CN109533081A - Robot and its foot structure - Google Patents
Robot and its foot structure Download PDFInfo
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- CN109533081A CN109533081A CN201811646488.XA CN201811646488A CN109533081A CN 109533081 A CN109533081 A CN 109533081A CN 201811646488 A CN201811646488 A CN 201811646488A CN 109533081 A CN109533081 A CN 109533081A
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- foot
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- backing plate
- robot
- bottom plate
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- 230000003139 buffering effect Effects 0.000 claims abstract description 15
- 230000005021 gait Effects 0.000 abstract description 10
- 238000006243 chemical reaction Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 3
- 238000010521 absorption reaction Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 abstract description 2
- 210000002683 foot Anatomy 0.000 description 70
- 230000000007 visual effect Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 210000003423 ankle Anatomy 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention belongs to robotic technology fields, it is intended to provide a kind of robot and its foot structure, the foot structure of the robot includes foot's main body and the switching support to drive foot's bulk motion, wherein, foot's main body include middle section be connected with switching support instep shell, bearing wall be connected on instep shell and cover the dorsal shield that fits cavity bottom plate and buffer wall is connected in the connection wall of bottom plate and the backing plate with buffer function.The present invention, production cost be not significantly increased, under the premise of complicating foot structure, intermediate concave inward structure is set by the buffer wall of backing plate, contact the middle section of the buffer wall of backing plate with the connection wall of bottom plate, to make backing plate make corresponding deformation in foot's main body walking process, to further strengthen absorption or buffering to the reaction punch power on ground.The absorbability of the robot and its foot structure, impact force is strengthened, and the gait of walking is more steady and natural.
Description
Technical field
The invention belongs to robotic technology fields, are to be related to a kind of robot and its foot structure more specifically.
Background technique
Anthropomorphic robot, it is outer in addition to having shape similar with the mankind, such as with both arms, both legs, trunk and head etc.,
Its maximum feature is exactly to have flexible running gear, biped can be walked as the mankind.It is well known that anthropomorphic robot
The flexibility of the speed, stability, gait of walking mechanism walking will directly influence the ability to work and efficiency of robot.It is expert at
During walking, foot can generate impact force when being contacted with ground, which is sent on trunk by ankle-joint, cause to imitate
The instability of gait of robot people is fixed, is easy to happen shaking, even understands disequilibrium when serious and falls down, these will be directly resulted in
Motor, accurate device of robot interior etc. are damaged, so, the impact force that foot is faced when alleviating walking is especially heavy
It wants.However, impact absorbing is ineffective in the foot structure of current robot.
Summary of the invention
The purpose of the present invention is to provide a kind of foot structures of robot, to solve the impact absorbing of foot, robot
Ineffective technical problem.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of foot structure of robot is provided, it should
The foot structure of robot includes foot's main body and the switching support to drive foot's bulk motion；Foot's main body
Include:
Instep shell, is formed with the cavity of mounting related components, and middle section is connected with the switching support；
Bottom plate is equipped with bearing wall and connection wall, and the bearing wall, which is connected on the instep shell and covers, closes the cavity；With
And
Backing plate, equipped with buffer wall and with the wall that contacts to earth of ground face contact, the buffer wall is connected to the company of the bottom plate
It connects on wall, and is intermediate concave inward structure on the direction advanced before and after foot of the buffer wall.
Further, on the front and back direction of travel of Yu Suoshu foot, the middle section of the buffer wall of the backing plate with
Corresponding both ends form intermediate low, two head heights steps.
Further, the buffering boss of multiple gap arrangements, the bottom plate are convexly equipped on the buffer wall of the backing plate
The connection wall on offer the limiting slot of multiple gaps arrangement, each buffering boss is placed in the corresponding limiting slot
It is interior.
Further, the top surface of each buffering boss is in the same plane.
