Foot end structure and robot

Abstract

The application relates to a foot end structure and relates to the technical field of robots, and comprises a mounting seat, an elastic body, and the end of the elastic body being connected with the mounting seat; the elastic body comprises a plurality of lattice units; when at least one side of the elastic body is pressed, at least one lattice unit changes from a first shape to a second shape to conduct the pressure and vibration received by the elastic body from the first lattice unit to the second lattice unit; wherein the first lattice unit is the lattice unit changing from the first shape to the second shape, and the second lattice unit is the lattice unit adjacent to the first lattice unit. The elastic body formed by the flexible lattice is arranged at the foot end of the robot, the shock absorption and sound absorption effects of the lattice reduce the impact and noise when the foot end of the robot contacts the ground, and the stable fixing between the elastic body and the mounting seat is ensured through the connecting piece, so that the multi-legged robot is more suitable for an acoustically sensitive scene.

Description

Technical Field

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

[0002] With the rapid development of robotics technology, legged robots, due to their superior obstacle-crossing ability and environmental adaptability, have gradually penetrated into diverse scenarios such as service, rescue, and industrial inspection. Compared to wheeled or tracked robots, legged robots achieve movement through discrete foot support, and their locomotion pattern is closer to biological walking, enabling them to cope with unstructured environments such as steps and rugged terrain.

[0003] However, when legged robots perform tasks in human activity areas (such as homes, offices, and hospitals), the frequent contact between their feet and the ground, due to the limitations of motion inertia and control algorithms, often results in significant impacts upon landing, leading to high-frequency noise. This noise not only interferes with normal human life (such as conversation and rest) but also limits the widespread application of robots in acoustically sensitive environments (such as libraries, conference rooms, and medical areas), becoming a key bottleneck in the practical application of legged robots. Utility Model Content

[0004] This application provides a foot structure and robot to solve the problem of high noise during the movement of existing legged robots.

[0005] In a first aspect, embodiments of this application provide a foot end structure, including:

[0006] Mounting base;

[0007] Elastomer; the end connection between the elastomer and the mounting base;

[0008] The elastomer includes multiple lattice units; when at least one side of the elastomer is compressed, at least one lattice unit changes from a first shape to a second shape to transmit the pressure and vibration on the elastomer from the first lattice unit to the second lattice unit; wherein, the first lattice unit is the lattice unit that changes from the first shape to the second shape, and the second lattice unit is the lattice unit adjacent to the first lattice unit.

[0009] Based on this scheme, when the robot's foot contacts the ground and is subjected to pressure, at least one lattice unit deforms. Pressure and vibration are transmitted to adjacent lattice units through the deformed lattice unit, forming a multi-path energy consumption and buffering mechanism. The deformation generated by the lattice structure can effectively absorb impact energy. At the same time, through stress dispersion between lattice units, the vibration transmission efficiency is significantly reduced, thereby reducing foot landing noise and effectively mitigating interference with human activities or acoustically sensitive scenarios during robot movement.

[0010] In some embodiments, the first shape includes at least one of a circle, an ellipse, a regular polygon, and an irregular polygon.

[0011] Based on this scheme, by defining different shapes of lattice units, the different properties of the lattice units can be further controlled. For example, regular shapes have the characteristics of easy processing, deformation, and uniform stress, while irregular polygons can be adapted to the force requirements of the foot end in different directions by adjusting the angles of the edges and corners. The diversified shape design enables the elastomer to maintain stable energy absorption performance under different landing angles, improving the adaptability of the foot end structure to complex contact scenarios.

[0012] In some embodiments, it also includes:

[0013] Connector; the connector is located on the side of the elastomer facing the mounting base; the connector is detachably connected to the end of the mounting base.

[0014] Based on this solution, the introduction of the connector improves the flexibility of the connection between the elastomer and the mounting base. When the elastomer experiences lattice fatigue due to long-term use, it is not necessary to disassemble the entire foot structure; only the connection between the connector and the mounting base and the elastomer needs to be separated for maintenance and replacement, reducing maintenance costs. The detachable design is less likely to damage material properties compared to traditional adhesive bonding or welding, extending the effective service life of the elastomer.

[0015] In some embodiments, the end of the mounting base includes a first end face, and the first end face includes a first groove;

[0016] The elastomer includes a second end face for mating with the mounting base, the second end face including a second groove;

[0017] The connector includes a first connecting portion and a second connecting portion; at least a portion of the first connecting portion mates with a first groove to connect the connector to the mounting base; the second connecting portion engages with a second groove to connect the connector to the elastomer.

[0018] Based on this solution, the connector serves as an intermediate connecting structure. Its connecting parts are adapted to the groove structures of the elastomer and the mounting base. The split groove design can ensure precise assembly between the connector, the elastomer, and the mounting base, thereby reducing assembly difficulty and improving efficiency while ensuring accuracy.

[0019] In some embodiments, the outer contours of the second end face and the first end face coincide.

[0020] Based on this solution, the mounting base and the elastomer are integrated after assembly, improving the overall aesthetics and reducing the possibility of external impurities entering the interior, thus reducing the risk of connection failure due to wear caused by impurities.

[0021] In some embodiments, the end of the mounting base includes a first side surface, and the first side surface is provided with at least one fixing hole; the fixing hole passes through the first side surface and communicates with the first groove.

[0022] The first connecting part is provided with at least one threaded hole; when the first connecting part is inserted into the first groove, the threaded hole is used to connect with the screw passing through the fixing hole.

[0023] Based on this solution, the connection between the mounting base and the connector is enhanced by using fixing holes and screws. The screws can provide axial locking force. Since the direction of the locking force is different from the direction of the impact caused by the foot landing, the locking force will not gradually decrease due to frequent impacts from the foot landing, thereby improving the anti-detachment properties between the mounting base and the connector.

