Multi-legged heavy-duty robot foot end and robot

Abstract

The utility model provides a kind of multi-legged heavy load robot foot end and robot.The multi-legged heavy load robot foot end is installed in the leg of multi-legged heavy load robot.Among them, the multi-legged heavy load robot foot end includes sole connecting piece and foot pad.The sole connecting piece includes main body and the connecting portion arranged at the bottom of main body, the connecting portion is provided with through-hole, and the through-hole is connected along the width direction of connecting portion The foot pad is integrally formed and is covered on the outer circumferential side of connecting portion, and the foot pad is at least partially filled in the through-hole.The multi-legged heavy load robot foot end and robot provided in the application can at least solve the problem of poor connection strength of the foot end structure of the existing technology.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a multi-legged heavy-duty robot foot and the robot itself. Background Technology

[0002] In existing technologies, the foot structure of legged robots is typically formed using rigid connections. Under the combined effects of heavy loads and high-frequency vibrations, screws are prone to loosening, stripping, or even breaking, leading to separation of the foot pads from the connecting blocks and seriously threatening the robot's operational safety. Furthermore, multi-legged heavy-duty robots experience multi-directional forces when walking in unstructured, complex terrain environments (such as ruins, rugged terrain, loose sand, or gravel environments). Especially under conditions of off-center loading, turning in place, or rapid walking, the flexible material at the foot end is prone to tearing, resulting in poor adaptability of the leg end to complex terrain and heavy-duty conditions. In addition, the connection and installation between the existing leg end and the robot's legs is complex and has low positioning strength, reducing the ease of foot replacement and making the foot connection prone to damage. Utility Model Content

[0003] The main purpose of this invention is to provide a multi-legged heavy-duty robot foot end and robot to solve the problem of poor connection strength of the foot end structure of legged robots in the prior art.

[0004] To achieve the above objectives, according to one aspect of the present invention, a foot end for a multi-legged heavy-duty robot is provided, the foot end being mounted on the leg of the multi-legged heavy-duty robot, comprising:

[0005] A foot connector, comprising a main body and a connecting portion disposed at the bottom of the main body, wherein the connecting portion is provided with a through hole that extends through the connecting portion along the width direction of the connecting portion;

[0006] The foot pad is integrally formed and covers the outer periphery of the connecting part, and the foot pad is at least partially filled in the through hole.

[0007] Furthermore, the connecting part includes a connecting section and a protruding section. The protruding section is connected to the bottom of the main body through the connecting section. Along the width direction of the connecting part, both opposite ends of the protruding section have outer flanges protruding from the connecting section. There is a groove between the outer flange and the main body, and the foot pad is at least partially engaged in the groove.

[0008] Furthermore, a connecting groove is provided on the side of the protruding section near the outer flange, and the foot pad is at least partially filled in the connecting groove.

[0009] Furthermore, the main body is provided with a mounting groove, and the bottom surface of the mounting groove is provided with a limiting part.

[0010] Furthermore, weight-reduction grooves are provided on both sides of the main body of the mounting groove.

[0011] Furthermore, the weight-reducing groove is disposed on the upper surface of the main body, and the weight-reducing groove extends along the height direction of the main body.

[0012] Furthermore, the multi-legged heavy-duty robot also includes a locking mechanism;

[0013] The main body is provided with mounting holes, the locking member passes through the mounting holes and installs the legs into the mounting slots.

[0014] Furthermore, the cross-sectional shape of the connecting portion is a semi-circular or semi-elliptical shape, cut along a direction perpendicular to the width of the connecting portion; and / or,

[0015] The through hole is cut along the width direction perpendicular to the connection portion, and the cross-sectional shape of the through hole includes any one of the following: circular, elliptical, rectangular, and polygonal.

[0016] Furthermore, the outer side of the foot pad is provided with protrusions arranged in an array, the protrusions located at the outer edge of the foot pad have an arc surface, and there is a groove between two adjacent protrusions;

[0017] Wherein, the height H of the protrusion satisfies the relationship: 0.5mm≤D≤8mm; and / or,

[0018] The radius R of the arc surface satisfies the following relationship: 0.5mm ≤ R ≤ 8mm; and / or,

[0019] The depth D of the groove satisfies the following relationship: 0.5mm≤H≤8mm.

