A robot sole, lower limb and robot capable of being used on all-terrain ground

Abstract

The utility model discloses a kind of robot sole, lower limbs and robot for all-terrain ground, it is related to robot technical field, and robot sole includes sole body, elastic member and limiting mechanism. Sole body is equipped with plane sole surface, is connected with robot calf by rotating shaft and can rotate. Elastic member drives sole rear portion to move upward to realize shock absorption and gait assistance. Limiting mechanism controls rotation angle to prevent excessive deflection. The utility model improves the problem of small contact area of traditional circular sole, poor terrain adaptability. By increasing ground contact area to improve stability, elastic member absorbs impact and assists leg lifting, effectively improves the passability, motion stability and energy efficiency of robot in complex terrain.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a robot foot, lower limb, and robot that can be used on all terrains. Background Technology

[0002] This invention belongs to the field of quadruped robot technology, and specifically relates to a robot foot structure design for improving the robot's adaptability to complex terrain.

[0003] With the development of robotics technology, quadruped robots are widely used in complex environments such as field exploration, disaster relief, and military reconnaissance due to their excellent mobility and environmental adaptability. The terrain adaptability of quadruped robots mainly depends on their leg structure and foot design. Among them, the foot structure, as a key component in contact with the ground, directly affects the robot's motion stability, grip performance, and terrain clearance.

[0004] In existing technologies, the foot structures of quadruped robots are mainly divided into two categories: wheel-foot structures and normal leg-foot structures. For quadruped robots with normal leg-foot structures, the soles are typically designed with circular rubber material. This circular rubber foot structure has the following advantages: simple structure and low manufacturing cost; light weight, which helps improve the robot's movement flexibility; and the rubber material itself has a certain degree of elasticity, providing basic cushioning.

[0005] However, in practical applications, existing circular rubber foot structures have significant technical limitations: First, the circular design results in a small contact area between the foot and the ground, making it prone to slipping and instability on rough terrain; second, traditional rubber materials have a limited coefficient of friction, making it difficult to provide sufficient grip on wet or muddy surfaces; third, relying solely on the material's elasticity for cushioning, without a dedicated shock absorption mechanism, leads to insufficient stability for the robot when walking on complex terrain. These shortcomings severely restrict the passability and reliability of traditional quadruped robots when facing complex outdoor terrain.

[0006] Therefore, in view of the shortcomings of existing quadruped robot foot structures in adapting to complex terrain, developing a new foot structure that can effectively increase the contact area, enhance friction, and have shock absorption function has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0007] The purpose of this invention is to address the problems of poor stability and limited cushioning performance caused by insufficient contact area in robot foot structures in adapting to complex terrain, as well as the lack of adaptive adjustment capability in traditional foot structures, which leads to poor terrain adaptability. These problems are improved by rationally setting the foot shape, shock absorption mechanism, and limiting mechanism.

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

[0009] This utility model discloses a robot foot applicable to all-terrain terrain, comprising:

[0010] The sole body has a flat sole surface, which is all or part of the sole surface; the sole body includes a sole rotating part, which is provided with a rotating axis, and the sole body is rotatably disposed around the rotating axis.

[0011] The elastic element is configured to drive the rear part of the foot sole body to move upward around the rotation axis;

[0012] The limiting mechanism includes a limiting start end, which prevents the elastic element from driving the rear part of the foot to move upward around the rotation axis.

[0013] Preferably, the elastic element is a tension spring, one end of which is connected to the second elastic fixing part of the foot body, and the other end of which is connected to the first elastic fixing part of the robot's lower leg.

[0014] Preferably, the second elastic fixing part is disposed on the rear part of the sole of the foot body.

[0015] Preferably, the elastic element is a torsion spring, with one end of the torsion spring connected to the foot body and the other end of the torsion spring connected to the robot's lower leg.

[0016] Preferably, the foot rotation part is a mounting hole, and the rotation shaft passes through the mounting hole and the foot mounting hole on the robot's lower leg.