[0024] In some embodiments, the second groove includes an entry section and a snap-fit ​​section. When the second connecting part is engaged with the second groove, the inner wall of the entry section is in contact with at least a portion of the outer wall of the first connecting part, and the inner wall of the snap-fit ​​section is in contact with the outer wall of the second connecting part. Along the direction in which the second connecting part is inserted into the second groove, the cross-sectional area of ​​at least a portion of the second connecting part is greater than the cross-sectional area of ​​the first connecting part.

[0025] Based on this solution, a variable cross-section design achieves rapid self-locking and buffer protection between the elastomer and the connector. When the connector's connecting part is connected to the elastomer, the elasticity of the elastomer is first used to allow the connecting part to pass through a small-area entry section, and then a snap-fit ​​section adapted to the shape of the connecting part is used to form a snap-fit ​​lock on the connecting part, which can quickly complete the connection and provide high stability.

[0026] In some embodiments, the first connecting portion and the first groove are transitionally fitted.

[0027] Based on this solution, a high connection strength can be achieved between the connector and the mounting base.

[0028] In some embodiments, the second connecting portion and the second groove are bonded and fixed together.

[0029] Based on this solution, the bonding and mechanical clamping complement each other. The mechanical clamping provides rigid constraints for the initial connection, while the bonding absorbs the micro-vibrations during long-term use through flexible buffering, thereby improving the service life of the connection structure.

[0030] In some embodiments, the outer surface of the elastomer includes a first pressure-bearing surface, a second pressure-bearing surface, and a third pressure-bearing surface;

[0031] The first pressure-bearing surface comprises multiple lattice units of the same shape; the shape of the lattice units in the first pressure-bearing surface is circular, elliptical, or regular polygonal;

[0032] The second pressure-bearing surface includes at least two different shapes of lattice units; the shape of the lattice units in the second pressure-bearing surface is circular, elliptical, regular polygonal, or irregular polygonal;

[0033] The third pressure-bearing surface comprises multiple lattice units of the same shape; the lattice units in the third pressure-bearing surface are irregularly shaped polygons.

[0034] The first and third pressure surfaces are connected by the second pressure surface.

[0035] Based on this scheme, by defining the properties and distribution of lattice units at different locations of the elastomer, different pressure surfaces can be specifically designed to cope with impacts from different directions. For example, regular lattice units can be used to uniformly disperse vertical impacts, irregular polygonal lattice units can be used to cope with lateral impacts, and hybrid lattice units can be used to adapt to the complex stress distribution under oblique forces. The regional lattice design enables the foot structure to maintain stable shock absorption and noise reduction performance when landing at any angle.

[0036] In some embodiments, the first pressure-bearing surface is disposed on the bottom surface of the elastic body; the third pressure-bearing surface is disposed on the side surface of the elastic body.

[0037] Based on this solution, different pressure surfaces are specifically designed for the main stress areas when the robot's feet land, which can ensure high shock absorption reliability under different force directions.

[0038] In some embodiments, the second pressure-bearing surface includes a first sub-lattice unit and a second sub-lattice unit; the first sub-lattice unit and the second sub-lattice unit are uniformly and alternately arranged.

[0039] Based on this scheme, the staggered lattice structure increases the contact area between lattice units, which promotes stress dispersion during stress transmission and avoids stress concentration. Simultaneously, the staggered structure improves the shear resistance of the elastomer, extending its service life under complex stress conditions.

[0040] In some embodiments, the lattice units of the elastomer are arranged in at least two layers along the axial direction of the mounting base.

[0041] Based on this scheme, by increasing the number of lattice units arranged in the space of the elastic body, the vibration transmission direction can be changed from in-plane transmission to spatial transmission, significantly increasing the vibration transmission path. At the same time, the formation of a hierarchical energy attenuation structure between the multilayer lattice units allows the impact vibration to be reflected and dissipated multiple times between layers, significantly improving the vibration reduction and noise reduction effect.

[0042] In some embodiments, the plurality of lattice units constitute at least one structure selected from simple cubic, body-centered cubic, face-centered cubic, or hexagonal close-packed.

[0043] Based on this solution, a suitable lattice structure can be selected according to different application scenarios, thereby improving the scenario adaptability of the foot structure. For example, a simple cubic structure is suitable for scenarios requiring uniform buffering; a body-centered cubic structure is suitable for scenarios requiring high compressive strength; and a face-centered cubic structure is suitable for scenarios requiring high energy absorption efficiency.

[0044] In some embodiments, the lattice unit is at least one of a tetrahedral lattice, an octahedral lattice, and a cubic octahedral lattice.

[0045] Based on this solution, the local lattice type can be customized according to the force requirements of different areas of the foot to achieve precise vibration reduction and noise reduction effects.

[0046] In some embodiments, the lattice unit is a hybrid lattice formed by at least two combinations of tetrahedral lattices, octahedral lattices, and cubic octahedral lattices.

[0047] Based on this scheme, the advantages of different crystal lattices can be combined to achieve complementary performance and maximize the vibration reduction and noise reduction performance.

[0048] Secondly, embodiments of this application also provide a robot, including the foot structure of the first aspect.

[0049] In some embodiments, the robot is a humanoid robot or a multi-legged robot. Attached Figure Description

[0050] Figure 1 Schematic diagrams of the structure of a quadruped robot provided for some embodiments;

[0051] Figure 2 This is a schematic diagram of the foot structure provided in some embodiments of this application;

[0052] Figure 3 This is a schematic diagram showing the shape change of the lattice unit of the foot structure provided in some embodiments of this application before and after being compressed;

[0053] Figure 4 These are design diagrams of different shapes of lattice units in some embodiments of this application;

[0054] Figure 5 Cross-sectional views of the foot structure provided in some embodiments of this application;

[0055] Figure 6 This is a schematic diagram of the mounting base in the foot structure provided in some embodiments of this application;

[0056] Figure 7 This is a schematic diagram of the structure of the elastomer in the foot end structure provided in some embodiments of this application;

[0057] Figure 8This is a schematic diagram of the connecting member in the foot structure provided in some embodiments of this application;

[0058] Figure 9 Cross-sectional views of the elastomer in the foot structure provided in some embodiments of this application;

[0059] Figure 10 A partial schematic diagram of the surface of the elastomer in the foot structure provided in some embodiments of this application;

[0060] Figure 11 This is a schematic diagram of the lattice unit arrangement of the second pressure surface of the elastomer in the foot structure provided in some embodiments of this application.

