Foot structure of a robot

Abstract

This utility model discloses a robot foot structure, comprising: a foot body; a cushioning component connected to the bottom of the foot body; an anti-slip component disposed on the side of the cushioning component opposite to the foot body; and a sensor component, at least a portion of which is disposed between the anti-slip component and the cushioning component. According to the robot foot structure of this utility model embodiment, by providing a cushioning component at the bottom of the foot body and an anti-slip component on the side of the cushioning component opposite to the foot body, the friction between the foot structure and the ground can be increased, and impact energy can be attenuated. This prevents damage to the robot due to large impacts on the foot structure, improves the wear resistance of the foot structure, facilitates maintenance, and extends the robot's service life.

Description

Technical Field

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

[0002] In related technologies, existing robots generally use foot structures to support themselves on the ground, meaning that the robot directly contacts the ground through the foot structure. However, the robot's movement requires the foot structure to provide friction, which increases the wear and tear on the foot structure. Furthermore, the foot structure is easily subjected to significant impacts during robot movement, and the impact energy is directly transmitted to various parts of the robot, affecting the robot's service life. There is room for improvement in this area. Utility Model Content

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of this invention is to provide a foot structure for a robot, which has good wear resistance and can attenuate impact energy, thereby improving the robot's service life.

[0004] The foot structure of the robot according to an embodiment of the present invention includes: a foot body; a cushioning component connected to the bottom of the foot body; an anti-slip component disposed on the side of the cushioning component opposite to the foot body; and a sensor component, at least a portion of which is disposed between the anti-slip component and the cushioning component.

[0005] According to the robot foot structure of this utility model embodiment, by setting a buffer component at the bottom of the foot body and setting an anti-slip component on the side of the buffer component away from the foot body, the friction between the foot structure and the ground can be increased, and the impact energy can be attenuated. This can prevent the robot from being damaged due to large impacts on the foot structure, while also improving the wear resistance of the foot structure, facilitating maintenance, and increasing the service life of the robot.

[0006] According to some embodiments of the present invention, the sensor component includes a support pad and a sensor assembly. The support pad corresponds to the bottom shape of the foot body, and the support pad is connected to the buffer component. The sensor assembly is located on the side of the support pad away from the foot body.

[0007] In some embodiments, the anti-slip component includes an anti-slip pad whose shape corresponds to the bottom shape of the foot body, the anti-slip pad being connected to the support pad, and the side of the anti-slip pad away from the foot body having a plurality of anti-slip protrusions.

[0008] In some embodiments, the support pad has a connecting post defining a mounting hole, the anti-slip pad defining a first mating hole, and the anti-slip pad and the support pad are connected by a first fastener passing through the first mating hole and the mounting hole.

[0009] In some embodiments, a portion of the connecting post protrudes from the side surface of the support pad near the buffer member and extends into the buffer member.

[0010] In some embodiments, the sensor assembly has a second mating hole corresponding to the position of the first fastener, and a portion of the connecting post protrudes from the side surface of the support pad near the sensor assembly and extends into the second mating hole.

[0011] In some embodiments, the anti-slip pad has a connecting grille on the side opposite to the sensor component, the first fastener connects the connecting grille, the anti-slip pad, and the support pad, and the anti-slip protrusion of the anti-slip pad passes through the clearance hole of the connecting grille.

[0012] According to some embodiments of the present invention, the foot structure of the robot further includes: an annular connector, the buffer component having a connecting hole, the annular connector being disposed in the connecting hole, a limiting step being formed on the inner wall of the connecting hole, the limiting step being used to limit the annular connector, and the buffer component being connected to the foot body through a second fastener passing through the annular connector.

[0013] According to some embodiments of the present invention, the foot body includes a sole, a heel, and a connecting portion. The connecting portion is connected between the sole and the heel, and the bottom of the connecting portion arches upward relative to the bottom of the sole and the heel to form a clearance space.

[0014] In some embodiments, the cushioning component includes a plurality of cushioning elements, a portion of which is connected to the forefoot and another portion of which is connected to the heel.