[0017] Preferably, the limiting mechanism includes a limiting hole disposed on the robot's lower leg and a limiting post disposed on the foot body, with the limiting post disposed within the limiting hole.

[0018] Preferably, the limiting hole is an arc-shaped strip hole, and the limiting post is slidably fitted along the strip hole.

[0019] Preferably, the end of the strip-shaped hole near the rear part of the sole of the foot body is the limiting start end, and the end near the front part of the sole of the foot body is the limiting end end.

[0020] The present invention relates to a robot lower limb that can be used on all terrains, including a robot lower leg, wherein the bottom end of the robot lower leg is provided with a robot foot as described above.

[0021] This invention relates to a robot applicable to all terrains, comprising the aforementioned lower limbs.

[0022] Compared with the prior art, the technical advantages of this utility model are as follows:

[0023] A robot foot suitable for all-terrain applications includes a foot body, an elastic element, and a limiting mechanism. The foot body has a planar surface on all or part of its sole. The foot body includes a rotating portion with a rotating axis around which the foot body can rotate. The elastic element drives the rear portion of the foot body to move upwards around the rotating axis. The limiting mechanism includes a limiting start point that prevents the elastic element from driving the rear portion of the foot body to move upwards around the rotating axis. This planar sole structure significantly increases the effective contact area with the ground compared to traditional circular rubber soles. Under the same load conditions, the increased contact area reduces the ground pressure per unit area, minimizing the risk of sinking in soft terrain. Simultaneously, the planar design improves friction between the sole and the ground, enhancing grip on slippery surfaces, effectively preventing slippage, and improving the robot's stability.

[0024] Furthermore, through the cooperation between the foot rotation part and the rotation axis, combined with the lifting effect of the elastic element, the foot body has the ability to rotate adaptively. When the robot walks on rugged terrain, the flat foot can automatically adjust its angle around the rotation axis to ensure good contact between the foot and the ground, improve terrain following ability, and the elastic element effectively absorbs the impact energy of the ground, significantly reducing the impact of vibration on the robot's structure and electronic components, and extending the service life of the whole machine.

[0025] In addition, the limiting mechanism effectively prevents gait instability caused by excessive foot rotation by limiting the foot's rotation angle. When not in contact with the ground, the limiting end keeps the foot in a preset posture, ensuring the consistency and predictability of the robot's leg lifting movements. The above structural design effectively improves the posture control accuracy and reduces movement trajectory deviation when the robot walks on uneven terrain.

[0026] During the gait cycle, the aforementioned structure exhibits dynamic adaptive characteristics: when the robot begins to lower one leg, the forefoot contacts the ground first. At this time, the elastic element is in a stretched state and generates a restoring force. The rotational motion of the foot's rotating part absorbs the impact energy upon landing, achieving progressive cushioning and effectively reducing the vertical vibration amplitude of the robot's torso. When entering the leg retraction phase, the elastic element releases its stored energy, applying an upward driving force to the rear of the foot, assisting the lower leg in completing the leg-lifting action. This reduces the driving torque required for leg lifting, improves the action response speed, and significantly improves gait continuity and movement efficiency. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a robot lower limb that can be used on all-terrain terrain according to the present invention;

[0028] Figure 2 This is a cross-sectional view of the foot of a robot that can be used on all terrains according to this utility model.

[0029] 100. Robotic calf;

[0030] 110. Elastic element; 111. First elastic fixing part; 112. Second elastic fixing part;

[0031] 120. Foot body; 121. Foot surface; 122. Posterior part of the foot; 123. Anterior part of the foot; 124. Rotational part of the foot;

[0032] 130. Rotating shaft; 131. Limiting post; 132. Limiting hole; 1321. Limiting start end; 1322. Limiting end end;

[0033] 200. Robot thigh. Detailed Implementation

[0034] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings and embodiments.

[0035] The structures, proportions, and sizes illustrated in the accompanying drawings are merely for illustrative purposes and to aid those skilled in the art in understanding and reading the invention. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, provided they do not affect the effectiveness or purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and not intended to limit the scope of implementation. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention. In addition, the various embodiments of the invention are not independent but can be combined.