[0061] in,

[0062] 100 - Torso platform, 200 - Leg mechanism;

[0063] 1-Mounting base; 2-Elastomer; 3-Connector;

[0064] 201 - Lattice unit; 2011 - First lattice unit; 2012 - Second lattice unit; 201a - First sub-lattice unit; 201b - Second sub-lattice unit;

[0065] 11-First end face; 12-First side face; 21-Second end face; 22-First pressure-bearing surface; 23-Second pressure-bearing surface; 24-Third pressure-bearing surface; 31-First connecting part; 32-Second connecting part;

[0066] 111 - First groove; 121 - Fixing hole; 211 - Second groove; 311 - Threaded hole;

[0067] 2111 - Entry section; 2112 - Clip section. Detailed Implementation

[0068] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0069] Multilegged robots are robots that mimic the leg movements of humans or animals (such as dogs and horses). With their flexible terrain adaptability, they have shown unique advantages in fields such as industry, rescue, and scientific research.

[0070] See Figure 1 It shows a structural schematic diagram of a quadruped robot provided in some embodiments;

[0071] Taking a quadruped robot as an example, its structure can be divided into mechanical structure, drive system, perception system, and control system; among them, the mechanical structure serves as the carrier of the robot's movement, such as... Figure 1 As shown, it mainly includes a torso platform 100 and a leg mechanism 200.

[0072] In some embodiments, the torso platform 100 serves as a mounting base for power sources, sensors, and control systems. It is typically designed with a low center of gravity to improve stability. The torso platform 100 can integrate load structures (such as robotic arms, shelves, etc.) to complete specified operational tasks.

[0073] In some embodiments, the leg mechanism 200 may include a hip joint and a knee joint to provide multiple rotational degrees of freedom such as forward and backward swinging, lateral swinging, and bending. Adjacent joints are connected by means of linkages or the like to provide overall mechanical structure rigidity and load capacity.

[0074] In some embodiments, the leg mechanism 200 may also include an ankle joint to further increase freedom of movement and adapt to complex terrain.

[0075] The drive system provides power for the movement of the leg mechanism 200. In some examples, the power can be provided by one of the following methods: electric motor drive, hydraulic drive, or pneumatic drive.

[0076] The perception system, through multi-sensor fusion, enables the robot to acquire its own state and environmental information in real time. Key sensors that can be integrated into the robot are not limited to:

[0077] The inertial measurement unit (IMU), which integrates accelerometers and gyroscopes, can monitor the fuselage attitude (tilt angle, angular velocity) and acceleration in real time, and is the core input for balance control.

[0078] Visual sensors, including cameras (RGB / depth cameras), LiDAR, and other devices, are used to identify terrain information (such as obstacles and slopes), build environmental maps (SLAM), and perform obstacle avoidance.

[0079] Force / tactile sensors, installed on leg joints or feet, sense ground reaction forces (such as pressure changes when stepping on soft soil) to adjust gait and avoid collisions.

[0080] Positioning modules, such as GPS for outdoor positioning, UWB for indoor positioning, or multi-sensor fusion positioning, assist in global navigation.

[0081] The robot's control system processes the sensory data acquired by the sensing system, plans the motion path, and executes control commands. The control system includes a hardware layer and a software layer.

[0082] The core of the hardware layer is the controller (such as an embedded computer or industrial computer), which needs to have high real-time performance (millisecond-level response) and multi-threaded processing capabilities. In some embodiments, the controller can connect to the joint drivers through a CAN bus to achieve motion control of the robot.

[0083] The software layer uses algorithms such as PID and synovial control to achieve low-level control such as joint position and speed tracking, ensuring that each leg moves according to the planned trajectory.

[0084] In some embodiments, when performing motion planning, methods such as model predictive control (MPC) and Bayesian optimization can be used to generate gaits adapted to the terrain and plan obstacle avoidance paths.

[0085] In some embodiments, the software layer can also be configured with a balancing algorithm through torque distribution and center adjustment to cope with sudden terrain changes or external force disturbances.

[0086] When combining the perception system and the control system to control the robot's leg movements through the mechanical structure and drive system, the coordinated actions of the mechanical structure can be achieved through specific algorithms based on a mathematical model of the robot's overall motion and combined with real-time perception data.

[0087] In some embodiments, the mathematical model for the overall motion of the robot includes a kinematic model and a dynamic model. The kinematic model describes the relationship between the robot's leg joint angles and its body pose; the dynamic model describes the balance of forces and torques during the robot's motion, taking into account factors such as gravity, ground reaction force (GRF), and joint driving torques.

[0088] However, during robot movement, due to inertia, when the robot's legs switch from the swinging phase to the supporting phase, the ground needs to apply a significant force to counteract the leg momentum, thus generating a certain impact force. Simultaneously, existing control algorithms and mathematical models have certain limitations. Issues such as model simplification, computational delays, or insufficient optimization can all lead to GRF prediction errors, further triggering impacts. These two issues result in the robot's feet often creating a significant impact on the ground upon landing, generating considerable noise and disrupting people's normal lives and work.

[0089] To address the aforementioned issues, this application provides a foot structure for robots that can be applied to multi-legged robots (such as humanoid robots, quadruped robots, hexapod robots, etc.) to reduce vibration and noise during robot movement, making the robot more suitable for low-noise environments.

[0090] See Figure 2 This is a schematic diagram of the foot structure provided in some embodiments of this application;

[0091] Depend on Figure 2 It is understood that the foot structure provided in this application includes:

[0092] Mounting base 1 is used to mount elastomer 2, providing stable fixation and support for elastomer 2.