Further, multiple counter sinks, the connection wall of the bottom plate are offered on the wall that contacts to earth of the backing plate
On be convexly equipped with multiple first erecting beds, offer screw hole on first erecting bed, the screw hole and the counter sink one are a pair of
It answers, the backing plate is plugged in the corresponding counter sink and the screw hole sequentially by connector to be connected on the bottom plate.
Further, the backing plate is made of padded coaming, and the connector is meson head screw.
Further, anti-skid structure is provided on the wall that contacts to earth of the backing plate.
Further, the component includes circuit board and the force snesor with circuit board electric connection, the bottom
It is convexly equipped with the second erecting bed on the middle section of the bearing wall of plate, offers mounting groove on second erecting bed；It is described
Mounting hole is offered on the inner wall of instep shell, one end of the force snesor is placed in the mounting groove, and the other end is placed in
In the mounting hole and it is connected on the switching support.
Further, first through hole is offered on the slot bottom of the mounting groove, is opened up on the wall that contacts to earth of the backing plate
There is the second through-hole that can be communicated with the first through hole.
The object of the invention is also to provide a kind of robot, which includes leg, further includes above-mentioned robot
Foot structure, the leg is connected in foot's main body by the switching support.
Robot and its foot structure provided by the invention, are connected in instep shell by the switching support of connected legs
Between part and backing plate itself there is buffer function can absorb ground reaction punch power on the basis of, be not significantly increased
Production cost sets intermediate concave inward structure for the buffer wall of backing plate, makes backing plate under the premise of complicating foot structure
The middle section of buffer wall is not contacted with the connection wall of bottom plate, so that backing plate be made to make in foot's main body walking process accordingly
Deformation, to further strengthen absorption or buffering to the reaction punch power on ground, and then ensures that robot is kept when walking
Balance, does not shake, and ensures that the gait of foot's walking is more steady and natural.
Detailed description of the invention
It, below will be in embodiment or description of the prior art to be illustrated more clearly that the technical solution in the embodiment of the present invention
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the invention
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the schematic perspective view on a certain visual angle of foot structure of robot in the embodiment of the present invention；
Fig. 2 is the schematic perspective view on another visual angle of foot structure of robot in the embodiment of the present invention；
Fig. 3 is the exploded perspective schematic diagram of the foot structure of robot in the embodiment of the present invention；
Fig. 4 is the cross-sectional view of the foot structure of robot in the embodiment of the present invention；
Fig. 5 is the partial enlarged view in Fig. 4 at A；
Fig. 6 is the schematic perspective view that the sole of force sensor is installed in the embodiment of the present invention；
Fig. 7 is the exploded perspective schematic diagram of sole in Fig. 6；
Fig. 8 is the schematic perspective view of a certain visual angle upper plate in the embodiment of the present invention；
Fig. 9 is the cross-sectional view of another visual angle upper plate in the embodiment of the present invention；
Figure 10 is the schematic perspective view of the instep shell of the foot structure of robot in the embodiment of the present invention.
Wherein, the label in attached drawing is as follows:
10- switching support, 11- connection frame, 12- engaging lug, 20- foot main body；
100- instep shell, 110- cavity, 120- mounting hole, 130- link slot, 140- connecting column；
200- sole, 210- bottom plate, 211- bearing wall, the second erecting bed of 2111-, 2112- mounting groove, 2113- first are logical
Hole, 212- connection wall, 2121- limiting slot, the first erecting bed of 2122-, 2123- screw hole, 213- connecting hole；
220- backing plate, 221- buffer wall, 2211- buffer boss, 222- contacts to earth, and wall, 2221- counter sink, 2222- second are logical
Hole, 2223- step；
400- connector/meson head screw, 500- anti-skid structure, 600- circuit board, 700- force snesor.
Specific embodiment
For technical problems, technical solutions and advantages to be solved are more clearly understood, below in conjunction with
Specific drawings and the specific embodiments, further elaborate to the present invention.Wherein, phase in the attached drawing of the specific embodiment of the invention
Same or similar label indicates the same or similar element or element with the same or similar functions.It should be understood that ground, under
Specific embodiment described in face is intended to be used to explain the present invention, and is not intended to limit the present invention.
