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 a legged robot, a robot foot adapter, a robot leg section, a robot leg assembly, as well as a method for manufacturing a robot foot and its use. [Background technology]

[0002] Legged robots are used for a variety of tasks to assist humans in tasks, especially in dangerous environments. Legged robots typically have one or more legs, each terminating in a foot. These robots often operate in harsh environments, which can rapidly wear down the robot's feet due to contact with the environment.

[0003] Typically, the feet of a legged robot comprise a solid body 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 disposed on the elastic foot pad. The foot end support member is fixedly connected to the foot pad mounting base, and the elastic foot pad has a clamping portion that is fastened between the foot end support member and the foot pad mounting base when the foot end support member is fixedly connected to the foot pad mounting base, maintaining the 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 robotic foot that allows 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] Unless otherwise stated, the following definitions shall apply herein.

[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 and open-ended sense. The term "containing" is intended to encompass both "comprising" and "consisting of."

[0010] The term "hyperelastic material" advantageously refers to the behavior of an idealized elastic material, i.e., an elastomer, 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. Furthermore, 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 broken down. 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 robot foot to be attached to a robot foot adapter or robot leg portion, or robot. In particular, the attachment portion is suitable for attaching the robot foot to a particular 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 for easy exchange of the 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 metal 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 a further advantageous embodiment, 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 securely engaging the surface of the first portion in a non-removable manner in the direction of the longitudinal axis (d) of the solid body.

[0019] Therefore, it is advantageous for the non-detachable robot foot pad to be attached directly to the solid body of the robot foot. conforms Therefore, no clamps are needed to hold the robot's foot pads in place, and therefore the solid feet do not require any means to fasten the solid foot pads to them.

[0020] The term "elastomer" herein advantageously refers 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 material of the foot 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] A secure engagement is when the shape is conforms It is advantageous to point out that the foot pads not only engage positively in the direction of the longitudinal axis (d), but also more advantageously in a direction perpendicular to the longitudinal axis and / or in a radial direction if the solid body is rotationally symmetric.

[0024] The term "covering" here refers to at least partially surrounding a first portion of the solid body with the foot pad or at least partially enveloping the first portion with the foot pad, and thus particularly refers to the feature that the foot pad covers or partially surrounds the solid body, so that essentially a portion of the solid body is covered by the foot pad, and advantageously the first portion 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 material of the foot 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( Poly 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, and in particular a foot pad comprising an electrically conductive foot material is suitable for electrically connecting and grounding a robot leg or other component of the robot to the robot foot pad via the solid body of the robot foot.

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

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

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

[0033] Further advantageously, the conductivity of the foot is achieved by adding fillers to an elastomeric matrix contained within the foot material, which 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 function while in contact with an oily or greasy environment. In particular, foot materials comprising HNBR or PUR are highly oil resistant.

[0036] Advantageously, the oil resistance is certified according to ISO 1817:2015.

[0037] In a further embodiment of the invention, the non-removable and secure engagement, in particular between the metal 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 molding and vulcanization process.

[0038] In an advantageous embodiment of the invention, the shape of the solid body is asymmetrical, so that the foot pads cannot rotate around the solid body, resulting in a further shape difference between the solid body and the foot pads. conforms In particular, in such embodiments having an asymmetrically shaped solid body, an adhesive layer between the solid body and the foot pads is not necessary. The foot pads are firmly attached to the solid body because they cannot rotate or otherwise move on the solid body and generally conform to the shape of the solid body in all directions.

[0039] Advantageously, the first portion smoothly transitions 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 disposed between the first portion and the mounting portion in the direction of the longitudinal axis (d) of the solid body. The narrowed portion comprises a narrowed portion having a diameter smaller than the maximum diameter of the first portion. The foot pad at least partially covers the narrowed portion and is securely engaged with the narrowed portion in the direction opposite to the direction of the axis of rotation (d) by the narrowed portion.

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

[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 forcibly 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, so that the screw can be inserted 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. Enter It is suitable for getting into.