[0093] In some embodiments, the mounting base 1 can be connected to the ankle joint of the robot leg by screwing, welding or other arbitrary means, or the mounting base 1 can be integrally formed with the robot leg (suitable for scenarios where the ankle joint is not designed).

[0094] In some embodiments, the material used to fabricate the mounting base 1 can be metal, alloy, plastic, or composite material to ensure that the mounting base 1 has sufficient strength and rigidity while remaining lightweight to reduce the overall weight of the robot. The shape and size of the mounting base 1 can be customized according to specific application requirements to adapt to the leg structure and space constraints of different robots.

[0095] See Figure 2 The foot structure also includes an elastic body 2; the elastic body 2 is connected to the end of the mounting base 1 to reduce the impact of the ground on the mounting base 1 (robot foot).

[0096] In some embodiments, the material of the elastomer 2 may be rubber, silicone, polyurethane, or other materials with excellent elasticity and shock absorption properties.

[0097] The elastomer 2 includes multiple lattice units 201; the lattice unit 201 is a spatial structure with a certain shape composed of several straight lines or curves connected together. Since the material used to prepare the elastomer 2 is elastic, when the elastomer 2 is compressed, the shape of the lattice units 201 constituting the elastomer 2 changes, thereby absorbing and dispersing the impact force, and achieving the effect of shock absorption and noise reduction.

[0098] In some embodiments, the grid design of the lattice unit 201 can improve the compressive deformation capability of the elastomer 2, ensure the recovery capability of the elastomer 2 after being compressed, and enable the foot structure in this embodiment to be used repeatedly, thereby improving its service life.

[0099] It should be noted that, considering the different terrain conditions that the robot may encounter during its walking process, the elastic body 2 will not be subjected to impacts from the ground except for the side that contacts the mounting base 1 (defined as the top surface of the elastic body in this embodiment). The side and bottom surfaces of the elastic body 2 may be subjected to impacts from the ground. Therefore, the lattice unit 201 should be considered to be disposed on any side of the elastic body 2 that can be subjected to pressure, such as the side and bottom surfaces of the elastic body 2.

[0100] See Figure 3 This is a schematic diagram showing the shape change of the lattice unit of the foot structure provided in some embodiments of this application before and after being compressed;

[0101] Depend on Figure 3 As shown, taking a localized pressure region of one of the pressure-bearing surfaces (e.g., the bottom surface) of the elastic body 2 as an example, in the unpressured state of the elastic body 2, multiple lattice units 201 are arranged according to a pre-set positional relationship. For example, as... Figure 3 In section a, multiple lattice units 201 can be arranged in an array; when locally compressed, such as Figure 3 In step b, at this time, the lattice unit 201 located at the center is compressed, and the lattice unit 201 changes from the first shape to the second shape, and is therefore defined as the first lattice unit 2011. As the first lattice unit 2011 is stretched and deformed by pressure, the pressure and vibration of the elastic body 2 can be transmitted from the first lattice unit 2011 to the eight surrounding second lattice units 2012. The first lattice unit 2011 and the second lattice unit 2012 can be adjacent to each other by one side or by a corner.

[0102] Furthermore, based on Figure 3 In b, for any second lattice unit 2012 in the previous pressure vibration transmission, if it also undergoes deformation, that is, changes from the first shape to the second shape (at this time, the second shape of the second lattice unit after deformation can be different from the second shape of the first lattice unit after deformation), then it is equivalent to being subjected to pressure or tension from the first lattice unit 2011. Under the premise of deformation caused by pressure, the second lattice unit 2012 can also continue to transmit the pressure and vibration it receives to the lattice units 201 around it. At this time, the second lattice unit 2012 is equivalent to the first lattice unit 2011 in the previous one.

[0103] As pressure is gradually transmitted from the first lattice unit 2011 in the locally compressed area to the second lattice unit 2012 on the outside, the vibration and noise are gradually reduced.

[0104] In some embodiments, when the lattice unit 201 changes from the first shape to the second shape due to different directions of pressure, it may be enlarged, shrunk, one or more edges stretched, compressed, or undergo other morphological changes.

[0105] It should be noted that in the embodiments of this application, the first lattice unit 2011 and the second lattice unit 2011 are relative concepts. That is, for each first lattice unit 2011 that has undergone deformation, the lattice unit 2011 adjacent to it can be called the second lattice unit 2012, but it does not mean that the second lattice unit 2012 is a lattice unit 201 that has not undergone deformation.

[0106] In this embodiment, when the elastomer 2 is subjected to local pressure, one or more first lattice units 2011 will undergo direct deformation due to the pressure. While the first lattice unit 2011 is deformed, it will transmit the pressure and vibration to the surrounding second lattice units 2012. The surrounding lattice units 201 can absorb vibration and noise due to the change in shape. As the pressure and vibration continue to spread outward (outward from the pressure point as the center), they will gradually weaken. Therefore, the foot structure provided in this embodiment can reduce the generation and propagation of noise through the flexible lattice design of the elastomer 2, thereby achieving the effects of vibration reduction and noise reduction.

[0107] The robot employing the foot structure provided in this application's embodiments, during its walking process, when the robot's foot contacts the ground and is subjected to pressure, at least one lattice unit 201 deforms. Pressure and vibration are transmitted to adjacent lattice units 201 through the deformed lattice unit 201, forming a multi-path energy consumption and buffering mechanism. The deformation generated by the lattice structure effectively absorbs impact energy. Simultaneously, through stress dispersion between lattice units 201, vibration transmission efficiency is significantly reduced, thereby reducing foot landing noise and effectively mitigating interference to human activities or acoustically sensitive scenarios during robot movement.