It should be noted that when element is referred to as " being fixed on " or " being installed on " or " being set to " or " being connected to " another element
On, it, which can be, is directly or indirectly located on another element.For example, when an element referred to as " is connected to " another yuan
On part, it, which can be, is directly or indirectly connected on another element.Term " length ", " width ", "upper", "lower", " left side ",
The orientation or position of the instructions such as " right side ", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outside" are based on attached drawing
Shown in orientation or position, be only easy for describing, should not be understood as the limitation to the technical program.
In addition, term " first ", " second " only for ease of description, be not understood to indicate or imply relative importance or
Person implicitly indicates the quantity of technical characteristic.The meaning of " plurality " is two or more, unless otherwise specifically defined.
In short, for the ordinary skill in the art, can understand the concrete meaning of above-mentioned term as the case may be.
A kind of realization of the foot structure of robot provided by the invention is carried out in detail below in conjunction with attached drawing 1 to Figure 10
Description.
As shown in Figure 1, the foot structure of the robot, including foot's main body 20 and to drive foot's main body 20 to move
Switching support 10.It should be noted that then as shown in Figure 1, switching support 10 includes connection frame 11 and is set to 11 both ends of connection frame
On engaging lug 12.In general, connection frame 11 connects foot's main body 20, engaging lug 12 connects ankle two sides with connected legs and foot
Portion.It is to be appreciated that switching support 10 can link foot's main body 20 relative to leg exercise under the action of ankle.Specifically exist
In the present embodiment, foot's main body 20 can move back and forth, and can also swing.So foot's row of the mankind can be imitated substantially
It walks.
In the present embodiment, foot's main body 20 includes instep shell 100 and sole 200, wherein sole 200 includes bottom plate 210
With backing plate 220.As shown in figure 3, instep shell 100 is formed with cavity 110, wherein the cavity 110 can be used to mounting circuit boards
600, the components such as force snesor 700.As shown in Figure 1, the middle section of instep shell 100 is connected with switching support 10, in this way, i.e.
It can ensure that the gravitation energy of the foot of robot or more concentrates on the centre of foot's main body 20 as far as possible, be conducive to guarantee that robot is whole with this
The stationarity of body.
As shown in Figure 3 and Figure 7, bottom plate 210 is equipped with bearing wall 211 and connection wall 212, and as its name suggests, bearing wall 211 is main
For gravity more than foot, support bearing robot, connection wall 212 is mainly used to connection backing plate 220, so, in general, bottom plate
210 are made of rigid material, and specifically, bottom plate 210 can be handware.Wherein, as shown in Figure 3 and Figure 4, bottom plate 210
Bearing wall 211 is connected on instep shell 100, and the lid of bottom plate 210 closes cavity 110 with closed cavity 110.
It is to be appreciated that the size and shape of the bearing wall 211 of bottom plate 210 size with the opening of cavity 110 respectively
And shape adaptation.Specifically in embodiment, for convenience of bottom plate 210 to be connected on instep shell 100, as shown in figure 3, instep shell
It is convexly equipped with connecting column 140 in 100 cavity 110, threaded hole (not shown) is offered on connecting column 140, is offered on bottom plate 210
Bottom plate 210 can be realized by the way that the screw pieces such as screw or screw are sequentially plugged on connecting hole 213 and threaded hole in connecting hole 213
Connection between instep shell 100.
As shown in Figure 7 to 9, backing plate 220 is equipped with buffer wall 221 and the wall 222 that contacts to earth with ground face contact.Wherein, such as Fig. 4
With shown in Fig. 5, the buffer wall 221 of backing plate 220 is connected in the connection wall 212 of bottom plate 210, and buffer wall 221 is before and after foot
It is intermediate concave inward structure on the direction of traveling.It should be noted that in general, the wall surface for the wall 222 that contacts to earth is flat to ensure stability
Face.So foot's main body 20 and ground are plane contact.