[0015] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0017] Figure 1 This is a schematic diagram of the foot structure of a robot according to some embodiments of the present invention from one perspective;

[0018] Figure 2 This is a schematic diagram of the foot structure of a robot according to some embodiments of the present invention from another perspective;

[0019] Figure 3 This is a cross-sectional view of the foot structure of a robot according to some embodiments of the present invention;

[0020] Figure 4 yes Figure 3 Enlarged view of the A-structure in the middle;

[0021] Figure 5 yes Figure 3 Enlarged view of the B-structure;

[0022] Figure 6 This is an exploded view of the foot structure of a robot according to some embodiments of the present invention.

[0023] Figure label:

[0024] The robot's foot structure 100, and its obstacle avoidance groove 101.

[0025] Foot body 10, sole 11, heel 12, connecting part 13, clearance space 131.

[0026] Buffer component 20, connecting hole 21, first connecting section 211, second connecting section 212, limiting boss 213.

[0027] Anti-slip pad 30, first mating hole 31, anti-slip protrusion 32

[0028] Support pad 40, connecting post 41, mounting hole 411,

[0029] Sensor assembly 50, second mating hole 51,

[0030] Connecting grille 60, clearance hole 61,

[0031] First fastener 71, second fastener 72, ring connector 73. Detailed Implementation

[0032] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0033] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0034] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] The following is for reference. Figures 1-6 The description includes a foot structure 100 of a robot according to an embodiment of the present invention.

[0036] like Figures 1-6 As shown, the foot structure 100 of the robot according to an embodiment of the present invention includes: a foot body 10, a buffer component (a plurality of buffers 20 as described below), an anti-slip component (an anti-slip pad 30 as described below), and a sensor component. The buffer component can be connected to the bottom of the foot body 10, so that the impact on the foot structure 100 during robot activity can be transmitted to the whole robot through the buffer component, thereby achieving attenuation of impact energy, preventing the robot from being damaged due to large impacts on the foot structure 100, and improving the service life of the robot.

[0037] The anti-slip component can be located on the side of the cushioning component away from the foot body 10 (e.g., Figure 1The anti-slip component (shown on the lower side) can increase the friction between the foot structure 100 and the ground, and improve the grip of the foot structure 100, so as to provide sufficient power for the robot's activities, improve the reliability and stability of the robot's activities. At the same time, since the anti-slip component is the part of the foot structure 100 that directly contacts the ground, the anti-slip component can replace the entire foot structure 100 to be worn by the ground, which can reduce the wear degree of the foot structure 100. Moreover, by replacing the anti-slip component, the service life of the foot structure 100 can be extended, which is convenient for maintenance and can improve the service life of the robot.

[0038] At least a portion of the sensor component can be disposed between the anti-slip component and the cushioning component, which can protect the sensor component, improve the reliability and stability of the sensor component's operation, and enable the sensor component to accurately monitor the pressure distribution on the bottom of the foot structure 100 and the type of ground that the foot structure 100 contacts. This is beneficial for dynamically adjusting the robot's gait, foot force, and center of gravity, and for ensuring the robot's dynamic balance, thereby improving the robot's working effect and enhancing the reliability and stability of the robot's operation.

[0039] According to the embodiment of the present invention, the foot structure 100 of the robot can increase the friction between the foot structure 100 and the ground by providing a buffer component at the bottom of the foot body 10 and an anti-slip component on the side of the buffer component away from the foot body 10, thereby reducing the impact energy and preventing the robot from being damaged by a large impact. At the same time, it can improve the wear resistance of the foot structure 100, facilitate maintenance, and increase the service life of the robot.

[0040] like Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, according to some embodiments of the present invention, the sensor component may include a support pad 40 and a sensor assembly 50. The support pad 40 may correspond to the bottom shape of the foot body 10, and may guide other components (such as anti-slip components and sensor assembly 50) to be installed on the bottom of the foot body 10 according to the bottom shape of the foot body 10, thereby realizing the shaping of the above components and improving the structural strength of the above components under a specific shape (such as the bottom shape of the foot body 10), thereby improving the service life of the foot structure 100 and improving the anthropomorphic effect of the foot structure 100 and the robot.