[0108] See Figure 4 These are design diagrams of different shapes of lattice units in some embodiments of this application;

[0109] In some embodiments, different arrangements and shapes of the lattice units 201 can further optimize the vibration damping and noise reduction effect of the elastomer 2. For example, as Figure 4 As shown, the shape of the lattice unit 201 in the uncompressed state (first shape) can be circular ( Figure 4 (b) , oval ( Figure 4 (c) ), regular polygon ( Figure 4 (a) or irregular polygon ( Figure 4 (d)). By adjusting the size, shape, and arrangement density of the lattice unit 201, effective absorption of vibrations at different frequencies can be achieved, thereby further reducing the noise generated during robot movement.

[0110] In this embodiment, by defining different shapes for the lattice unit 201, the different properties of the lattice unit 201 can be further controlled. For example, regular shapes have the characteristics of easy processing, deformation, and uniform stress, while irregular polygons can be adapted to the force requirements of the foot end in different directions by adjusting the angles of the corners. The diverse shape design enables the elastomer 2 to maintain stable energy absorption performance under different landing angles, improving the adaptability of the foot end structure to complex contact scenarios.

[0111] It should be noted that, Figure 4 The shapes shown are merely examples; in practical applications, the lattice units 201 can have other arbitrary shapes, sizes, and arrangements. Figure 4 The example in the text should not be construed as a limitation on the specific shape of lattice unit 201.

[0112] See Figure 5 This is a cross-sectional view of the foot structure provided in some embodiments of this application;

[0113] In some embodiments, to facilitate the assembly and disassembly of the elastomer 2 and the mounting base 1 while ensuring the connection strength between the elastomer 2 and the mounting base 1, the foot structure provided in this application embodiment further includes:

[0114] Connector 3 is used to connect and fix the elastomer 2 and the mounting base 1. One side of connector 3 is connected to the elastomer 2, and the other side is connected to the mounting base 1.

[0115] In some embodiments, the elastomer 2 and the mounting base 1 may be designed with a connection structure that mates with the connector 3 to facilitate installation with the connector 3. The connection structure can be a permanently fixed structure, such as welding, bonding, transition, interference fit, etc.; the connection structure can also be a detachable structure, such as screw connection, plug connection, riveting, etc.

[0116] In some embodiments, when the elastic body 2 and the mounting base 1 are connected by the connector 3, one side of the connector 3 can be connected to the elastic body 2 first, and then the connector 3 and the entire elastic body 2 can be connected to the mounting base 1 to form a unified whole; alternatively, the connector 3 can be connected to the mounting base 1 first, and then the mounting base 1 with the connector 3 installed can be connected to the elastic body 2.

[0117] In this embodiment, the introduction of connector 3 improves the flexibility of the connection between elastomer 2 and mounting base 1. When elastomer 2 experiences lattice fatigue due to long-term use, it is not necessary to disassemble the entire foot structure; only the connection between connector 3 and mounting base 1 and elastomer 2 needs to be separated to perform maintenance and replacement operations on elastomer 2, reducing maintenance costs. The detachable design is less likely to damage material properties compared to traditional adhesive bonding or welding, extending the effective service life of elastomer 2.

[0118] See Figure 6 This is a schematic diagram of the mounting base in the foot structure provided in some embodiments of this application; see also Figure 7 This is a schematic diagram of the structure of the elastomer in the foot structure provided in some embodiments of this application; see also Figure 8 This is a schematic diagram of the connecting member in the foot structure provided in some embodiments of this application;

[0119] In some embodiments, such as Figure 6As shown, the end of the mounting base 1 includes a first end face 11, and the first end face 11 includes a first groove 111; correspondingly, as Figure 7 As shown, the elastomer 2 includes a second end face 21 for mating with the mounting base 1, and the second end face 21 includes a second groove 211; wherein, when the elastomer 2 and the mounting base 1 are connected by the connector 3, the first end face 11 and the second end face 21 can fit together to prevent foreign objects from entering the first groove 111 or the second groove 211.

[0120] In some embodiments, the first end face 11 and the second end face 21 can be planar, which facilitates component manufacturing and docking operations between the two.

[0121] In some embodiments, the first end face 11 and the second end face 21 can be configured as non-planar structures, for example, they can be configured with mutually cooperating concave and convex structures to further improve the docking accuracy after docking, while avoiding the problem of tiny impurities entering the gap due to planar docking.

[0122] In some embodiments, the outer contours of the second end face 21 and the first end face 11 overlap, so that after the elastomer 2 and the mounting base 1 are connected, the two form a whole externally, which improves the appearance and reduces the possibility of external impurities entering the interior, and reduces the risk of connection failure caused by impurity wear.

[0123] See Figures 6 to 8 In order to form a connection structure with the elastomer 2 and the mounting base 1, the connector 3 may include a first connecting portion 31 for connecting with the mounting base 1 and a second connecting portion 32 for connecting with the elastomer 2; at least a portion of the first connecting portion 31 engages with a first groove 111 to connect the connector 3 to the mounting base 1; the second connecting portion 32 engages with a second groove 211 to connect the connector 3 to the elastomer 2.

[0124] In some embodiments, the outer dimensions of the first connecting part 31 can be designed to correspond with the dimensions of the first groove 111, so that when the first connecting part 31 (all or part) is inserted into the first groove 111, a gap, transition or interference fit is formed between the outer wall of the first connecting part 31 and the inner wall of the first groove 111, thereby realizing the connection and fixation between the connector 3 and the mounting base 1.

[0125] In this embodiment, the connector 3 serves as an intermediate connecting structure. Its connecting parts are adapted to the groove structures of the elastic body 2 and the mounting base 1. The split groove design can ensure the precise assembly between the connector 3, the elastic body 2, and the mounting base 1, thereby reducing assembly difficulty and improving efficiency while ensuring accuracy.

