Feet for legged robots

Abstract

The present invention refers to a robot foot (1001), a robot foot adapter (1002), a robot leg portion (1003), a robot leg assembly (1004), and a method for manufacturing a robot foot. The robot foot (1001) comprises a solid body (1) having a surface and a mounting portion (13) suitable for mounting the robot foot (1001) to a robot or the robot foot adapter (1002). Furthermore, the robot foot (1001) comprises a foot pad (2). The foot pad (2) comprises an elastomeric material. The foot pad (2) covers a first portion (11) of the solid body (1) and positively engages with the first portion (11) in a non-detachable manner in the direction (d) of the longitudinal axis (100) of the solid body (1).

Description

[Technical field]

[0001] The present invention relates to a robot foot, in particular a robot foot for legged robots, a robot foot adapter, a robot leg section, a robot leg assembly, as well as a method for manufacturing a robot foot and uses thereof. [Background technology]

[0002] Legged robots are used in a variety of tasks to assist humans in tasks, especially in dangerous environments. Typically, legged robots have one or more legs, each of which terminates in a foot. These robots often work in harsh environments, which can quickly wear down the robot's feet in contact with the environment.

[0003] Typically, the feet of a legged robot comprise a solid body that is at least partially covered with rubber feet.

[0004] For example, document CN214524135U discloses a robot foot end structure for a legged robot. The foot end structure presented in this utility model includes a foot pad mounting base, an elastic foot pad, and a foot end support member arranged on the elastic foot pad. The foot end support member is fixedly connected to the foot pad mounting base, and the elastic foot pad includes a clamping portion when the foot end support member is fixedly connected to the foot pad mounting base, and the clamping portion is clamped between the foot end support member and the foot pad mounting base to maintain a fixed connection between the elastic foot pad and the foot pad mounting base.

[0005] A drawback of known robot feet is that the elastic foot pads are only fastened to the support members and may easily fall off when the robot walks in harsh environments. Summary of the Invention

[0006] Therefore, the problem to be solved by the present invention is to realize a robust robot foot that enables legged robots to walk in harsh environments.

[0007] This problem is solved by a first aspect of the invention which refers to a robot foot, a second aspect of the invention which refers to a robot foot adapter, a third aspect of the invention which refers to a robot leg part, a fourth aspect of the invention which refers to a robot leg assembly and a fifth aspect of the invention which refers to a method for manufacturing a robot foot.

[0008] As used herein, the following definitions shall apply unless otherwise stated.

[0009] As used herein, the terms "a," "an," "the," and similar terms should be construed to encompass both the singular and the plural, unless otherwise indicated herein or clearly contradicted by context. Furthermore, the terms "including," "containing," and "comprising" are used herein in their non-exclusive, open-ended sense. The term "containing" is intended to include both "comprising" and "consisting of."

[0010] The term "hyperelastic material" advantageously refers to the behavior of materials in ideal elastic materials, i.e. elastomers, capable of undergoing nonlinear elastic deformation. This term is familiar to those skilled in the art. The properties of vulcanized elastomers can be characterized with a hyperelastic material model. Moreover, the characterization of hyperelastic materials can be further applied to polymers such as polyurethanes.

[0011] The term "non-removable" advantageously refers to a bond or adhesive bond that cannot be easily decomposed. In particular, such a bond may be established by adding an adhesive layer or bonding agent between the non-removable features.

[0012] A first aspect of the invention refers to a robot foot, in particular a foot for a legged robot, in particular a foot for a quadruped robot, which comprises a solid body and a foot pad.

[0013] The solid body includes a first portion and an attachment portion. The first portion includes a surface.

[0014] In a further advantageous embodiment, the entire first part can be covered with a metal surface or can consist entirely of metal. The attachment part is particularly suitable for attaching a robot foot to a robot leg, either directly or via a robot foot adapter.

[0015] Advantageously, the attachment portion allows the attachment of a robot foot to a robot foot adapter or robot leg portion, or robot. In particular, the attachment portion is suitable for attaching a robot foot to a specific robot model. Thus, not all robot feet may be attachable to all robot foot adapters or robot leg portions. Thus, the attachment portion may allow easy replacement of a robot foot by easily removing the robot foot from the robot foot adapter or robot leg portion, or robot, and replacing the robot foot by easily attaching a new robot foot to the respective robot foot adapter, robot leg portion, or robot.