[0020] According to another aspect of the present invention, a robot is provided, the robot comprising the aforementioned multi-legged heavy-duty robot feet.

[0021] The foot connector of this invention includes a main body and a connecting portion disposed at the bottom of the main body. In actual operation, the main body bears the primary load, while the through-holes in the connecting portion not only reduce the weight of the foot connector but also decrease the material usage, thus lowering production costs. In this application, the foot pad is integrally formed and covers the outer periphery of the connecting portion. The foot pad can fill the through-holes to form a fitted structure, distributing the concentrated load across the entire foot contact surface and avoiding localized stress concentration. When the foot is connected to the robot's leg, the foot pad material around the through-holes can absorb the impact vibrations during robot walking, reducing fatigue cracks in the connecting portion caused by repeated loading. Furthermore, the integrally formed foot pad is seamlessly connected to the connecting portion, enhancing the connection strength between the foot connector and the foot pad. This avoids structural failure caused by loosening during traditional bolt or screw connections, simplifies the complex assembly process, reduces the number of parts, and lowers assembly errors. In addition, the foot pads are wrapped around the outer periphery of the connecting part, so that the foot contact surface fits more closely to irregular ground (such as gravel, uneven road surface), and the flexible deformation of the foot pads expands the support area, thereby improving the stability of the robot under heavy load conditions.

[0022] In addition to the objectives, features, and advantages described above, this utility model has other objectives, features, and advantages. The present utility model will now be described in further detail with reference to the figures. Attached Figure Description

[0023] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments and descriptions of this utility model are used to explain this utility model and do not constitute an undue limitation thereof. In the drawings:

[0024] Figure 1 A schematic diagram of the foot sole connector of the multi-legged heavy-duty robot disclosed in an embodiment of the present invention is shown;

[0025] Figure 2 A cross-sectional view of the foot sole connector of the multi-legged heavy-duty robot disclosed in an embodiment of the present invention is shown;

[0026] Figure 3 A schematic diagram of the overall structure of the multi-legged heavy-duty robot disclosed in the present utility model, with the foot end in a first-view perspective, is shown.

[0027] Figure 4 A cross-sectional view of the overall structure of the foot end of the multi-legged heavy-duty robot disclosed in an embodiment of the present invention is shown;

[0028] Figure 5 A schematic diagram of the overall structure of the multi-legged heavy-duty robot disclosed in an embodiment of the present invention, with the foot end in a second view, is shown.

[0029] Figure 6 A schematic diagram of the overall structure of the multi-legged heavy-duty robot disclosed in an embodiment of the present invention, with the foot end in a third-person perspective, is shown.

[0030] Figure 7 A cross-sectional view of the foot pad at the end of the foot of the multi-legged heavy-duty robot disclosed in an embodiment of the present invention is shown.

[0031] The above figures include the following reference numerals:

[0032] 10. Foot sole connector; 11. Main body; 111. Mounting groove; 112. Limiting part; 1121. Limiting groove; 113. Weight reduction groove; 114. Mounting hole; 12. Connecting part; 121. Through hole; 122. Connecting section; 123. Protruding section; 1231. Outer flange; 1232. Connecting groove; 13. Slot; 20. Foot pad; 21. Protrusion; 22. Groove; 30. Locking part; 40. End cap; 50. Embedded nut. Detailed Implementation

[0033] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0035] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate for the embodiments of the utility model described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0036] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0037] As mentioned in the background section, in the prior art, the foot structure of legged robots is usually formed by rigid connections. Under the combined effects of heavy loads and high-frequency vibrations, screws are prone to loosening, stripping, or even breaking, leading to separation of the foot pad from the connecting block and seriously threatening the robot's operational safety. Therefore, this application provides a multi-legged heavy-duty robot foot end, which can at least solve the problem of poor connection strength in the foot structure of legged robots in the prior art. The multi-legged heavy-duty robot foot end of this application will be described in detail below with reference to the accompanying drawings.