[0126] Considering that clearance fits are prone to loosening, which is detrimental to the stability between connector 3 and mounting base 1, and that interference fits are inconvenient to disassemble and cannot achieve quick replacement, some embodiments may use a transition fit to balance the stability and disassembly between connector 3 and mounting base 1. However, when the robot is running for a long time, repeated impacts of the legs with the ground may still cause the transition fit to loosen. To avoid the above problems, see... Figure 6 In some embodiments, at least one fixing hole 121 may be provided on the side (first side 12) at the end of the mounting base 1; the fixing hole 121 penetrates the first side 12 and communicates with the first groove 111.

[0127] In some embodiments, the fixing hole 121 may be located on the same side of the end of the mounting base 1.

[0128] In some embodiments, the fixing holes 121 can be respectively provided on multiple different sides of the end of the mounting base 1, thereby achieving fixing from multiple directions.

[0129] Accordingly, see Figure 8 The first connecting part 31 is provided with at least one threaded hole 311. When the first connecting part 31 (all or part) is inserted into the first groove 111, the axis of the threaded hole 311 and the fixing hole 121 coincide. At this time, the first connecting part 31 can be fixed in the first groove 111 by screwing the screw (not shown in the figure) inserted in the fixing hole 121 with the threaded hole 311, thereby realizing the fixed connection between the connecting part 3 and the mounting base 1.

[0130] In some embodiments, when the position of the fixing hole 121 is different, the corresponding threaded hole 311 should also be adapted to the position of the fixing hole 121 so that one threaded hole 311 corresponds to one fixing hole 121.

[0131] In some embodiments, the second connecting portion 32 and the second groove 211 may be fixed by adhesive bonding.

[0132] In this embodiment, the connection between the mounting base 1 and the connector 3 is enhanced by connecting the screw through the fixing hole 121. The screw can provide a locking force along the axial direction. Since the direction of the locking force is different from the direction of the impact caused by the foot landing, the frequent impact of the foot landing will not cause the locking force to gradually decrease, thereby improving the anti-drop properties between the mounting base 1 and the connector 3.

[0133] See Figure 9 This is a cross-sectional view of the elastomer in the foot structure provided in some embodiments of this application;

[0134] In some embodiments, such as Figure 9As shown, the second groove 211 includes an entry section 2111 and a snap-fit ​​section 2112. The shape of the entry section 2111 matches the shape of the first connecting portion 31, and the shape of the snap-fit ​​section 2112 matches the shape of the second connecting portion 32. When the second connecting portion 32 engages with the second groove 211, the inner wall of the entry section 2111 is in contact with at least a portion of the outer wall of the first connecting portion 31, and the inner wall of the snap-fit ​​section 2112 is in contact with the outer wall of the second connecting portion 32. Along the direction in which the second connecting portion 32 is inserted into the second groove 211, the cross-sectional area of ​​at least a portion of the second connecting portion 32 is greater than the cross-sectional area of ​​the first connecting portion 31.

[0135] In this embodiment, when the connector 3 is connected to the elastic body 2, because the elastic body 2 is elastic, the second connecting portion 32, with a cross-sectional area larger than that of the entry section 2111, can pass through the entry section 2111 and reach the snap-fit ​​section 2112, where it fits against the inner wall. After the second connecting portion 32 is fully inserted into the snap-fit ​​section 2112, the entry section 2111 can reversely limit the second connecting portion 32 to ensure stable fixation between the connector 3 and the elastic body 2. Simultaneously, the outer wall of the first connecting portion 31 fits against the inner wall of the entry section 2111, providing outward support to the elastic body 2 and increasing the overall strength of the connector 3 and the elastic body 2 after fixation. In this embodiment, the connector 3 is connected to the elastic body 2 in an inverted manner, achieving both connection and increased support for the elastic body 2.

[0136] In this embodiment, the variable cross-section design achieves rapid self-locking and buffer protection between the elastic body 2 and the connector 3. When the connecting part of the connector 3 is connected to the elastic body 2, the elasticity of the elastic body 2 is first used to allow the connecting part to pass through a small-area entry section, and then the snap-fit ​​section 2112 adapted to the shape of the connecting part is used to form a snap-fit ​​lock on the connecting part, which can quickly complete the connection and provide high stability.

[0137] In some embodiments, the connector 3 may be made of materials including metal, alloy or high-strength plastic to ensure that the connector 3 has sufficient strength and wear resistance, while maintaining lightweight and reducing the weight of the entire foot structure.

[0138] It should be noted that, in the embodiments of this application, the shape and size of the connector 3 can be customized according to the connection requirements of the elastomer 2 and the mounting base 1, in order to adapt to different installation methods and space constraints. Figure 8 and Figure 9 The image shows only one shape of connector 3 and should not be construed as a limitation on the structure of connector 3.

[0139] See Figure 10 This is a partial schematic diagram of the surface of the elastomer in the foot structure provided in some embodiments of this application;

[0140] In some embodiments, the lattice unit 201 constituting the elastomer 2 is not limited to one shape. Since the various surfaces of the elastomer 2 have different pressure tendencies, for example, the bottom surface of the elastomer 2 is mostly in contact with the ground surface, while the sides of the elastomer 2 and the transition surface between the sides and the bottom surface may be more in contact with terrain such as steps, slopes, and sharp points. Therefore, designing lattice unit 201 of different shapes based on the different surfaces of the elastomer 2 can greatly increase the applicability of the elastomer 2.

[0141] In some embodiments, see Figure 10 The outer surface of the elastomer 2 can be divided into three types of pressure-bearing surfaces, namely the first pressure-bearing surface 22, the second pressure-bearing surface 23 and the third pressure-bearing surface 24.

[0142] The first pressure-bearing surface 22 is the surface on the elastic body 2 that is mainly used for contacting the ground. It can usually be set in most areas of the bottom surface of the elastic body 2. The first pressure-bearing surface 22 can be composed of multiple lattice units 201 with the same shape. The shape of the lattice units 201 in the first pressure-bearing surface 22 is circular, elliptical or regular polygonal. The use of lattice units 201 with regular shapes to form the first pressure-bearing surface 22 can make the pressure more uniform when the elastic body 2 contacts the ground. At the same time, the regular design is easy to process and shape, and the processing accuracy is easy to ensure.