[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 is non-rotatable and has a shape Suitable type The solid body includes a nut or protrusion, the nut or protrusion being arranged in a plane perpendicular to the longitudinal axis of the solid body and adapted to engage with a mating part arranged on the robot, the robot leg, or the robot leg adapter. 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 part facing away from the first part into the solid body in a direction opposite to the direction d of the longitudinal axis;

[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 part into the solid body in a direction opposite to the direction d of the longitudinal axis;

[0050] A second aspect of the present invention refers to a robot foot adapter, which is suitable for attaching a robot foot according to the first aspect to a leg portion of a robot.

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

[0052] Advantageously, the first end is configured such that, in the intended use of the robot foot adapter, the first end securely engages with a mounting portion of the robot foot, advantageously such that the longitudinal axis of the adapter 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 the robot foot (in particular a robot foot comprising 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, the first end being advantageously adapted to be electrically connected to the robot foot, and the second end being further advantageously adapted to be electrically connected to the robot leg portion.

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

[0057] The outer surface refers to the surface surrounding the robot foot adapter, 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 robot foot adapter.

[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 present invention, the robot foot adapter is entirely anodized on its outer surface, except for the first end and the second end. In particular, the second end comprises a tube portion suitable for attaching 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 through the first end, which is not anodized and therefore electrically conductive, and the core metal body to the second end, which is not anodized and therefore electrically conductive.

[0060] The second end of the robot foot adapter, which is advantageously suitable for connection to the 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 a groove at the first end and / or the second end of the adapter, 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 present invention refers to a robot leg section, comprising a first end adapted to receive a robot foot adapter according to the second aspect, and a second end adapted to be attached 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 being advantageously suitable for electrical connection with a robot foot adapter according to the second aspect, and the second end being 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 portion 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 present invention refers to a method for manufacturing a robotic foot, the method comprising: providing the 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 from an elastomer to form a foot pad; molding or injection molding 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 on 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 pads are 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 material of the foot by injection molding.

[0073] In a further aspect of the present invention, the robot foot is a product comprising a solid body having a first portion, particularly including a metal surface, and an attachment portion. The robot foot further comprises a robot foot pad, including a foot material containing an elastomer. The product is obtained by injection molding the elastomer around the foot pad or first portion, followed by vulcanizing the foot pad or elastomer. It is further advantageous if an adhesion promoter is added prior to 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 for a robot according to the third aspect of the invention.

[0077] A ninth aspect of the present invention refers to the use of a robotic leg assembly according to the fourth aspect of the present 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 objects other than those set forth above will become apparent, from the following detailed description of the invention, which refers to the accompanying drawings, in which: [Brief explanation of the drawings]

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

[0081] FIG. 1a shows a schematic diagram of a robot foot (1001), in particular for a legged robot, comprising a solid body (1) and a foot pad (2). The solid body (1) comprises a first part (11), in particular having a metal surface, and a mounting part (13) suitable for attaching the robot foot (1001) to a robot. In particular, the mounting part (13) is suitable for attaching the robot foot (1001) to a robot foot adapter (1002) and / or a robot leg (1003). The foot pad (2) comprises a foot material made of elastomer. Furthermore, the foot pad covers the first part (11) and securely 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 most advantageously HNBR or PUR, which are very oil resistant.

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

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

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

[0087] FIG. 1c) shows an advantageous embodiment of the cross section BB of FIG. 1b). An 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 section (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) which makes it possible to visually see how the attachment part (13) is suitable for 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 the cross section AA of the 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 the 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 foot pads (2) from said material onto the coated, in particular metallic, surface; It is produced by a method comprising:

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

[0092] Further advantageous details of the perforations are shown in cross section in FIG. 1f) and will be further discussed 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, which in this advantageous embodiment comprises, in addition to the first part (11) and the attachment part (13), also a constricted part (12) having a constriction (120).

[0095] In Fig. 2c) an advantageous cross-section of Fig. 2b) is shown along the section line AA. The advantageous solid body (1) comprises a through-hole (14) extending 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). Thus, the through hole (14) is designed so that a screw can be inserted into the through hole in the direction (d) of the longitudinal axis (100) until the head of the screw stops at the smaller diameter portion of the second portion (142) of the through hole (14). Enter It is suitable for getting into.