[0038] See Figures 1 to 7 As shown, this application provides a foot end for a multi-legged heavy-duty robot. The foot end is mounted on the leg of the multi-legged heavy-duty robot. The foot end includes a foot connector 10 and a foot pad 20.

[0039] Specifically, the foot connector 10 includes a main body 11 and a connecting part 12 disposed at the bottom of the main body 11. The connecting part 12 is provided with a through hole 121, which extends through the connecting part 12 along the width direction of the connecting part 12. The foot pad 20 is integrally formed and covers the outer periphery of the connecting part 12, and the foot pad 20 is at least partially filled in the through hole 121.

[0040] like Figures 3 to 6As shown, the foot connector 10 includes a main body 11 and a connecting portion 12 disposed at the bottom of the main body 11. During actual operation, the main body 11 bears the main load, while the through hole 121 on the connecting portion 12 not only reduces the weight of the foot connector 10 but also reduces the amount of material used, lowering production costs. In this application, the foot pad 20 is integrally formed and covers the outer periphery of the connecting portion 12, and the foot pad 20 can fill the through hole 121 to form a fitted structure, distributing the concentrated load to the entire foot contact surface and avoiding localized stress concentration. When the foot is connected to the robot's leg, the material of the foot pad 20 around the through hole 121 can absorb the impact vibration of the robot during walking, reducing fatigue cracks in the connecting portion 12 caused by repeated loading. Furthermore, the one-piece molded foot pad 20 is seamlessly connected to the connecting part 12, enhancing the connection strength between the foot connector 10 and the foot pad 20. This avoids structural failures caused by loosening during traditional bolt or screw connections, simplifies the complex assembly process, reduces the number of parts, and lowers assembly errors. In addition, the foot pad 20 is wrapped around the outer periphery of the connecting part 12, allowing the foot contact surface to better conform to irregular ground surfaces (such as gravel or uneven surfaces). The flexible deformation of the foot pad 20 expands the support area, improving the robot's stability under heavy-load conditions.

[0041] Optionally, in this application, the foot connector 10 can be a rigid plastic structure, specifically polycarbonate, polyvinyl chloride, and polyoxymethylene, etc.; the foot connector 10 can also be a metal structure, such as aluminum alloy, etc. The foot connector 10 can be manufactured by integral molding with a mold, or it can be machined by a CNC machine tool. No specific limitations are made in this application; the specific materials and processing methods are selected according to actual production needs.

[0042] Optionally, the foot pad 20 can be made of elastic materials such as rubber, silicone, or polyurethane. Alternatively, materials such as glass fiber can be added to the rubber to enhance the mechanical properties, wear resistance, and thermochemical properties of the foot pad 20. In this application, the preferred material for the foot pad 20 is rubber + glass fiber. With this configuration, the glass fiber acts as a rigid reinforcement, uniformly dispersed in the rubber matrix to form a "skeleton structure," inhibiting the stretching deformation of the rubber molecular chains, thereby improving the impact resistance of the foot when walking on irregular surfaces. Furthermore, adding glass fiber can improve the fatigue crack resistance of the foot pad 20, reduce the risk of cracking, and extend its service life. It can also improve friction and wear resistance, enhancing grip and abrasion resistance, which is beneficial for multi-legged robots to operate long-term on sandy and gravel surfaces. In other words, by combining glass fiber with flexible rubber, the problems of insufficient strength, easy wear, and poor environmental adaptability of single rubber materials are solved. In practical applications, the glass fiber content and surface treatment process need to be rationally optimized according to the robot's operating scenario (such as load, road surface, and ambient temperature) to improve performance while controlling production costs.

[0043] Furthermore, in this application, the connection methods between the foot pad 20 and the foot connector 10 include vulcanization bonding, adhesive bonding, and embedded bonding (including pre-embedded metal skeleton and injection molding). The specific connection method selected depends on actual production needs, and this application does not impose specific limitations.