[0143] The third pressure-bearing surface 24 is the surface of the elastomer 2 that has a low probability of directly contacting the ground. It is mainly used to provide efficient energy absorption. The third pressure-bearing surface 24 can be composed of multiple lattice units 201 with the same shape. The shape of the lattice units 201 in the third pressure-bearing surface 24 can be irregular polygons, such as hexagonal honeycomb lattices, rhomboid lattices, gradient lattices, etc. These lattice structures have high angle adjustability, obvious lightweight advantages, and high vibration reduction and noise reduction performance.

[0144] The second pressure-bearing surface 23 is a surface that combines the comprehensive performance of the first pressure-bearing surface 22 and the third pressure-bearing surface 24, and has the effects of impact resistance and energy absorption. The second pressure-bearing surface 23 can be composed of at least two different shapes of lattice units 201. The shape of the lattice units 201 in the second pressure-bearing surface 23 can be a combination of circles, ellipses, regular polygons or irregular polygons.

[0145] In this embodiment, by defining the properties and distribution of lattice units 201 at different locations of the elastomer 2, different pressure surfaces can be specifically designed to cope with impacts from different directions. For example, regular lattice units 201 can be used to uniformly disperse vertical impacts, irregular polygonal lattice units 201 can be used to cope with lateral impacts, and hybrid lattice units can be used to adapt to the complex stress distribution under oblique forces. The regional lattice design enables the foot structure to maintain stable shock absorption and noise reduction performance when landing at any angle.

[0146] See Figure 11 This is a schematic diagram of the lattice unit arrangement of the second pressure surface of the elastomer in the foot structure provided in some embodiments of this application;

[0147] In some embodiments, the second pressure-bearing surface 23 includes a first sub-lattice unit 201a and a second sub-lattice unit 201b; the first sub-lattice unit 201a and the second sub-lattice unit 201b are uniformly staggered.

[0148] In this embodiment, the staggered lattice structure increases the contact area between lattice units 201, which promotes stress dispersion during stress transmission and avoids stress concentration. Simultaneously, the staggered structure improves the shear resistance of the elastomer 2, extending its service life under complex stress conditions.

[0149] In some embodiments, the shapes of the first sub-lattice unit 201a and the second sub-lattice unit 201b may be different. For example, the first sub-lattice unit 201a may be circular and the second sub-lattice unit 201b may be rhomboid.

[0150] In some embodiments, the first sub-lattice unit 201a and the second sub-lattice unit 201b may have the same shape but different sizes. For example, the first sub-lattice unit 201a may be a circle with a diameter of 4d, and the second sub-lattice unit 201b may be a circle with a diameter of d.

[0151] In some embodiments, the first pressure-bearing surface 22 can be disposed on the bottom surface of the elastic body 2, and the third pressure-bearing surface 24 can be disposed on the side surface of the elastic body 2. A transition can be formed between the first pressure-bearing surface 22 and the third pressure-bearing surface 24 by providing a second pressure-bearing surface 23. The second pressure-bearing surface 23 can take into account both the flatness and compressive strength of the first pressure-bearing surface 22 and the energy absorption effect of the third pressure-bearing surface 24, thereby achieving a balance in overall performance.

[0152] In this embodiment of the application, the design of multiple pressure-bearing surfaces composed of different lattice units not only enhances the vibration reduction and noise reduction effect of the elastomer 2, but also provides more possibilities for the customized design of the elastomer 2, making it applicable to more terrain scenarios.

[0153] In some embodiments, considering that if the elastomer 2 uses only a single layer of lattice units 201, the single-layer structure may not be able to effectively disperse pressure under large external impacts, leading to local stress concentration and structural failure. Therefore, along the axial direction of the mounting base 1, the lattice units 201 of the elastomer 2 can be arranged in at least two layers, thus forming a multi-layer spatial arrangement of lattice units 201. This multi-layer arrangement not only enhances the stability of the structure but also improves the load-bearing capacity of the elastomer 2. When the elastomer 2 comes into contact with the ground, the first lattice unit 2011 under pressure can transmit pressure and vibration not only along the outer surface of the elastomer 2 but also along the depth direction of the elastomer 2. The multi-layer arrangement of lattice units 201 can more effectively disperse and absorb pressure, while simultaneously protecting the mounting base 1 and the connector 3 from damage.

[0154] In some embodiments, the plurality of lattice units 201 can be arranged in a specific manner to form at least one structure among simple cubic, body-centered cubic, face-centered cubic, or hexagonal close-packed structures. For example, simple cubic structures have a regular arrangement and stable structural characteristics, making them suitable for scenarios that require uniform stress; while body-centered cubic structures have higher strength and toughness, making them suitable for scenarios that require greater impact.

[0155] Regarding the specific shape of the lattice unit 201, it can be designed in space as at least one of a tetrahedral lattice, an octahedral lattice, or a cubic octahedral lattice. Each of these lattice structures has its unique mechanical properties and application advantages. The tetrahedral lattice has a stable geometry and good resistance to deformation; the octahedral lattice has higher strength and rigidity, making it suitable for scenarios that require withstanding greater pressure; the cubic octahedral lattice combines the advantages of both tetrahedrons and octahedrons, exhibiting excellent comprehensive mechanical properties.

[0156] In some embodiments, the lattice unit 201 is not limited to a single type of lattice structure, but can be a hybrid lattice formed by at least two combinations of tetrahedral lattices, octahedral lattices, and cubic octahedral lattices. Hybrid lattices can combine the advantages of different lattice structures, further improving the overall performance of the elastomer 2. For example, combining tetrahedral and octahedral lattices can form a hybrid lattice structure with higher strength and better resistance to deformation; while combining cubic octahedral lattices with other types of lattices can obtain more balanced and comprehensive mechanical properties.

[0157] In some embodiments, the outer surface of the elastomer 2 may also be provided with anti-slip textures or structures to increase friction with the ground and improve the robot's walking stability. Simultaneously, the design of the anti-slip textures or structures can also be combined with the lattice unit 201 to form an integrated shock-absorbing and anti-slip structure, further enhancing the performance of the foot structure.

[0158] This application also provides a robot, including the foot structure provided in any of the foregoing embodiments.

[0159] In some embodiments, the robot may be a humanoid robot or a multi-legged robot.

[0160] The above embodiments merely illustrate several implementation methods of the embodiments of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the embodiments of this application, and these all fall within the protection scope of the embodiments of this application.

Claims

1. A foot-end structure, characterized in that, include: Mounting base (1); Elastomer (2); the elastomer (2) is connected to the end of the mounting base (1); The elastic body (2) includes a plurality of lattice units (201); when at least one side of the elastic body (2) is compressed, at least one of the lattice units (201) changes from a first shape to a second shape, so as to transmit the pressure and vibration of the elastic body (2) from the first lattice unit (2011) to the second lattice unit (2012); wherein, the first lattice unit (2011) is the lattice unit (201) that changes from the first shape to the second shape, and the second lattice unit (2012) is the lattice unit (201) adjacent to the first lattice unit (2011).

2. The foot-end structure according to claim 1, characterized in that, The first shape includes at least one of a circle, an ellipse, a regular polygon, and an irregular polygon.

3. The foot-end structure according to claim 1, characterized in that, Also includes: Connector (3); the connector (3) is disposed on the side of the elastic body (2) facing the mounting base (1); the connector (3) is detachably connected to the end of the mounting base (1).

4. A foot-end structure according to claim 3, characterized in that, The end of the mounting base (1) includes a first end face (11), and the first end face (11) includes a first groove (111); The elastomer (2) includes a second end face (21) for mating with the mounting base (1), the second end face (21) including a second groove (211); The connector (3) includes a first connecting portion (31) and a second connecting portion (32); at least a portion of the first connecting portion (31) engages with the first groove (111) to connect the connector (3) to the mounting base (1); the second connecting portion (32) engages with the second groove (211) to connect the connector (3) to the elastomer (2).

5. A foot-end structure according to claim 4, characterized in that, The outer contours of the second end face (21) and the first end face (11) coincide.

6. A foot-end structure according to claim 4, characterized in that, The end of the mounting base (1) includes a first side surface (12), and the first side surface (12) is provided with at least one fixing hole (121); the fixing hole (121) passes through the first side surface (12) and communicates with the first groove (111); The first connecting part (31) is provided with at least one threaded hole (311); when the first connecting part (31) is inserted into the first groove (111), the threaded hole (311) is used to be threadedly connected with the screw passing through the fixing hole (121).

7. A foot-end structure according to claim 4, characterized in that, The second groove (211) includes an entry section (2111) and a snap-fit ​​section (2112). When the second connecting part (32) is engaged with the second groove (211), the inner wall of the entry section (2111) is in contact with at least a portion of the outer wall of the first connecting part (31), and the inner wall of the snap-fit ​​section (2112) is in contact with the outer wall of the second connecting part (32). Along the direction in which the second connecting part (32) is inserted into the second groove (211), the cross-sectional area of ​​at least a portion of the second connecting part (32) is greater than the cross-sectional area of ​​the first connecting part (31).

8. A foot end structure according to claim 4, characterized in that, The first connecting part (31) and the first groove (111) are in transition fit.

9. A foot-end structure according to claim 4, characterized in that, The second connecting part (32) and the second groove (211) are bonded and fixed.

10. A foot end structure according to claim 2, characterized in that, The outer surface of the elastomer (2) includes a first pressure-bearing surface (22), a second pressure-bearing surface (23), and a third pressure-bearing surface (24); The first pressure-bearing surface (22) includes a plurality of lattice units (201) with the same shape; the shape of the lattice units (201) in the first pressure-bearing surface (22) is circular, elliptical or regular polygonal; The second pressure-bearing surface (23) includes at least two different shapes of lattice units (201); the shape of the lattice units (201) in the second pressure-bearing surface (23) is circular, elliptical, regular polygonal or irregular polygonal; The third pressure-bearing surface (24) includes multiple lattice units (201) of the same shape; the lattice units (201) in the third pressure-bearing surface (24) are irregular polygons; The first pressure-bearing surface (22) and the third pressure-bearing surface (24) are connected by the second pressure-bearing surface (23).

11. A foot end structure according to claim 10, characterized in that, The first pressure-bearing surface (22) is disposed on the bottom surface of the elastic body (2); the third pressure-bearing surface (24) is disposed on the side surface of the elastic body (2).

12. A foot end structure according to claim 10, characterized in that, The second pressure-bearing surface (23) includes a first sub-lattice unit (201a) and a second sub-lattice unit (201b); the first sub-lattice unit (201a) and the second sub-lattice unit (201b) are uniformly staggered.

13. A foot end structure according to claim 2, characterized in that, Along the axial direction of the mounting base (1), the lattice units (201) of the elastomer (2) are arranged in at least two layers.

14. A foot-end structure according to claim 1, characterized in that, The plurality of said lattice units (201) constitute at least one structure of simple cubic, body-centered cubic, face-centered cubic or hexagonal close packing.

15. A foot-end structure according to claim 1, characterized in that, The lattice unit (201) is at least one of a tetrahedral lattice, an octahedral lattice, and a cubic octahedral lattice.

16. A foot end structure according to claim 1, characterized in that, The lattice unit (201) is a mixed lattice formed by at least two combinations of tetrahedral lattice, octahedral lattice, and cubic octahedral lattice.

17. A robot, characterized in that, Includes the foot structure as described in any one of claims 1 to 16.

18. The robot according to claim 17, characterized in that, The robot is either a humanoid robot or a multi-legged robot.

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