[0041] The support pad 40 can be connected to the cushioning component, and the sensor assembly 50 can be located on the side of the support pad 40 away from the foot body 10 (e.g., Figure 5The lower side shown can reduce the distance between the sensor assembly 50 and the ground, improve the working effect of the sensor assembly 50, and improve the accuracy of the monitoring results of the sensor assembly 50. It is understood that the support pad 40 can be a steel plate (such as a 2mm thick steel plate), which can improve the plasticity of the support pad 40, facilitate disassembly and assembly, and improve the structural strength of the above components under a specific shape (such as the bottom shape of the foot body 10), and improve the service life of the foot structure 100.

[0042] The buffer component may include a rubber block, which allows the buffer component to undergo elastic deformation upon impact to attenuate impact energy. It also allows the support pad 40 (such as a steel plate) and the buffer component (such as a rubber block) to be vulcanized and bonded together, that is, to combine the rubber and metal through chemical and physical reactions to form an integrated structure, which can improve its seismic performance and durability, and improve the reliability and stability of the connection between the support pad 40 and the buffer component. The buffer component and the support pad 40 can be directly vulcanized and bonded for easy operation, or the buffer component and the support pad 40 can be vulcanized and bonded together with an adhesive to improve the bonding strength.

[0043] like Figure 2 and Figure 6 As shown, in some embodiments, the anti-slip component may include an anti-slip pad 30, the shape of which may correspond to the bottom shape of the foot body 10. The anti-slip pad 30 may be connected to the support pad 40. The side of the anti-slip pad 30 away from the foot body 10 (e.g., Figure 2 The lower side shown may have multiple anti-slip protrusions 32, which can increase the friction between the anti-slip mat 30 and the ground, and improve the grip of the foot structure 100 and the anti-slip ability of the foot structure 100.

[0044] It is understood that the anti-slip bumps 32 can include various types, and the shapes of different types of anti-slip bumps 32 can be different. For example, by setting a portion of the anti-slip bumps 32 in the middle of the anti-slip pad 30 and making them in a specific shape (such as a cross shape), the grip of the foot structure 100 can be further improved, so as to provide sufficient power for the robot's activities and improve the reliability and stability of the robot's activities. Furthermore, by setting another portion of the anti-slip bumps 32 on the edge of the anti-slip pad 30, the foot structure 100 can be provided with additional protection, which can improve the service life of the foot structure 100.

[0045] like Figure 3 , Figure 4 and Figure 5As shown, in some embodiments, the support pad 40 may have a connecting post 41, the connecting post 41 may define a mounting hole 411, the anti-slip pad 30 may define a first mating hole 31, and the anti-slip pad 30 and the support pad 40 may be connected by a first fastener 71, that is, the first fastener 71 may pass through the first mating hole 31 and the mounting hole 411 to connect the anti-slip pad 30 and the support pad 40 together, which can improve the reliability and stability of the connection between the anti-slip pad 30 and the support pad 40, and facilitate disassembly and assembly.

[0046] like Figure 3 , Figure 4 and Figure 5 As shown, in some embodiments, a portion of the connecting post 41 may protrude from the side of the support pad 40 near the buffer member (e.g. Figure 5 The upper surface shown, and a part of the connecting post 41 can extend into the buffer component, which can limit the support pad 40 and increase the contact area between the support pad 40 and the buffer component, thereby improving the reliability and stability of the connection between the buffer component and the support pad 40, and improving the service life of the foot structure 100.

[0047] like Figure 3 , Figure 4 and Figure 5 As shown, in some embodiments, the sensor assembly 50 may have a second mating hole 51, which may correspond to the position of the first fastener 71. That is, the first fastener 71 may pass through the second mating hole 51 of the sensor assembly 50, thereby fixing the sensor assembly 50. A portion of the connecting post 41 may protrude from the side of the support pad 40 near the sensor assembly 50 (e.g., Figure 5 The lower surface shown can be connected to the second mating hole 51, and a part of the connecting post 41 can extend into the second mating hole 51, which can limit the sensor assembly 50, improve the fixing effect of the sensor assembly 50, and improve the reliability and stability of the sensor assembly 50.