[0044] The principle of vulcanization bonding is as follows: the prepared rubber product and the foot connector 10 are placed in relevant equipment, and the equipment is kept at a certain temperature, pressure, and time, initiating a chemical reaction (cross-linking) between the rubber molecular chains, transforming the linear molecular structure into a three-dimensional network structure. In this way, while maintaining its shape, the rubber material undergoes a fundamental chemical change, transforming into a usable final product with excellent properties such as high elasticity, high strength, wear resistance, tear resistance, heat resistance, solvent resistance, and dimensional stability. The foot pad 20 and the foot connector 10 are strongly bonded together using vulcanization bonding, thereby improving the connection strength between the two and further enhancing the robot's performance.

[0045] The principle of adhesive bonding is as follows: An adhesive (such as neoprene rubber, silicone rubber, polyurethane adhesive, etc.) is used to fill the gap between the foot connector 10 and the foot pad 20, forming an interfacial bond. In actual production, the specific type of adhesive needs to be selected according to the type of rubber. Alternatively, a coating (such as a silane coupling agent) can be applied to the bottom of the foot connector 10 first, followed by the adhesive, to enhance the interfacial bonding force. In actual production, the surface of the metal foot connector 10 can be derusted and degreased first, and the rubber surface can be roughened by sanding to enhance adhesion. It is also necessary to control the thickness of the adhesive layer to avoid excessive thickness leading to a decrease in strength.

[0046] The principle of injection molding is as follows: In a mold for preparing a footpad 20, rubber with added carbon fibers softens, plasticizes, and becomes fluid under heat-shearing force. The finished foot connector 10 is then placed into the injection mold as an insert. The rubber melt is a high-viscosity viscoelastic fluid that can flow and fill the through-holes 121 on the connector 12 and cover the entire connector 12. This method of preparing the foot end results in high production efficiency and a tight connection, enhancing the connection strength between the foot connector 10 and the footpad 20.

[0047] like Figure 2As shown, the connecting portion 12 includes a connecting section 122 and a protruding section 123. The protruding section 123 is connected to the bottom of the main body 11 through the connecting section 122. Along the width direction of the connecting portion 12, both opposite ends of the protruding section 123 have outer flanges 1231 protruding from the connecting section 122. A groove 13 is formed between the outer flange 1231 and the main body 11, and the foot pad 20 is at least partially engaged in the groove 13. Specifically, the groove 13 formed by the outer flange 1231 and the main body 11 provides a clear flow path for the rubber material in the mold. For example, during vulcanization molding, the molten rubber preferentially fills the area of ​​the groove 13 to form an "insert" structure. Compared with planar connection, the bonding area between the rubber and the foot connector 10 is increased, avoiding voids or poor bonding caused by uneven material flow. The stepped structure of the raised section 123 and the connecting section 122 can form a positioning boss in the mold, ensuring the relative positional accuracy of the foot connector 10 and the foot pad 20, and avoiding eccentricity of the foot pad 20 or displacement of the slot 13 due to displacement during one-piece molding. In addition, the geometry of the raised section 123 and the outer flange 1231 can disperse the shrinkage stress during rubber curing, reduce the deformation of the foot pad 20, and improve the reliability of the one-piece molding setup.

[0048] Furthermore, the interlocking of the slot 13 and the foot pad 20 forms a "hook-like" structure: after the rubber material fills the slot 13 and cures, the rubber portion below the outer flange 1231 (i.e., the foot pad 20 inserted into the slot 13) forms a "barb"-like protrusion, which mechanically interlocks with the foot connector 10 to enhance the physical bond. Optionally, before vulcanization or melt molding, the foot connector 10 can be coated with a silane coupling agent (such as KH-560) to allow the rubber molecules to chemically react with the hydroxyl groups on the metal or plastic surface to form covalent bonds. Combined with the mechanical interlocking of the slot 13, the interfacial shear strength is effectively improved, effectively preventing the foot pad 20 from delaminating from the foot connector 10 (e.g., no delamination after long-term use).

