the toes in the first direction; The robot foot also includes a cushioning pad and a support pad. The two ends of the cushioning pad in the thickness direction of the robot foot abut against the heel and the support pad, respectively. The elastic element and the cushioning pad are located on the same side of the foot body in the thickness direction of the robot foot.

9. The robotic foot as described in claim 8, characterized in that, The support pad includes a support portion, an extension portion, and a connecting portion. The support portion abuts against the end of the cushioning pad away from the heel in the thickness direction of the robot's foot. One end of the extension portion is connected to the support portion, and the other end of the extension portion extends toward the foot body and is connected to the connecting portion. The connecting portion is connected to the foot body. The heel and the support pad form a receiving space for accommodating the cushioning pad.

10. The robotic foot as described in claim 9, characterized in that, The extension is inclined in the first direction.

11. The robot foot as described in claim 9, characterized in that, The robot foot also includes a first limiting component and a second limiting component. The cushioning pad is connected to the heel through the first limiting component and to the support through the second limiting component. At least one of the first limiting component and the second limiting component includes a mutually cooperating limiting groove and a limiting block. One of the limiting groove and the limiting block is located on one end face of the cushioning pad in the thickness direction of the robot's foot, and the other of the limiting groove and the limiting block is located on the heel or the end face of the support pad facing the cushioning pad in the thickness direction of the robot's foot.

12. The robot foot as described in claim 2, characterized in that, When the foot body rotates relative to the toes, the deformation direction of the elastic element is parallel to the arch of the foot at least in one of the rotational positions of the foot body.

13. A robot, characterized in that, The robot includes robotic feet as described in any one of claims 1-12.

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