[0048] like Figure 2 , Figure 3 , Figure 4 and Figure 6 As shown, in some embodiments, the side of the anti-slip pad 30 facing away from the sensor component (e.g.) Figure 6The lower side shown may have a connecting grille 60. The first fastener 71 can connect the connecting grille 60, the anti-slip pad 30 and the support pad 40 together. That is, the connecting grille 60 and the support pad 40 cooperate to clamp the sensor assembly 50 and the anti-slip pad 30, which can improve the fixing effect of the sensor assembly 50 and the anti-slip pad 30. The connecting grille 60 may have a clearance hole 61. The anti-slip protrusion 32 of the anti-slip pad 30 can pass through the clearance hole 61 of the connecting grille 60, which can realize the clearance of the anti-slip protrusion 32 and ensure that the anti-slip protrusion 32 is in full contact with the ground, thereby improving the grip of the foot structure 100.

[0049] like Figure 3 and Figure 4 As shown, according to some embodiments of the present invention, the robot's foot structure 100 may further include an annular connector 73, the buffer component may have a connecting hole 21, the inner wall of the connecting hole 21 may form a limiting step, the annular connector 73 may be disposed in the connecting hole 21, and the limiting step may limit the annular connector 73, and the buffer component is connected to the foot body 10 through a second fastener 72 through which the annular connector 73 passes.

[0050] That is, the second fastener 72 can be fitted with an annular connector 73 so that the buffer component is connected to the foot body 10 through the annular connector 73. This can ensure the connection effect between the buffer component and the foot body 10, and at the same time, the wear at the connection between the buffer component and the foot body 10 can be concentrated on the annular connector 73, which can reduce maintenance costs. Furthermore, by replacing the annular connector 73, the service life of the connection between the buffer component and the foot body 10 can be extended, making maintenance easier.

[0051] The connecting hole 21 may include a first connecting segment 211 and a second connecting segment 212. The first connecting segment 211 is closer to the foot body 10 than the second connecting segment 212, and the inner diameter of the first connecting segment 211 is smaller than the inner diameter of the second connecting segment 212, so as to form a limiting boss 213 at the connection between the first connecting segment 211 and the second connecting segment 212, thereby enabling the placement of the annular connector 73. By setting the annular connector 73, the inner diameter of the connecting hole 21 can be further reduced, which facilitates the installation of the second fastener 72.

[0052] like Figure 1 and Figure 6As shown, according to some embodiments of the present invention, the foot body 10 may include a foot ball 11, a heel 12 and a connecting part 13. The connecting part 13 may be connected between the foot ball 11 and the heel 12. The bottom of the connecting part 13 may be arched upward relative to the bottom of the foot ball 11 and the heel 12 to form an obstacle space 131, so that the middle parts of the support pad 40, the sensor assembly 50 and the anti-slip pad 30 may be arched upward to extend into the obstacle space 131, so as to correspond to the bottom shape of the foot body 10. This can achieve the overall shaping of the foot structure 100 and improve the anthropomorphic effect of the foot structure 100 and the robot.

[0053] like Figure 6 As shown, in some embodiments, the cushioning component may include multiple cushioning elements 20, a portion of which may be connected to the sole 11, and another portion of which may be connected to the heel 12. On one hand, it can be located on opposite sides of the foot body 10 (e.g., Figure 3 The front and rear sides (as shown) provide support, which can improve the support effect on the foot body 10. This is beneficial for the robot to dynamically adjust its gait, foot strength and center of gravity, and it is also beneficial for the robot to maintain dynamic balance during activities. This can improve the reliability and stability of the robot's work. On the other hand, it allows multiple buffers 20 to cooperate to attenuate the impact energy in the area where the foot structure 100 can contact the ground. This can improve the impact energy attenuation effect, prevent the robot from being damaged by large impacts to the foot structure 100, and improve the service life of the robot.

[0054] like Figure 6 As shown, in some embodiments, the bottom of the foot body 10 may have an avoidance groove 101. The three components, namely the buffer component, the sensor component, and the anti-slip component, can be installed in the avoidance groove 101 in sequence, which can hide the above three components and improve the anthropomorphic effect of the foot structure 100. In addition, multiple anti-slip protrusions 32 can be exposed in the avoidance groove 101, which can ensure that the anti-slip pad 30 is in full contact with the ground through the multiple anti-slip protrusions 32, thereby ensuring the grip of the foot structure 100 and ensuring the normal operation of the robot.