[0097] In Fig. 2d) an advantageous top view of the advantageous mounting part (13) of the solid body (1) is shown. The mounting part (13) is a non-rotatable, shaped part arranged in a plane perpendicular to the longitudinal axis (100). Suitable type The nut 130 is adapted to engage with a mating part on a robot, in particular with a mating part on the robot's foot adapter 1002. The nut 130 is advantageously rectangular or oval with rounded corners.

[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, Figures 1d) and 2d) show top views of the solid body (1) 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), and 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 body (1) in a direction opposite to the direction (d) of the longitudinal axis.

[0101] Further advantageously, 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 attachment portion (13) in a direction coaxial with the longitudinal axis (100) of the solid body (1).

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

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

[0104] As shown in FIG. 3c), one advantageous embodiment of the robot foot adapter (1002) includes a longitudinal axis (200) of the adapter. A first end (21) of the foot adapter (1002) is adapted to securely engage with the 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), forming 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) comprises a bore suitable for receiving a screw 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 the first end (21) and the second end (22) of the robot foot adapter (1002). Advantageously, the first end (21) is suitable for electrical connection with the robot foot (1001). Further advantageously, the second end (22) is suitable for electrical connection with the robot leg portion (1003).

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

[0109] In a further advantageous embodiment of the robot foot adapter (1002), the robot foot adapter (1002) comprises a conductive O-ring suitable for fitting 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 achieved 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 adapter (1002) is electrically insulating between the adapter's first end (21) and second end (22). In particular, the robot foot adapter (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 the 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 fitted into a groove at the first end (31) and / or the second end (32) of the leg portion (1003), the O-ring being 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] 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, it is further advantageous that the outer surface of the robot leg portion (1003) is anodized.

[0118] The cross-sectional view in Figure 4d) shows the positive engagement 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) onto 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 body 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 Mounting surface 14 Through holes 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 Vertical axis of the foot adapter body 31 First end of the leg portion of the robot 32 Second end of the robot leg d. Direction of the longitudinal axis of the robot's foot

Claims

1. A robotic foot (1001), 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) comprising a foot material including a vulcanized elastomer; Equipped with A robot foot (1001) in which the foot pad (2) covers the surface of the first part (11) and securely engages with the first part (11) in the direction (d) of the longitudinal axis (100) of the solid body (1) by non-detachable means realized by the vulcanized elastomer.

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

3. The robot foot (1001) according to claim 1 or 2, wherein the solid body (1) comprises a metal surface.

4. The robot foot (1001) according to any one of claims 1 to 3, wherein the material of the foot is an elastomer having superelastic material properties.

5. The robot foot (1001) according to any one of claims 1 to 4, wherein the material of the foot is electrically conductive.

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

7. 7. A robot foot (1001) according to any one of claims 1 to 6, comprising an adhesive layer between the foot pad (2) and in particular a metal surface of the solid body (1).

8. the solid body (1) includes 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); 8. A robot foot (1001) according to any one of claims 1 to 7, 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.

9. A robot foot (1001) according to any one of claims 1 to 8, wherein the attachment 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).

10. 10. A robot foot (1001) according to any one of claims 1 to 9, 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).

11. a first portion (141) of the through hole (14) having a larger diameter than a second portion (142) of the through hole; 11. A robot foot (1001) as described in claim 10, wherein the screw is adapted to be inserted into 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 part (142) of the through hole (14).

12. 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 the foot of the robot; A robot foot (1001) according to any one of claims 1 to 11, in particular, wherein the nut (130) or protrusion is rectangular or oval in shape with rounded corners.

13. 13. The robot foot (1001) according to any one of claims 1 to 12, wherein the solid body (1) comprises at least one perforation (15a) for reducing the weight of the solid body (1).

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

15. A robot foot (1001) according to any one of claims 1 to 13; A robot foot adapter (1002) according to claim 14; The robot's legs (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;

16. A method for manufacturing a robot foot (1001) according to any one of claims 1 to 13, comprising the steps of: providing said solid body (1) having a surface; providing an elastomeric material to form said foot pad (2); molding said foot pads (2) from said material onto a coated metal surface; A method comprising:

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