[0036] Example 1:

[0037] One type of robot in this embodiment, such as Figure 1-2 As shown, the robot includes a lower limb, which consists of a robot thigh 200 and a robot lower leg 100. The upper end of the robot lower leg 100 is connected to the thigh 200, and the bottom end of the robot lower leg 100 is provided with a robot foot.

[0038] The robot's foot includes a foot body 120, an elastic element 110, and a limiting mechanism. All or part of the foot body 120 has a planar foot surface 121. Compared to traditional circular rubber feet, this planar foot surface 121 structure significantly increases the effective contact area with the ground. Under the same load conditions, the increased contact area reduces the ground pressure per unit area, minimizing the risk of sinking in soft terrain. Simultaneously, the planar design improves the friction between the foot and the ground, enhancing grip on slippery surfaces, effectively preventing slippage, and strengthening the robot's motion stability.

[0039] The foot body 120 includes a foot rotating part 124, the foot rotating part 124 is provided with a rotating shaft 130, and the foot body 120 is rotatably arranged around the rotating shaft 130; in this embodiment, the foot rotating part 124 is a mounting hole, and the rotating shaft 130 passes through the mounting hole and the foot mounting hole on the robot's lower leg 100.

[0040] The elastic element 110 is configured to drive the rear part 122 of the foot sole body 120 to move upward around the rotation axis 130. In this embodiment, the elastic element 110 is a tension spring, one end of which is connected to the second elastic fixing part 112 of the foot sole body 120, and the other end of which is connected to the first elastic fixing part 111 of the robot lower leg 100. The second elastic fixing part 112 is located at the rear part 122 of the foot sole body 120. In this embodiment, both the first elastic fixing part 111 and the second elastic fixing part 112 are fixing holes.

[0041] Through the cooperation of the foot rotation part 124 and the rotation axis 130, combined with the pulling effect of the elastic element 110, the foot body 120 has the ability to rotate adaptively. When the robot walks on rough terrain, the foot with the flat foot surface 121 can automatically adjust the angle around the rotation axis to ensure good contact between the foot surface and the ground, improve terrain following ability, and the elastic element effectively absorbs the impact energy of the ground, significantly reducing the impact of vibration on the robot body structure and electronic components, and extending the service life of the whole machine.

[0042] A limiting mechanism includes a limiting start end 1321, which prevents the elastic element 110 from driving the rear part of the foot 122 to move upward around the rotation axis 130. The limiting mechanism includes a limiting hole 132 on the robot's lower leg 100 and a limiting post 131 on the foot body 120, with the limiting post 131 disposed within the limiting hole 132. In this embodiment, the limiting hole 132 is an arc-shaped strip hole, and the limiting post 131 is slidably fitted along the strip hole. The end of the strip hole near the rear part 122 of the foot body 120 is the limiting start end 1321, and the end near the front part 123 of the foot body 120 is the limiting end end 1322. When the limiting post 131 is at the limiting beginning 1321, although the elastic member 110 continuously drives the rear part 122 of the sole to move upward, the limiting post 131 prevents the rear part 122 of the sole from rotating, so that the sole body 120 has the potential energy to rotate upward. When the limiting post 131 is at the limiting end 1322, excessive rotation of the sole body 120 can be avoided.

[0043] In use, when the robot begins to lower one leg, the front part 123 of the foot makes contact with the ground first. At this time, the elastic element 110 is in a stretched state and generates a restoring force. The rotational motion of the foot's rotating part 124 absorbs the impact energy of the landing, achieving progressive cushioning and effectively reducing the vertical vibration amplitude of the robot's torso. When entering the leg-retracting phase, the elastic element releases its stored energy, applying an upward driving force to the rear part 122 of the foot, assisting the lower leg in completing the leg-lifting action. This reduces the driving torque required for leg lifting, improves the action response speed, and significantly improves gait continuity and movement efficiency.