[0055] In some embodiments, the buffer 20 may be made of rubber, so that the buffer 20 can undergo elastic deformation to attenuate the impact energy when impacted, and the anti-slip pad 30 may be made of rubber, which can improve the grip of the anti-slip pad 30 and at the same time improve the protection effect of the sensor assembly 50 when impacted. It is understood that the rubber may be nitrile rubber (NBR), chloroprene rubber (CR), ethylene propylene rubber (EPDM), isobutylene rubber (IIR), fluororubber (FRM), silicone rubber (SI) or low elasticity rubber.

[0056] Among them, nitrile rubber (NBR) has good wear resistance and oil resistance, chloroprene rubber (CR) and fluororubber (FRM) have relatively balanced properties, ethylene propylene rubber (EPDM) has good weather resistance, heat resistance and cold resistance, isobutyl rubber (IIR) has good weather resistance, heat resistance and chemical resistance, silicone rubber (SI) has good weather resistance, heat resistance, cold resistance and chemical resistance, and low-elasticity rubber has good oil resistance. Of course, the cushioning component 20 and the anti-slip pad 30 can also be made of polyurethane, which has good mechanical strength, wear resistance and oil resistance. Therefore, the foot structure 100 of this application can replace the cushioning component 20 and the anti-slip pad 30 made of different materials according to the robot's usage scenario, which can improve the robot's applicability and facilitate maintenance.

[0057] Other configurations and operations of the robot's foot structure 100 according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here. In the description of the present invention, "first feature" and "second feature" may include one or more of these features. The up-down direction, left-right direction, and front-back direction are defined as shown in the figures.

[0058] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features not in direct contact but through another feature between them. Moreover, "above," "over," and "on top" of the second feature include the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature.

[0059] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0060] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A foot structure of a robot characterized by comprising: include: foot body; A cushioning component is attached to the bottom of the foot body; An anti-slip component is provided on the side of the cushioning component opposite to the foot body; A sensor component, at least a portion of which is disposed between the anti-slip component and the cushioning component.

2. The foot structure of the robot according to claim 1, characterized by, The sensor component includes: A support pad and a sensor assembly, wherein the support pad corresponds to the bottom shape of the foot body and is connected to the cushioning component, and the sensor assembly is located on the side of the support pad away from the foot body.

3. The foot structure of the robot according to claim 2, characterized by, The anti-slip component includes an anti-slip pad, the shape of which corresponds to the bottom shape of the foot body. The anti-slip pad is connected to the support pad, and the side of the anti-slip pad away from the foot body has multiple anti-slip protrusions.

4. The foot structure of the robot according to claim 3, characterized by, The support pad has a connecting post defining a mounting hole, the anti-slip pad defining a first mating hole, and the anti-slip pad and the support pad are connected by a first fastener passing through the first mating hole and the mounting hole.

5. The foot structure of the robot according to claim 4, characterized by, A portion of the connecting post protrudes from the side surface of the support pad near the buffer component and extends into the buffer component.

6. The foot structure of the robot according to claim 4, characterized by, The sensor assembly has a second mating hole corresponding to the position of the first fastener, and a portion of the connecting post protrudes from the side surface of the support pad near the sensor assembly and extends into the second mating hole.

7. The foot structure of the robot according to claim 4, characterized by, The anti-slip pad has a connecting grille on the side opposite to the sensor component. The first fastener connects the connecting grille, the anti-slip pad, and the support pad. The anti-slip protrusion of the anti-slip pad passes through the clearance hole of the connecting grille.

8. The robot foot structure according to claim 1, characterized by, Also includes: The ring-shaped connector has a connecting hole, and the ring-shaped connector is disposed in the connecting hole. A limiting step is formed on the inner wall of the connecting hole. The limiting step is used to limit the ring-shaped connector. The buffer component is connected to the foot body through a second fastener that passes through the ring-shaped connector.

9. The foot structure of the robot according to any one of claims 1-8, characterized in that, The foot body includes a sole, a heel, and a connecting portion. The connecting portion connects the sole and the heel, and the bottom of the connecting portion arches upward relative to the bottom of the sole and the heel to form a clearance space.

10. The foot structure of the robot according to claim 9, characterized by, The cushioning component includes multiple cushioning elements, a portion of which is connected to the sole of the foot, and another portion of which is connected to the heel.

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