By upper it is to be appreciated that being connected to the middle section of instep shell 100 in switching support 10, backing plate 220 is with ground
Plane contact, it is ensured that the load concentration that foot's main body 20 is born is on the basis of 200 middle section of sole, and in backing plate 220
Itself have under the premise of absorbing the reaction punch power ability that ground is given, by setting the buffer wall 221 of backing plate 220 to
Intermediate concave inward structure, that is, the middle section of the buffer wall 221 of backing plate 220 is not contacted with the connection wall 212 of bottom plate 210, with
This, is accelerated forwardly its load gravity center of walking in foot's main body 20 of robot and deviates backward, or to its load gravity center of front reduction gear
When biased forwards, corresponding deformation can be made on the direction that backing plate 220 is advanced before and after foot, to absorb or buffer ground
Reaction punch power, and then ensure that the trunk of robot remains balance, it will not shake and the gait of foot's walking is flat
Surely, therefore, conducive to extend foot, robot service life.
Further, a kind of specific embodiment as the foot structure of robot provided by the invention, such as Fig. 4, Fig. 5
With shown in Fig. 9, on the front and back direction of travel of foot, the middle section of the buffer wall 221 of backing plate 220 is corresponding with backing plate 220
Both ends form intermediate low, two head heights steps 2223.Specifically, it can be opened up in the middle section of the buffer wall 221 of backing plate 220
One slot (not shown), wherein for the gait stationarity for further increasing foot's walking, the long axis direction of the slot is foot
Front and back direction of travel, the front and back direction of travel of the short-axis direction of slot perpendicular to foot.
Further, a kind of specific embodiment as the foot structure of robot provided by the invention, such as Fig. 9 institute
Show, multiple buffering boss 2211 are convexly equipped on the buffer wall 221 of backing plate 220, wherein the arrangement of each buffering 2211 gap of boss,
That is, respectively there are gaps between buffering boss 2211.Accordingly, as shown in figure 3, being offered in the connection wall 212 of bottom plate 210 multiple
Limiting slot 2121.Equally, each 2121 gap of limiting slot arrangement.Each buffering boss 2211 is placed in corresponding limiting slot 2121.
In this way, can limit each buffering boss 2211 in limiting slot 2121, it prevent backing plate 220 from twisting with this, one is conducive to
Improve the connectivity robustness and stability between backing plate 220 and bottom plate 210；Two are conducive to further increase backing plate 220 to ground
The snubber ability of reaction punch power, to further increase the gait stationarity of foot's walking.
Further, a kind of specific embodiment as the foot structure of robot provided by the invention, in backing plate 220
The top surface of each buffering boss 2211 is in the same plane, namely the top surface flush of each buffering boss 2211, in this way, being conducive to letter
Change the structure of sole 200, reduce production cost, is additionally favorable for ensuring the whole stationarity after backing plate 220 and the installation of bottom plate 210, from
And improve the gait stability of foot's walking.
Further, a kind of specific embodiment as the foot structure of robot provided by the invention, such as Fig. 8 and figure
Shown in 9, multiple counter sinks 2221 are offered on the wall 222 that contacts to earth of backing plate 220.Accordingly, as shown in Figures 3 to 5, bottom plate 210
Connection wall 212 on be convexly equipped with multiple first erecting beds 2122, wherein offer screw hole 2123 on each first erecting bed 2122,
Screw hole 2123 and counter sink 2221 correspond.As shown in Figure 4 and Figure 5, backing plate 220 is sequentially plugged in pair by connector 400
Backing plate 220, can be connected on bottom plate 210 by the counter sink 2221 and screw hole 2123 answered as a result,.
In general, backing plate 220 is made of padded coaming.For example, backing plate 220 can be rubber product.Certainly, in fact,
The padded coaming is not limited to rubber material.Accordingly, as shown in figure 5, connector 400 can be meson head screw, in this way, sharp
It is reliablely and stablely connected on bottom plate 210 in by rubber mat plate 220.Specifically, meson head screw 400 includes the head with gasket
Portion's (not shown) and the screw rod (not shown) being connected with head, in this way, after backing plate 220 is installed to bottom plate 210, meson head screw
400 head is located in the countersunk head slot of counter sink 2221, and gasket can squeeze tight fit with 220 phase of backing plate.