[0016] In a further advantageous embodiment of the invention, the first part and the attachment part both comprise a metallic surface and / or are both made of metal, in particular the first part and the attachment part form one part, i.e. one very specific metallic part that is a solid body.

[0017] In further advantageous embodiments, the solid body may have a rotationally symmetric shape extending along a longitudinal axis, or may have an asymmetric shape extending along a longitudinal axis.

[0018] The robot feet further comprise foot pads including a foot material including an elastomer, the foot pads covering the surface of the first portion and further securely engaging the first portion at the respective surfaces in a non-removable manner in the direction of the longitudinal axis (d) of the solid body.

[0019] Therefore, the non-removable robot foot pads are advantageously attached directly to the solid body of the robot foot. No clamps are required to hold the robot foot pads in place, as the shape of the robot foot pads fits snugly onto the first part. The solid foot therefore does not require any means to fasten the solid foot pads thereto.

[0020] The term "elastomer" here is advantageously used to refer to synthetic elastomeric polymers of natural rubber. As used herein, this term is intended to include unsaturated elastomers that can be cured by sulfur vulcanization, saturated elastomers that cannot be cured by sulfur vulcanization, and thermoplastic elastomers.

[0021] Advantageously, the foot material is a vulcanized elastomer.

[0022] In particular, the anti-detachment effect of the foot pad is achieved by vulcanizing the elastomer, which leads to a strong anti-detachment effect of the foot pad during the manufacturing of the robot foot.

[0023] Advantageously, positive engagement refers to a form-fitting fit. More advantageously, the foot pads not only positively engage in the direction of the longitudinal axis (d), but also in a direction perpendicular to the longitudinal axis and / or in the radial direction if the solid body is rotationally symmetric.

[0024] The term "covering" here refers to at least partially surrounding a first part of the solid body with the foot pad or at least partially enveloping the first part with the foot pad, and thus in particular refers to the feature that the foot pad covers or partially surrounds the solid body, so that essentially a part of the solid body is covered by the foot pad, and advantageously in particular the first part is covered by the foot pad.

[0025] Advantageously, the solid body is completely covered by the foot pad or is partially covered by the foot pad.More advantageously, the foot pad cover is manufactured by injection molding.

[0026] In a further advantageous embodiment of the invention, the foot material is selected from the group consisting of NBR, HNBR, SBR or PUR.

[0027] These abbreviations refer to international abbreviations. ·NBR (nitrile butadiene rubber) ·HNBR (hydrogenated nitrile rubber) ·SBR (Styrene butadiene rubber) ·PUR (urethane rubber)

[0028] In a further advantageous embodiment of the invention, the material of the foot is an elastomer having substantially superelastic material properties.

[0029] In a further advantageous embodiment of the invention, the foot material is electrically conductive, in particular a foot pad comprising an electrically conductive foot material is suitable for electrically connecting and grounding the robot leg or other components of the robot to the robot foot pad via the solid body of the robot foot.

[0030] Electrical conductivity is advantageously achieved by selecting as the foot material a conductive elastomer as defined herein.

[0031] Such conductive elastomers or rubbers are further advantageously characterized using electrical resistivity measured and expressed in Ω cm.

[0032] In an advantageous embodiment of the robot foot, a resistivity of between 30 kΩcm and 40 kΩcm on average has been measured using a test voltage application of 50 V according to DIN IEC 60093.

[0033] Further advantageously, the electrical conductivity of the foot is achieved by adding fillers to an elastomeric matrix contained within the foot material, such filler materials may advantageously be metallic particles or carbon nanoparticles (carbon black), such as, for example, silver or its alloys, copper or its alloys, nickel or its alloys, graphite doped with Ni, Cu, or Ag.

[0034] In a further advantageous embodiment of the invention, the material of the foot is oil resistant.

[0035] Oil resistance advantageously refers to the ability of a foot material to allow the foot to perform its intended foot function while in contact with an oily or greasy environment. In particular, foot materials including HNBR or PUR are highly oil resistant.

[0036] The oil resistance is advantageously certified according to ISO 1817:2015.

[0037] In a further embodiment of the invention, the non-removable and secure engagement, in particular between the metallic surface of the first part and the foot pad, is established by an adhesive layer arranged between them or by a bonding agent, in particular applied by spraying it onto the solid body and forming an adhesive layer between the metallic solid body and the foot pad during the injection moulding and vulcanisation process.

[0038] In an advantageous embodiment of the present invention, the shape of the solid body is asymmetrical, thus providing a more form-fitting fit between the solid body and the foot pads, since the foot pads cannot rotate around the solid body. In particular, in such an embodiment having a solid body with an asymmetrical shape, an adhesive layer between the solid body and the foot pads is not required. The foot pads are firmly attached to the solid body, since the foot pads cannot rotate or otherwise move on the solid body, but generally fit the shape of the solid body in all directions.

[0039] Advantageously, the first portion transitions smoothly into the attachment portion in the direction of the longitudinal axis (d) of the solid body. It is further advantageous that the foot pad positively engages with the first portion in the direction of the longitudinal axis (d) and in particular also in a direction perpendicular to the longitudinal axis.

[0040] In a further advantageous embodiment of the invention, the solid body comprises a narrowed portion, which is arranged between the first portion and the attachment portion.

[0041] Advantageously, the narrowed portion is arranged between the first part and the attachment part in the direction of the longitudinal axis of the solid body (d). The narrowed portion comprises a narrowed portion having a diameter smaller than the maximum diameter of the first part. The foot pad at least partially covers the narrowed portion and is positively engaged with the narrowed portion by the narrowed portion in a direction opposite to the direction of the axis of rotation (d).

[0042] In a further advantageous embodiment of the invention, the attachment part of the robot foot is suitable for positively engaging with the robot, in particular with a robot foot adapter, very in particular with a robot leg part. The attachment part advantageously positively engages with the robot, in particular with the robot foot adapter or the robot leg part, in the direction of the longitudinal axis (d). In a further advantageous embodiment, the attachment part may furthermore be suitable for forcefully locking with the robot, in particular with the robot foot adapter, very in particular with the robot leg part.

[0043] In a further advantageous embodiment of the invention, an axial through-hole extends completely through the foot pad in the direction of the longitudinal axis d of the solid body and at least partially through the solid body, the through-hole being suitable for inserting a screw for forcefully locking the foot pad to the solid body.

[0044] Advantageously, the first portion of the through hole has a larger diameter than the second portion of the through hole, which is therefore suitable for a screw to be sunk into the through hole in the direction of the longitudinal axis d until the head of the screw stops in the smaller diameter portion of the second portion of the through hole.

[0045] In a further advantageous embodiment, the screw holes may be formed as countersinks.

[0046] In a further advantageous embodiment of the invention, the mounting part comprises a non-rotatable, form-fitting nut or protrusion arranged in a plane perpendicular to the longitudinal axis of the solid body and suitable for engaging with a counterpart arranged on the robot, on the robot leg or on an adapter for the robot leg. Advantageously, the nut or protrusion is rectangular with rounded corners or oval.

[0047] A further advantageous embodiment of the invention comprises a solid body comprising at least one perforation in order to reduce the weight of the solid body.

[0048] Advantageously, the longitudinal axis of at least one perforation is: -Coaxial with the longitudinal axis of the solid body, - extending from a surface of the attachment portion facing away from the first portion into the solid body in a direction opposite to the longitudinal axis direction d.

[0049] More advantageously, the maximum of six perforations are equally spaced around the longitudinal axis; -Aligned parallel to the vertical axis, - extending from said surface of the attachment portion into the solid body in a direction opposite to the direction d of the longitudinal axis;

[0050] A second aspect of the invention refers to a robot foot adaptor, the robot foot adaptor being suitable for attaching a robot foot according to the first aspect to a leg portion of a robot.

[0051] The robot foot adaptor includes a longitudinal axis of the adaptor. A first end of the robot foot adaptor is adapted to securely engage a mounting portion of the robot foot.

[0052] Advantageously, the first end is configured such that in an intended use of the robot foot adaptor, the first end positively engages with a mounting portion of the robot foot, advantageously such that the longitudinal axis of the adaptor is not coaxial with the longitudinal axis of the robot foot.

[0053] This means that there is an angle α between the longitudinal axis of the adapter and the longitudinal axis of the robot's foot, where α is 0°≦α≦30°.

[0054] In a further advantageous embodiment of the invention, the robot foot adapter comprises a hole suitable for receiving a screw passing through a robot foot (in particular a robot foot provided with a through hole) along its entire longitudinal axis and suitable for attaching the robot foot adapter to the robot foot.

[0055] A further advantageous embodiment of the robot foot adapter includes an electrical connection between a first end and a second end of the robot foot adapter. Advantageously, the first end is suitable for electrical connection with the robot foot. Further advantageously, the second end is suitable for electrical connection with the robot leg portion.

[0056] Further advantageously, an outer surface of the robot foot adaptor is electrically insulating between the first end and the second end of the robot foot adaptor.Advantageously, the robot foot adaptor has an anodized outer surface.

[0057] The exterior surface refers to the surface surrounding the robot foot adaptor, and advantageously the exterior surface may be the entire exterior surface between the first end and the second end, or may be only a portion of the exterior surface between the first end and the second end of the robot foot adaptor.

[0058] Thus, in an advantageous embodiment of the robot foot adapter, the robot foot may be insulated on its outer surface but may have a first end and a second end that are electrically connected via the conductive core material of the foot adapter.

[0059] In a further advantageous embodiment of the invention, the robot foot adapter is entirely anodized on the outer surface, except for the first end and the second end. In particular, the second end comprises a tube portion suitable for gluing the robot foot adapter to a robot leg portion or to a robot. In such an embodiment, the electrical connection between the first end and the second end passes between the first end, which is not anodized and therefore electrically conductive, and the second end, which is not anodized and therefore electrically conductive, via the core metal body.

[0060] The second end of the robot foot adapter, which is advantageously suitable for connection to a leg portion of the robot, further advantageously comprises a rim having connectivity on its outer surface for electrically connecting to the leg portion of the robot.

[0061] Furthermore, in a further advantageous embodiment of the robot foot adapter, the robot foot adapter comprises a conductive O-ring adapted to fit into the groove at the first end and / or the second end of the adapter and electrically connecting the robot foot adapter with the robot foot at the first end and / or with the robot leg portion at the second end.

[0062] A third aspect of the invention refers to a robot leg section comprising a first end suitable for receiving a robot foot adapter according to the second aspect and a second end suitable for attachment to a further leg section or robot.

[0063] An advantageous embodiment of the robot leg section has an electrically interconnected first end and a second end. The first end of the robot leg section is advantageously suitable for electrical connection with a robot foot adapter according to the second aspect. The second end is advantageously suitable for electrical connection with a further robot leg section or robot.

[0064] Advantageously, the electrical connection between the first end and the second end is suitable for electrically connecting a leg part of a robot or a further robot.

[0065] In a further advantageous embodiment of the robot leg part, the outer surface of the robot leg part is insulating, in particular the outer surface of the robot leg part is an anodized surface.

[0066] The outer surface refers to the surface surrounding the leg portion of the robot, and advantageously the outer surface may be the entire outer surface between the first end and the second end, or may be only a portion of the outer surface between the first end and the second end of the leg portion of the robot.

[0067] A fourth aspect of the present invention refers to a robot leg assembly comprising a robot foot according to the first aspect of the present invention, a robot foot adapter according to the second aspect, and a robot leg portion according to the third aspect.

[0068] Advantageously, the robot leg, the robot foot adapter and / or the robot leg portion are electrically interconnected.

[0069] A fifth aspect of the invention refers to a method for manufacturing a robot foot, the method comprising: Providing a solid body with a surface, in particular a metal surface, - coating the in particular metal surface, advantageously at least partially, advantageously completely, with an adhesion promoter, Providing a foot material made of an elastomer to form a foot pad; Moulding or injection moulding a foot pad from said material onto the coated, particularly metallic, surface. Includes.

[0070] A further advantageous step of the method is to mold or injection mold the foot pads from an elastomeric material by vulcanization, which only works with materials that can be vulcanized.

[0071] Advantageously, the adhesion promoter may be applied to the entire surface of the first portion, or to a portion of the surface of the first portion, or to more than 50% of the surface of the first portion. Furthermore, if any constrictions are present, the adhesion promoter may further be applied to the constrictions, in particular partially over the surface area of ​​the constrictions or over the entire surface area of ​​the constrictions.

[0072] More advantageously, the foot pad is manufactured by injection molding, which refers to a process in which a metallic insert, particularly a solid body having a metallic surface, is placed in a mold and encapsulated in the foot material by injection molding.

[0073] In a further aspect of the invention, the robot foot is a product comprising a solid body having a first portion, in particular comprising a metal surface, and an attachment portion. Furthermore, the robot foot comprises a robot foot pad, comprising a foot material containing an elastomer. The product is obtained by a step of injection molding the elastomer around the foot pad or the first portion, followed by a step of vulcanizing the foot pad or the elastomer. It is further advantageous that an adhesion promoter is added before the injection molding step.

[0074] A sixth aspect of the invention refers to the use of a robotic foot according to the first aspect of the invention.

[0075] A seventh aspect of the invention refers to the use of a robot foot adapter according to the second aspect of the invention.

[0076] An eighth aspect of the invention refers to the use of a leg portion of a robot according to the third aspect of the invention.

[0077] A ninth aspect of the invention refers to the use of a leg assembly for a robot according to the fourth aspect of the invention.

[0078] Further advantageous embodiments are recited in the dependent claims as well as in the following description.

[0079] The invention will be better understood and other objects than those mentioned above will become apparent from the following detailed description of the invention, which refers to the accompanying drawings, in which: [Brief description of the drawings]

[0080] [Figure 1a-1f] 1A-1D show various views and cross-sections of a schematic diagram of a robot foot with a solid body and foot pads, according to one embodiment of the present invention. [Figures 2a-2d] 1A-1D show various views and cross-sections of a schematic diagram of a solid body according to one embodiment of the present invention. [Figure 3a-3d] 1A-1D show various views and cross-sectional views of a schematic diagram of a robot foot adapter, according to one embodiment of the present invention. [Figure 4a-4d] 1A-1D illustrate various views and cross-sectional views of a leg assembly of a robot, in accordance with one embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0081] In Fig. 1a) a schematic diagram of a robot foot (1001), in particular for legged robots, is shown, comprising a solid body (1) and a foot pad (2). The solid body (1) comprises a first part (11), in particular having a metallic surface, and a mounting part (13) suitable for mounting the robot foot (1001) to a robot. In particular, the mounting part (13) is suitable for mounting the robot foot (1001) to a robot foot adapter (1002) and / or to a robot leg (1003). The foot pad (2) comprises a foot material made of an elastomer. Furthermore, the foot pad covers the first part (11) and positively engages with it in a non-detachable manner in the direction of the longitudinal axis (100) of the solid body.

[0082] In a further advantageous embodiment of the robot foot (1001), an adhesive layer is arranged between the foot pad (2) and the especially metallic surface of the solid body (1).

[0083] More advantageously, the material of the foot as shown in Figure 1a is a material selected from the list consisting of NBR, HNBR, SBR and PUR, and very advantageously is HNBR or PUR. HNBR and PUR are very oil resistant.

[0084] Additionally, it is advantageous for the foot material to be oil resistant.

[0085] Moreover, it is further advantageous that the material of the feet of the foot pad (2) is conductive rubber.

[0086] In Fig. 1b) a front view of an embodiment of the robot foot (1001) of Fig. 1a) is shown.

[0087] In Fig. 1c) an advantageous embodiment of the cross section BB of Fig. 1b) is shown. The advantageous embodiment of the solid body (1) comprises a narrowed portion (12). The narrowed portion (12) is advantageously arranged between the first portion (11) and the attachment portion (13). The narrowed portion (12) comprises a narrowed portion (120) whose diameter is smaller than the maximum diameter of the first portion (11). The foot pad (2) at least partially covers the narrowed portion (12). The narrowed portion (120) ensures that the foot pad (2) engages with the narrowed portion (12) in a direction opposite to the direction (d) of the longitudinal axis (100).

[0088] In Fig. 1d) an advantageous embodiment of the upper side of the robot foot (1001) is shown, in particular the upper side of the attachment part (13) and it can be seen visually how the attachment part (13) is suitable for a secure engagement with the robot, in particular with the robot foot adapter (1002) and / or with the robot leg, in the direction (d) of the longitudinal axis (100).

[0089] In Fig. 1e) an advantageous embodiment of a cross section AA of a robot foot (1001) as shown in Fig. 1d) is shown. The embodiment of the robot foot (1001) as shown in Fig. 1d) comprises an axial through-hole (14) extending in the direction of the longitudinal axis (d) completely through the foot pad (2) and at least partially through the solid body (1). The through-hole (14) is suitable for inserting a screw for forcibly locking the foot pad with the solid body.

[0090] The robot's foot (1001) providing a solid body (1) with a surface, in particular a metal surface, - at least partially coating the surface, in particular the metal surface, with an adhesion promoter; Providing a foot material comprising an elastomeric material to form a foot pad (2); - forming a foot pad (2) from said material onto the coated, in particular metallic, surface; The present invention is produced by a method comprising the steps of:

[0091] The material is advantageously molded onto the coated, especially metallic, surface by vulcanization.

[0092] Further advantageous details of the perforations are shown in the cross-sectional view in FIG. 1f) and will be further considered with reference to FIGS. 2a) to 2d).

[0093] In figure 2a) a schematic diagram of a solid body (1) according to an advantageous embodiment of the invention is shown.

[0094] In figure 2b) a side view of the solid body (1) as shown in figure 2a) is shown. In this advantageous embodiment, the solid body (1) comprises, in addition to the first part (11) and the attachment part (13), also a constricted part (12) having a constriction (120).

[0095] In figure 2c) an advantageous cross-section of figure 2b) is shown along the section line AA. The advantageous solid body (1) comprises a through hole (14) which extends completely through the solid body (1) in the direction (d) of the longitudinal axis (100).

[0096] Advantageously, the first portion (141) of the through hole (14) has a larger diameter than the second portion (142) of the through hole (14), so that the through hole (14) is suitable for a screw to be sunk into it in the direction (d) of the longitudinal axis (100) until the head of the screw stops against the smaller diameter portion of the second portion (142) of the through hole (14).

[0097] In Fig. 2d) an advantageous top view of an advantageous mounting part (13) of the solid body (1) is shown. The mounting part (13) comprises a non-rotatable, form-fitting nut (130) arranged in a plane perpendicular to the longitudinal axis (100). The nut (130) is suitable for engaging with a counterpart on a robot, in particular a counterpart on a robot foot adapter (1002). The nut (130) is advantageously rectangular with rounded corners or oval.

[0098] In a further advantageous embodiment of the robot, not shown in this figure, the nut may also be a protrusion with the same features.

[0099] In a further advantageous embodiment of the solid body (1) of the robot foot (1001), the solid body (1) comprises at least one perforation (15a) for reducing the weight of the solid body (1). In particular, in Fig. 1d) and Fig. 2d) a top view of the solid body (1) is shown, in which the at least one perforation (15a) is visible.

[0100] In a further advantageous embodiment of the solid body, as shown in Figures 1d) and 2d), the longitudinal axis of the at least one perforation (15a) is arranged coaxially with the longitudinal axis (100) of the solid body (1). Furthermore, the longitudinal axis of the at least one perforation (15a) extends from a surface (131) of the attachment part (13) facing away from the first part (11) into the solid object (1) in a direction opposite to the direction of the longitudinal axis (d).

[0101] It is further advantageous that the maximum six perforations (15a, 15b, 15c, 15d, 15e, 15f) are equally spaced around the through hole (14) and parallel to the longitudinal axis (100). Furthermore, the maximum six perforations (15a, 15b, 15c, 15d, 15e, 15f) extend from said surface (131) of the mounting portion (13) in a direction coaxial with the longitudinal axis (100) of the solid body (1).

[0102] In Fig. 3a) a schematic diagram of an advantageous embodiment of a robot foot adapter (1002) is shown, which is suitable for attaching a robot foot (1001) to a robot leg portion (1003).

[0103] FIG. 3a) illustrates a side view of an advantageous robotic foot adaptor (1002), and FIG. 3b) illustrates a cross-sectional view of the adaptor (1002).

[0104] As shown in FIG. 3c), an advantageous embodiment of the robot foot adapter (1002) includes an adapter longitudinal axis (200). A first end (21) of the foot adapter (1002) is adapted to securely engage with a mounting portion (13) of the robot foot (1001). Advantageously, the first end (21) is shaped such that in the intended use of the robot foot adapter (1002), the first end (21) securely engages with the mounting portion (13) of the robot foot (1001). Furthermore, when the robot foot adapter (1002) is securely engaged with the mounting portion (13) of the robot foot (1001), the adapter longitudinal axis (200) of the robot foot adapter (1002) may not be coaxial with the longitudinal axis (100) of the robot foot (1001), but may form an angle α between the robot foot longitudinal axis (100) and the adapter longitudinal axis (200).

[0105] In a further advantageous embodiment of the robot foot adapter (1002), the robot foot adapter (1002) includes bores suitable for receiving screws passing through the robot foot (1001) along its entire longitudinal axis (100) to attach the robot foot adapter (1002) to the robot foot (1001).

[0106] In figure 3d) a side view of the robot foot adapter (1002) is shown.

[0107] In a further advantageous embodiment of the robot foot adapter (1002), there is an electrical connection between a first end (21) and a second end (22) of the robot foot adapter (1002). The first end (21) is advantageously suitable for electrical connection with the robot foot (1001). The second end (22) is further advantageously suitable for electrical connection with the robot leg portion (1003).

[0108] In a further advantageous embodiment of the invention, the robot foot adapter (1002) is completely anodized on the outside, except for the first end (21) and the second end (22), in particular the second end (22) comprising a tube portion suitable for gluing the robot foot adapter (1002) to a robot leg portion (1003) or to a robot. In such an embodiment, the electrical connection between the first end (21) and the second end (22) passes between the first end (21), which is not anodized and therefore conductive, and the second end (22), which is not anodized and therefore conductive, via the core metal body.

[0109] In a further advantageous embodiment of the robot foot adapter (1002), the robot foot adapter (1002) comprises a conductive O-ring adapted to fit into a groove at the first end (21) and / or the second end (22) of the adapter (1002).

[0110] In particular, the first end (21) and the second end (22) electrically connect the robot foot adapter (1002) to the robot foot (1001) at the first end (21) and / or electrically connect the robot foot adapter (1002) to the robot leg portion (1003) at the second end (22).

[0111] It is further advantageous that the electrical connection between the robot foot (1001) and the robot foot adapter (1002) is realized by a screw passing through a through hole (14) in the conductive solid body (1) and further through the robot foot adapter (1002) to screw, press fit and electrically connect the robot foot (1001) to the robot foot adapter (1002).

[0112] Advantageously, the exterior surface of the robot foot adaptor (1002) is electrically insulating between the adaptor's first end (21) and second end (22). In particular, the robot foot adaptor (1002) includes an anodized exterior surface.

[0113] 4a)-4d) show one embodiment of a robotic leg assembly (1004) of a robotic foot (1001) having a robotic foot adapter (1002) and a robotic leg portion (1003).

[0114] In a further advantageous embodiment of the robot leg assembly (1004), the robot foot (1001), the robot foot adapter (1002), and the robot leg portion (1003) are electrically interconnected.

[0115] The robot leg portion (1003) advantageously comprises an electrically connected first end (31) and a second end (32), the first end (32) being suitable for electrical connection with a robot foot adapter (1002) and / or the second end (32) being suitable for electrical connection with a further robot leg portion or robot.

[0116] The robot leg portion (1003) further advantageously comprises an electrically conductive O-ring which fits into a groove at the first end (31) and / or the second end (32) of the leg portion (1003). The O-ring is suitable for electrically connecting the robot leg portion (1003) to the robot foot adapter (1002) at the first end (31) and / or for electrically connecting the robot leg portion (1003) to the robot at the second end (32).

[0117] It is further advantageous that the outer surface of the robot leg portion (1003) is insulated between the first end (31) and the second end (32) of the robot leg portion (1003), and in particular that the outer surface of the robot leg portion (1003) is anodized.

[0118] The cross-sectional view in Fig. 4d) shows the positive interlocking between the mounting portion (13) of the robot foot (1001) and the first end (21) of the robot foot adapter (1002). A screw passing through the through hole (14) in the solid body (1) also passes through the robot foot adapter (1002) to press-fit the robot foot (1001) into the robot foot adapter (1002).

[0119] The robot leg portion (1003) advantageously includes an electrical connection between the first end (21) of the robot foot adapter (1002) and the mounting portion (13) of the robot foot (1001). [Explanation of symbols]

[0120] 1 Solid 100 Vertical axis 1001 Robot Legs 1002 Robot Foot Adapter 1003 Robot legs 1004 Robot leg assembly 11 First Part 12 Stenosis 120 Stenosis 13 Mounting part 130 Asymmetric Nut 131 Surface of mounting part 14 Through hole 141 First portion of through hole 142 Second part of through hole 15a At least one perforation 15a, 15b, 15c, 15d, 15e, 15f 6 perforations 2 foot pads 21 First end of robot foot adapter 22 Second end of robot foot adapter 200 Foot Adapter Body Vertical Axis 31 First end of the leg portion of the robot 32 Second end of the leg of the robot d. Direction of the longitudinal axis of the robot's foot

Claims

1. A robot foot (1001), in particular for a legged robot, comprising: A solid body (1), A first portion (11) having a surface, and a mounting part (13) suitable for mounting said robot foot (1001) to a robot, in particular to a robot foot adapter (1002); A solid body (1) comprising: A foot pad (2) including a foot material including an elastomer; Equipped with A robot foot (1001), wherein the foot pad (2) covers the surface of the first part (11) and non-detachably and securely engages with the first part (11) in the direction (d) of the longitudinal axis (100) of the solid body (1).

2. 2. The robot foot (1001) of claim 1, wherein the material of the foot is selected from the group consisting of the following classes of rubber: nitrile butadiene rubber, hydrogenated nitrile rubber, styrene butadiene rubber, or polyurethane rubber.

3. The robot foot (1001) of claim 1 or 2, wherein the foot material comprises a vulcanized elastomer.

4. The robot foot (1001) according to any one of claims 1 to 3, wherein the solid body (1) comprises a metal surface.

5. The robot foot (1001) of any one of claims 1 to 4, wherein the material of the foot is an elastomer having substantially superelastic material properties.

6. The robot foot (1001) of any one of claims 1 to 5, wherein the material of the foot is electrically conductive.

7. The robot foot (1001) of any one of claims 1 to 6, wherein the material of the foot is oil resistant.

8. A robot foot (1001) according to any one of the preceding claims, comprising an adhesive layer between the foot pad (2) and in particular a metallic surface of the solid body (1).

9. the solid body (1) comprises a narrowed portion (12), the narrowed portion being disposed between the first portion (11) and the attachment portion (13); the narrowed portion (12) includes a narrowed portion (120) having a diameter smaller than the maximum diameter of the first portion (11); A robot foot (1001) according to any one of claims 1 to 8, wherein the foot pad (2) at least partially covers the narrowed portion (12) and is securely engaged with the narrowed portion (12) by the narrowed portion (120) in a direction opposite to the direction (d) of the longitudinal axis.

10. A robot foot (1001) according to any one of claims 1 to 9, wherein the mounting portion (13) is suitable for secure engagement with a robot, in particular with a robot foot adapter (1002), in the direction (d) of the longitudinal axis (100).

11. A robot foot (1001) according to any one of claims 1 to 10, comprising an axial through hole (14) suitable for inserting a screw for forcibly locking the foot pad (2) to the solid body (1), the axial through hole (14) extending in the direction (d) of the longitudinal axis, the axial through hole (14) passing completely through the foot pad (2) and at least partially through the solid body (1).

12. a first portion (141) of the through hole (14) having a larger diameter than a second portion (142) of the through hole; 12. A robot foot (1001) as described in claim 11, wherein the screw is adapted to enter the through hole in the direction (d) of the longitudinal axis (100) until the head of the screw stops in the small diameter portion of the second portion (142) of the through hole (14).

13. the mounting portion (13) comprises a non-rotatable, form-fitting nut (130) or protrusion arranged in a plane perpendicular to the longitudinal axis (100), the nut (130) or protrusion being suitable for engaging with a counterpart on the robot, in particular on an adapter (1002) of a foot of the robot, A robot foot (1001) according to any one of claims 1 to 12, in particular, wherein the nut (130) or protrusion is rectangular or oval in shape with rounded corners.

14. the solid body (1) comprises at least one perforation (15a) for reducing the weight of the solid body (1); In particular, the longitudinal axis of said at least one perforation (15a) is arranged coaxially with the longitudinal axis (100) of the solid body (1); and extending from a surface (131) of the attachment portion (13) facing away from the first portion (11) into the solid body (1) in a direction opposite to the direction (d) of the longitudinal axis; In particular, up to six perforations (15a, 15b, 15c, 15d, 15e, 15f) are equally spaced around the longitudinal axis (100) and parallel to the longitudinal axis (100) of the solid body (1); and 14. A robot foot (1001) according to any one of claims 1 to 13, extending from the surface (131) of the mounting portion (13) into the solid body (1) in a direction opposite to the direction (d) of the longitudinal axis.

15. A robot foot adaptor (1002) for attaching a robot foot (1001) according to any one of claims 1 to 14 to a robot leg portion (1003), comprising an adaptor longitudinal axis (200) extending along said robot foot adaptor (1002); A robot foot adaptor (1002), wherein a first end (21) of the robot foot adaptor (1002) is adapted to securely engage with the mounting portion (13) of the robot foot (1001).

16. A robot foot (1001) according to any one of claims 1 to 14, A robot foot adapter (1002) according to claim 15; The leg part of the robot (1003) Equipped with A robot leg assembly (1004) to which the robot foot (1001), the robot foot adapter (1002), and / or the robot leg portion (1003) are electrically connected.

17. A method for manufacturing a robot foot (1001) according to any one of claims 1 to 14, comprising the steps of: Providing said solid body (1) having a surface; Providing an elastomeric material to form said foot pad (2); moulding said foot pads (2) from said material onto a coated metal surface; A method comprising:

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