[0049] Furthermore, the slot 13 structure distributes the load over a larger contact area, reducing localized stress concentration. When the foot is subjected to cyclic loads, the rubber "insertion" within the slot 13 can absorb energy through elastic deformation, preventing cracks at the connection interface due to repeated stress. The one-piece molding + slot 13 structure eliminates the need for additional assembly processes (such as gluing or bolting), reducing production time, making it suitable for mass production, and also lowering the defect rate.

[0050] like Figure 2 and Figure 4As shown, a connecting groove 1232 is provided on the side of the protruding section 123 near the outer flange 1231, and the foot pad 20 is at least partially filled in the connecting groove 1232. Exemplarily, the connecting groove 1232 can be a rectangular groove or a trapezoidal groove, etc. The connecting groove 1232 is equivalent to adding a "groove trap" to the surface of the protruding section 123. After the rubber of the foot pad 20 is vulcanized / melted, it is embedded in the groove to form a "tenon," further forming a double locking mechanism with the locking groove 13 formed between the outer flange 1231 and the main body 11. The "barbs" formed after the rubber is filled can effectively prevent the foot pad 20 from sliding along the surface of the protruding section 123. At the same time, the connecting groove 1232 can serve as a "flow guide channel" for the material of the foot pad 20 in the mold. The molten rubber preferentially fills the groove, ensuring that the relative positional deviation between the foot pad 20 and the protruding section 123 is reduced. Simultaneously, the presence of the connecting groove 1232 allows for a certain buffer space when the rubber cures and shrinks, avoiding the problem of cracking due to stress concentration caused by excessive tightness.

[0051] Furthermore, the connecting groove 1232 increases the contact area between the foot connector 10 and the foot pad 20, increasing the interfacial shear strength and reducing the likelihood of delamination between them. In addition, the connecting groove 1232 divides the interface between the raised section 123 and the foot pad 20 into a dual "inside-outside" region: when the foot touches the ground, the load is first transferred from the outer rubber to the outer flange 1231, and then through the inner rubber to the raised section 123, forming a stepped stress transfer path. This design reduces the maximum stress at the connection interface, preventing fatigue crack initiation caused by localized overload. It is worth noting that in actual production, the depth and width of the connecting groove 1232 need to be designed appropriately to avoid insufficient rubber filling due to size, which could reduce the connection strength.

[0052] like Figures 1 to 5 As shown, the main body 11 is provided with a mounting groove 111, and the bottom surface of the mounting groove 111 is provided with a limiting part 112. The robot's leg is provided with a structure adapted to the structure of the mounting groove 111. When connecting the foot to the robot's leg, the mounting groove 111 helps to simplify the installation procedure and ensure the connection strength, avoiding the risk of the foot falling off during robot walking. In this application, the bottom surface of the mounting groove 111 is also provided with a limiting part 112. The limiting part 112 can be a positioning protrusion structure or a positioning groove structure. In this application, the limiting part 112 is shown as a positioning protrusion structure, which serves to connect and position with the multi-legged heavy-duty robot leg structure. The limiting part 112 is also provided with a limiting groove 1121, which is a circular groove that can cooperate with the ball plunger in the multi-legged heavy-duty robot leg structure to fix the foot connector 10.

[0053] like Figure 1As shown, weight-reduction grooves 113 are provided on both sides of the main body 11 opposite to the mounting groove 111. The weight-reduction grooves 113 are typically located in non-critical areas of the main body 11 where the stress is relatively low (such as the edges of the mounting groove 111). By removing redundant material (such as grooves reserved during milling or die casting), the weight is reduced without affecting the main load path. Furthermore, since the main body 11 is connected to the robot's leg structure, the weight-reduction grooves 113 can reduce the energy consumption of the drive motor. The edges of the mounting groove 111 are prone to stress concentration due to geometric abrupt changes. Providing weight-reduction grooves 113 on both sides can guide the stress distribution evenly by setting rounded corners, and reduce the risk of cracking. Optionally, the shape of the weight-reduction groove 113 can be rectangular, elliptical, etc., where a rectangular shape involves rounding the edges. Simultaneously, the cavity formed by the weight-reduction groove 113 can increase the internal friction during structural vibration, improve the damping ratio, and reduce the resonance amplitude.

[0054] For example, the number of weight-reducing grooves 113 on one side of the main body 11 of the mounting groove 111 can be one, two, three, or more than three. The specific number can be adjusted adaptively according to actual production, and no specific limitation is made in this application. The weight-reducing grooves 113 provided on the main body 11 on opposite sides of the mounting groove 111 can be symmetrically or asymmetrically arranged. The case of symmetrical arrangement is shown in this application. When the weight-reducing grooves 113 are symmetrically arranged, the stability of the multi-legged heavy-duty robot when walking on complex terrain is improved, and gait imbalance caused by structural asymmetry is avoided.

[0055] Furthermore, a weight-reducing groove 113 is disposed on the upper surface of the main body 11, extending along the height direction of the main body 11. This configuration not only reduces the weight of the foot connector 10 but also allows for the installation and positioning of the robot's legs. Specifically, the weight-reducing groove 113 can directly serve as the mounting and positioning surface for the robot's leg structure, reducing the need for additional positioning components (such as positioning pins or bosses). In addition, the structure of the weight-reducing groove 113 allows for direct engagement with the protruding portion of the leg connector, achieving boltless and rapid positioning, suitable for scenarios requiring frequent disassembly and assembly.

[0056] like Figures 1 to 7 As shown, the multi-legged heavy-duty robot also includes a locking member 30; the main body 11 is provided with mounting holes 114, and the locking member 30 passes through the mounting holes 114 to mount the legs into mounting grooves 111. Exemplarily, the locking member 30 includes high-strength connecting bolts or pins. After the locking member 30 passes through the mounting holes 114 on the main body 11, a pre-tightening force presses the robot's leg structure against the mounting grooves 111, forming a frictional connection. Specifically, pre-embedded nuts 50 are provided on one side of the main body 11 on opposite sides of the mounting grooves 111. Thus, when the locking member 30 forms a rigid whole between the legs and the main body 11, the occurrence of loosening is reduced, improving the robot's operational stability.

[0057] Furthermore, an end cap 40 is provided at the end of the locking member 30 that is away from the pre-embedded nut 50. The end cap 40 is interference-fitted with the main body 11 and covers the locking member 30, thereby improving the appearance.

[0058] like Figure 1 and Figure 3 As shown, the cross-sectional shape of the connecting part 12 is either semi-circular or semi-elliptical, cut along a direction perpendicular to its width. The edges of the semi-circular / semi-elliptical cross-section are continuous arcs, resulting in a lower stress concentration factor compared to the right angles of a rectangular cross-section, thus improving fatigue strength. When the connecting part 12 is subjected to a bending moment perpendicular to the cross-section, the stress distribution above and below the neutral axis (central axis of the cross-section) of the semi-circular cross-section is symmetrical. Therefore, the semi-circular structure of the connecting part 12 exhibits stronger resistance to bending deformation than a semi-elliptical or rectangular structure. Furthermore, the semi-circular or semi-elliptical cross-section can be formed in one step using a metal mold, reducing production costs. Moreover, the semi-circular / semi-elliptical cross-section can be formed in one step by turning or milling, with a continuous arc tool path, resulting in shorter machining time and more uniform tool wear compared to a rectangular cross-section.

[0059] Optionally, the through hole 121 can be cut along a direction perpendicular to the width of the connecting portion 12, and the cross-sectional shape of the through hole 121 can be any one of a circle, ellipse, rectangle, or polygon. In this application, the shape of the through hole 121 includes various types, and no specific limitation is made here. Figure 1 The diagram shows the case where the through hole 121 is semi-circular. The shape design of the through hole 121 matches the vulcanization / melting process, enabling the foot connector 10 and the foot pad 20 to form a dual connection of "geometric locking + molecular bonding". In heavy-load, high-frequency vibration scenarios, the multi-legged robot achieves a highly reliable structural connection.

[0060] like Figures 3 to 7As shown, the outer surface of the foot pad 20 is provided with protrusions 21 arranged in an array. The protrusions 21 located at the outer edge of the foot pad 20 have arc surfaces, and there is a groove 22 between two adjacent protrusions 21. The height H of the protrusions 21 satisfies the relationship: 0.5mm≤H≤8mm. For example, the height of the protrusions 21 can be 0.5mm, 1.0mm, 3.0mm, 5.0mm, 8.0mm, etc. The protrusions 21 are arranged in an array. When the foot pad 20 contacts the ground, each protrusion 21 can independently adapt to the unevenness of the rough surface, thereby increasing the static friction. For example, when walking on a rough ground, the protrusions 21 can embed into the gaps in the ground to form a mechanical lock and reduce robot slippage. In this application, the protrusions 21 can undergo elastic deformation when the foot pad 20 contacts the ground, increasing the contact area between the foot pad 20 and the ground, which not only has an anti-slip function but also a shock absorption effect. When the height of the protrusions 21 satisfies the above relationship, the array of protrusions 21 evenly distributes the heavy load to multiple contact points, avoiding excessive pressure at a single point that could cause deformation of the footpad 20 or damage to the ground. If the height of the protrusions 21 is too low (<0.5mm), the support effect of the protrusions 21 on the foot end is weak, and it cannot effectively distribute pressure or play a cushioning role; if the height of the protrusions 21 is too high (>8mm), the bottom material of the groove 22 of the footpad 20 will become thinner, and it will easily crack under repeated compression.

[0061] Furthermore, in this application, the protrusion 21 located on the outer edge of the foot pad 20 has an arc surface, and the radius R of the arc surface satisfies the relationship: 0.5mm ≤ R ≤ 8mm. For example, the radius R of the arc surface can be 0.5mm, 1.0mm, 3.0mm, 5.0mm, 8.0mm, etc. The protrusion 21 on the edge uses an arc surface instead of a right angle surface, which can avoid local wear caused by stress concentration when the sharp edge contacts the ground. When the edge of the foot pad 20 touches the ground, the arc surface can reduce frictional resistance and avoid movement jerking caused by sharp corners. Especially when climbing or crossing obstacles, the arc edge is easier to conform to the curved surface. In addition, when the foot pad 20 is subjected to lateral force, the protrusion 21 on the edge arc surface can distribute the load evenly to the entire edge area, rather than concentrating it at a certain point, thereby reducing the risk of edge tearing (such as when the robot moves laterally, the arc surface of the protrusion 21 on the edge can buffer the lateral impact). When the protrusion 21 located at the edge of the foot pad 20 satisfies the above relationship, the resistance of the foot pad 20 when it crosses an obstacle can be reduced. For example, when the edge of the foot pad contacts the corner of the obstacle, the arc surface can smoothly transition and avoid getting stuck.

[0062] Furthermore, in this application, the depth D of the groove 22 satisfies the relationship: 0.5mm ≤ D ≤ 8mm. For example, the depth of the groove 22 can be 0.5mm, 1.0mm, 3.0mm, 5.0mm, 8.0mm, etc. The groove 22 between adjacent protrusions 21 can serve as a drainage channel for fluids (water, mud), thereby keeping the footpad 20 clean. For example, when the robot walks on wet ground, the groove 22 can quickly drain the water accumulated between the footpad 20 and the ground, avoiding a decrease in the coefficient of friction caused by the water film. In addition, when the depth D of the groove 22 satisfies the above relationship, the groove 22 can absorb impact through deformation, reducing robot vibration; and the groove 22 can accommodate small particles of mud and sand, preventing them from accumulating on the contact surface and affecting gripping. Furthermore, the presence of the groove 22 gives the protrusions 21 independent elasticity. When the footpad 20 is compressed, the protrusions 21 can deform slightly towards the groove 22, thereby adapting to the ground contour, further increasing the actual contact area and improving gripping force.

[0063] As can be seen from the above description, the embodiments of this utility model achieve the following technical effects:

[0064] (1) This application integrally forms the foot connector and the foot pad, and the foot pad is integrally formed and covers the outer periphery of the connecting part. The connecting part of the foot connector is provided with a through hole, and the foot pad is at least partially filled in the through hole. This configuration increases the connection area between the foot pad and the foot connector, and effectively improves the connection strength between the foot pad and the foot connector.

[0065] (2) This application further improves the connection area and connection strength between the foot pad and the foot connector by providing a connection groove on the connection part of the foot connector.

[0066] Combination Figures 1 to 7 As shown, this application also provides a robot that includes the aforementioned multi-legged heavy-duty robot feet. Specifically, the robot can be a quadrupedal heavy-duty robot, a hexapodal heavy-duty robot, an octagonal heavy-duty robot, etc. Attaching the multi-legged heavy-duty robot feet to the robot's legs improves the robot's stability in environments such as ruins, rugged terrain, loose sand, or gravel, and reduces the occurrence of foot tearing.

[0067] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0068] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0069] In the description of this utility model, it should be understood that the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms 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 on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself.

[0070] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A foot end for a multi-legged heavy-duty robot, wherein the foot end is mounted on the leg of the multi-legged heavy-duty robot, characterized in that, include: Foot connector (10), the foot connector (10) includes a main body (11) and a connecting part (12) disposed at the bottom of the main body (11). The connecting part (12) is provided with a through hole (121) which penetrates the connecting part (12) along the width direction of the connecting part (12). Foot pad (20) is integrally formed and covers the outer periphery of the connecting part (12), and the foot pad (20) is at least partially filled in the through hole (121).

2. The foot end of the multi-legged heavy-duty robot according to claim 1, characterized in that, The connecting part (12) includes a connecting section (122) and a protruding section (123). The protruding section (123) is connected to the bottom of the main body (11) through the connecting section (122). Along the width direction of the connecting part (12), both ends of the protruding section (123) have an outer flange (1231) protruding from the connecting section (122). There is a groove (13) between the outer flange (1231) and the main body (11). The foot pad (20) is at least partially engaged in the groove (13).

3. The foot end of the multi-legged heavy-duty robot according to claim 2, characterized in that, The protruding section (123) is provided with a connecting groove (1232) on the side near the outer flange (1231), and the foot pad (20) is at least partially filled in the connecting groove (1232).

4. The foot end of the multi-legged heavy-duty robot according to claim 1, characterized in that, The main body (11) is provided with an installation groove (111), and the bottom surface of the installation groove (111) is provided with a limiting part (112).

5. The foot end of the multi-legged heavy-duty robot according to claim 4, characterized in that, Weight reduction grooves (113) are provided on both sides of the main body (11) of the mounting groove (111).

6. The foot end of the multi-legged heavy-duty robot according to claim 5, characterized in that, The weight-reducing groove (113) is disposed on the upper surface of the main body (11) and extends along the height direction of the main body (11).

7. The foot end of the multi-legged heavy-duty robot according to claim 4, characterized in that, The multi-legged heavy-duty robot also includes a locking component (30); The main body (11) is provided with a mounting hole (114), the locking member (30) passes through the mounting hole (114) and installs the leg into the mounting groove (111).

8. The foot end of a multi-legged heavy-duty robot according to any one of claims 1 to 7, characterized in that, Cut along the width direction perpendicular to the connecting portion (12), the cross-sectional shape of the connecting portion (12) includes a semi-circular or semi-elliptical shape; and / or, Cut along the width direction perpendicular to the connecting part (12), the cross-sectional shape of the through hole (121) includes any one of the following: circular, elliptical, rectangular and polygonal.

9. The foot end of a multi-legged heavy-duty robot according to any one of claims 1 to 7, characterized in that, The outer side of the foot pad (20) is provided with protrusions (21) arranged in an array. The protrusions (21) located at the outer edge of the foot pad (20) have an arc surface, and there is a groove (22) between two adjacent protrusions (21). Wherein, the height H of the protrusion (21) satisfies the relationship: 0.5mm≤D≤8mm; and / or, The radius R of the arc surface satisfies the following relationship: 0.5mm ≤ R ≤ 8mm; and / or, The depth D of the groove (22) satisfies the following relationship: 0.5mm≤H≤8mm.

10. A robot, characterized in that, The robot includes the multi-legged heavy-duty robot foot end as described in any one of claims 1 to 9.

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