Further, a kind of specific embodiment as the foot structure of robot provided by the invention, such as Fig. 2 and figure
Shown in 8, to prevent foot and ground from skidding, anti-skid structure 500 is provided on the wall 222 that contacts to earth of backing plate 220.Specifically in this implementation
In example, which is to be provided with the non-slip groove contacted to earth on wall 222.Certainly, actually the structure of anti-skid structure 500 is simultaneously
It is without being limited thereto, such as one layer of anti-slip layer etc. can be set contacting to earth on wall 222.
Further, a kind of specific embodiment as the foot structure of robot provided by the invention, such as Fig. 3 institute
Show, component includes circuit board 600 and the force snesor 700 with the electric connection of circuit board 600, certainly, in fact, the component
It may also include other elements.For convenience of installation force snesor 700, as shown in figs. 4 and 7, the bearing wall 211 of bottom plate 210
The second erecting bed 2111 is convexly equipped on middle section, wherein offer mounting groove 2112 on the second erecting bed 2111.Accordingly,
As shown in figs. 3 and 10, mounting hole 120 is offered on the inner wall of instep shell 100.Wherein, as shown in Figure 4 and Figure 6, force snesor
700 one end is placed in mounting groove 2112, and the other end is placed in mounting hole 120 and is connected to the connection frame of switching support 10
On 11.In this way, force snesor 700 can be firmly mounted in foot's main body 20, and it is conducive to ensure that force snesor 700 can be quasi-
The power that 20 each section of foot's main body is subject to really is measured, to be conducive to the gait of accurately control foot walking.
It should be noted that as shown in Figure 10, for convenience of switching support 10 is connected in foot's main body 20, instep shell 100
Outer wall on offer link slot 130, wherein the connection frame 11 of switching support 10 is connected on link slot 130.In addition, for side
Just force snesor 700 can accurately measure, and the mounting hole 120 of instep shell 100 is provided on the slot bottom of link slot 130, in this way, side
Just the other end of force sensor 700 is connected to connection frame 11.
Further, a kind of specific embodiment as the foot structure of robot provided by the invention, such as Fig. 7 institute
Show, offers first through hole 2113 in bottom plate 210 on the slot bottom of mounting groove 2112, accordingly, as shown in Figure 7 to 9, backing plate
The second through-hole 2222 is offered on 220 wall 222 that contacts to earth.Wherein, as shown in figure 4,2222 energy of the second through-hole and first through hole
2113 communicate, in this way, be conducive to ensure that force snesor 700 can measure the stress condition of 20 each section of foot's main body more accurately.
The present invention also provides a kind of robots, and for convenience of standing, which includes leg (not shown), for convenience of row
It walks, which further includes the foot structure of above-mentioned robot, and in the present embodiment, leg is connected to by switching support 10
In foot's main body 20.Wherein, the foot structure of the robot is identical as the structure of the foot structure of above-mentioned robot, effect
Identical, details are not described herein.
It should be noted that the robot also typically includes head, arm and the trunk connecting with head, wherein leg
It is all connected on trunk with arm, to imitate the four limbs of the mankind.Certainly, the specific structure of the actually robot is not limited to
This.
Generally, foot structure of the robot by using above-mentioned robot, simple and reliable for structure, production cost
It is low, the impact force on ground can be effectively absorbed, impact force is reduced and is passed on trunk, so that it is guaranteed that the gait of robot is steady
It is fixed, it will not shake, tilt or even fall down, it is clear that conducive to the important spare part in protection robot, it is ensured that it is transported with security and stability
Row, improves the safety in utilization and reliability of robot.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention.For the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should be included within scope of the presently claimed invention.