[0044] The limiting mechanism effectively prevents gait instability caused by excessive foot rotation by limiting the foot's rotation angle. When not in contact with the ground, the limiting start end 1321 keeps the foot in a preset posture, ensuring the consistency and predictability of the robot's leg lifting movements. The above structural design effectively improves the posture control accuracy and reduces movement trajectory deviation when the robot walks on uneven terrain.

[0045] Example 2:

[0046] This embodiment is basically the same as embodiment 1, except that the elastic element 110 in this embodiment is a torsion spring. One end of the torsion spring is connected to the foot body 120, and the other end of the torsion spring is connected to the robot's lower leg 100.

[0047] The present invention has been described in detail above with reference to specific exemplary embodiments. However, it should be understood that various modifications and variations can be made without departing from the scope of the present invention as defined by the appended claims. The detailed description and drawings should be considered illustrative only and not restrictive, and any such modifications and variations shall fall within the scope of the present invention described herein. Furthermore, the background art is intended to illustrate the current state of research and development and significance of the technology, and is not intended to limit the scope of application of the present invention or this application.

[0048] More specifically, although exemplary embodiments of the present invention have been described herein, the present invention is not limited to these embodiments, but includes any and all embodiments modified, omitted, such as combinations between various embodiments, adaptive changes, and / or substitutions, as would be apparent to those skilled in the art from the foregoing detailed description. The limitations in the claims are to be interpreted broadly as used in the language of the claims and are not limited to the examples described in the foregoing detailed description or during the implementation of this application, which should be considered non-exclusive. Any step listed in any method or process claim may be performed in any order and is not limited to the order set forth in the claims. Therefore, the scope of the present invention should be determined solely by the appended claims and their legal equivalents, and not by the description and examples given above.

Claims

1. A robotic foot bottom for use on all-terrain ground, characterized in that, include The sole body (120) has a sole surface (121) that is planar in all or part of its surface; the sole body (120) includes a sole rotating part (124), which is provided with a rotating shaft (130), and the sole body (120) is rotatably disposed around the rotating shaft (130); The elastic element (110) is configured to drive the rear part (122) of the sole body (120) to move upward around the rotation axis (130); The limiting mechanism includes a limiting start end (1321) that prevents the elastic element (110) from driving the rear part of the foot (122) to move upward around the rotation axis (130).

2. The robot foot that can be used on all terrains according to claim 1, characterized in that, The elastic element (110) is a tension spring. One end of the tension spring is connected to the second elastic fixing part (112) of the foot body (120), and the other end of the tension spring is connected to the first elastic fixing part (111) of the robot's lower leg (100).

3. A robot foot applicable to all terrains according to claim 2, characterized in that, The second elastic fixing part (112) is provided on the rear part (122) of the sole of the sole body (120).

4. A robot foot applicable to all terrains according to claim 1, characterized in that, The elastic element (110) is a torsion spring, one end of which is connected to the foot body (120), and the other end of which is connected to the robot's lower leg (100).

5. A robot foot applicable to all terrains according to claim 1, characterized in that, The foot rotation part (124) is a mounting hole, and the rotation shaft (130) passes through the mounting hole and the foot mounting hole on the robot's lower leg (100).

6. A robot foot applicable to all terrains according to claim 1, characterized in that, The limiting mechanism includes a limiting hole (132) on the robot's lower leg (100) and a limiting post (131) on the foot body (120), with the limiting post (131) located inside the limiting hole (132).

7. A robot foot applicable to all terrains according to claim 6, characterized in that, The limiting hole (132) is an arc-shaped strip hole, and the limiting post (131) is slidably fitted along the strip hole.

8. A robot foot applicable to all terrains according to claim 7, characterized in that, The end of the strip-shaped hole near the rear part (122) of the sole body (120) is the limiting start end (1321), and the end near the front part (123) of the sole body (120) is the limiting end end (1322).

9. A robotic lower limb applicable to all terrains, characterized in that, Includes a robotic lower leg (100), the bottom end of which is provided with a robotic foot as described in any one of claims 1-8.

10. A robot applicable to all terrains, characterized in that, Including the robotic lower limb as described in claim 9.

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