Claims (10)
1. the foot structure of robot, special including foot's main body and the switching support to drive foot's bulk motion
Sign is that foot's main body includes:
Instep shell, is formed with the cavity of mounting related components, and middle section is connected with the switching support；
Bottom plate is equipped with bearing wall and connection wall, and the bearing wall, which is connected on the instep shell and covers, closes the cavity；And
Backing plate, equipped with buffer wall and with the wall that contacts to earth of ground face contact, the buffer wall is connected to the connection wall of the bottom plate
On, and be intermediate concave inward structure on the direction advanced before and after foot of the buffer wall.
2. the foot structure of robot according to claim 1, which is characterized in that the front and back direction of travel of Yu Suoshu foot
On, the middle section and corresponding both ends of the buffer wall of the backing plate form intermediate low, two head heights steps.
3. the foot structure of robot according to claim 2, which is characterized in that the buffer wall of the backing plate is convex
Equipped with the buffering boss that multiple gaps are arranged, the limiting slot of multiple gaps arrangements is offered in the connection wall of the bottom plate,
Each buffering boss is placed in the corresponding limiting slot.
4. the foot structure of robot according to claim 3, which is characterized in that the top surface of each buffering boss is located at
On same plane.
5. the foot structure of robot according to any one of claims 1 to 4, which is characterized in that the backing plate it is described
It contacts to earth and offers multiple counter sinks on wall, be convexly equipped with multiple first erecting beds in the connection wall of the bottom plate, described first
Screw hole is offered on erecting bed, the screw hole and the counter sink correspond, and the backing plate is sequentially plugged in by connector
The corresponding counter sink and the screw hole are to be connected on the bottom plate.
6. the foot structure of robot according to claim 5, which is characterized in that the backing plate uses padded coaming system
At the connector is meson head screw.
7. the foot structure of robot according to any one of claims 1 to 4, which is characterized in that the backing plate it is described
It contacts to earth and is provided with anti-skid structure on wall.
8. the foot structure of robot according to any one of claims 1 to 4, which is characterized in that the component includes
Circuit board and the force snesor being electrically connected with the circuit board, are convexly equipped on the middle section of the bearing wall of the bottom plate
Second erecting bed offers mounting groove on second erecting bed；Mounting hole, the power are offered on the inner wall of the instep shell
One end of sensor is placed in the mounting groove, and the other end is placed in the mounting hole and is connected to the switching support
On.
9. the foot structure of robot according to claim 8, which is characterized in that offered on the slot bottom of the mounting groove
First through hole offers the second through-hole that can be communicated with the first through hole on the wall that contacts to earth of the backing plate.
10. robot, the robot includes leg, which is characterized in that the robot further includes according to claim 1 to 9
The foot structure of described in any item robots, the leg are connected in foot's main body by the switching support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811646488.XA CN109533081B (en) | 2018-12-29 | 2018-12-29 | Robot and foot structure thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811646488.XA CN109533081B (en) | 2018-12-29 | 2018-12-29 | Robot and foot structure thereof |
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| CN109533081A true CN109533081A (en) | 2019-03-29 |
| CN109533081B CN109533081B (en) | 2021-01-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098949A (en) * | 2019-12-18 | 2020-05-05 | 南京涵曦月自动化科技有限公司 | Leg and foot elastic device of foot type robot |
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| CN207344628U (en) * | 2017-06-23 | 2018-05-11 | 潍坊歌尔电子有限公司 | A kind of robot foot section anti-skid structure |
| CN206998912U (en) * | 2017-07-03 | 2018-02-13 | 深圳市优必选科技有限公司 | Robot ankle structure and robot |
| CN207902605U (en) * | 2017-12-29 | 2018-09-25 | 深圳市优必选科技有限公司 | Robot foot harden structure and anthropomorphic robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098949A (en) * | 2019-12-18 | 2020-05-05 | 南京涵曦月自动化科技有限公司 | Leg and foot elastic device of foot type robot |
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| CN109533081B (en) | 2021-01-08 |
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Address after: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Youbixuan Technology Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
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Effective date of registration: 20231214 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |