Detachable foot structure and four-foot inspection robot

Abstract

The invention relates to the technical field of inspection robots, and discloses a detachable foot structure and a four-footed inspection robot, the detachable foot structure comprises a mechanical thigh, a mechanical shank and a walking wheel, one end of the walking wheel is provided with a groove, one end of the mechanical shank is inserted into the groove, the interior of the mechanical shank is provided with a cavity, and the cavity is communicated with the mechanical thigh. The inner wall of the cavity is fixedly connected with an electromagnet, and the side walls of the two sides of the electromagnet are fixedly connected with first spring pieces. According to the robot, the stop blocks, the fixing pins and the first spring pieces are arranged to be matched, the mechanical shanks and the walking wheels can be connected, and when the robot is used and the robot body walks on a flat road, the robot body can be driven through the walking wheels, so that the robot body rapidly and stably moves; when the robot body walks on an uneven road, the walking wheels of the robot body can be automatically detached, convenience and trouble saving are achieved, then the robot body walks through the feet at one ends of the mechanical shanks, and in this way, the walking wheels cannot be damaged when the robot body walks.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, in particular to a detachable foot structure and a four-legged inspection robot. Background Art

[0002] A quadruped robot is a mobile robot that is highly adaptable to complex terrain and has practical application value. It can replace humans in guarding or transporting supplies in extreme environments, and is widely used in military, education and daily life.

[0003] A quadruped robot currently disclosed in the authorization announcement CN112874651B includes a fuselage, a power supply structure, a hip, a thigh, a calf and a walking part. The fuselage includes a first frame and a second frame. The power supply structure is installed in the first frame, the hip is connected to the second frame, the second driving member is used to drive the thigh body to rotate, the third driving member is used to drive the calf body to rotate relative to the thigh body, and the fourth driving member is used to drive the walking wheel to rotate. The auxiliary wheel can rotate with the rotation of the walking wheel. In the above invention, the robot can walk on four legs, and the above invention can also walk on the walking wheels. The leg structure of the above invention can move forward in a kneeling or crawling state. The overall height of the leg structure can be changed by changing the walking posture, so that the above invention can adapt to the walking needs of different scenes.

[0004] However, when the above-mentioned robot walks on four legs, the walking wheels will be used as the feet of the robot. In order to provide friction when walking, the walking wheels that serve as feet cannot rotate. This will cause one side of the walking wheels to always be in contact with the ground, which can easily destroy the dynamic balance of the walking wheels and damage the walking wheels. Summary of the invention

[0005] The purpose of the present invention is to solve the problems existing in the prior art, and to propose a detachable foot structure and a four-legged inspection robot. When the four-legged inspection robot moves forward by walking, the walking wheels can be removed to avoid damage to the walking wheels.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A detachable foot structure comprises a mechanical thigh, a mechanical calf and a walking wheel, wherein a groove is provided at one end of the walking wheel, and one end of the mechanical calf is inserted into the groove, a cavity is provided inside the mechanical calf, and an electromagnet is fixedly connected to the inner wall of the cavity, both side walls of the electromagnet are fixedly connected to a first spring sheet, and one end of the first spring sheet is fixedly connected to a block, the block is made of a magnetic material, and a fixing pin is fixedly connected to one side wall of the block, a pin groove is provided on the inner wall of the groove, and one end of the fixing pin passes through the mechanical calf and extends to be arranged inside the pin groove, an electric socket is provided at one end of the mechanical calf, an electric plug is provided at one end of the walking wheel, and one end of the electric plug is inserted into the electric socket, a cavity is provided inside the mechanical thigh, and a lower wheel mechanism is arranged inside the cavity.

[0008] Preferably, the lower wheel mechanism includes a slider arranged in the cavity, and the inner wall of the slider is fixedly connected to an electric push rod, the lower surface of the mechanical thigh is provided with a strip groove, and a fixed block is provided below the strip groove, one end of the electric push rod passes through the slider and is fixedly connected to the fixed block, two splints are fixedly connected to the lower surface of the fixed block, and a limiting groove is provided on one side wall of the splint, a roller shaft is provided in the limiting groove, both side walls of the walking wheel are provided with card grooves, and a driving mechanism is provided in the cavity.

[0009] Preferably, the driving mechanism includes two turntables rotatably connected to the inner wall of the cavity, and the outer wall of the turntable is provided with a driving belt, both ends of the driving belt are fixedly connected to the slider, and the outer wall of the mechanical thigh is fixedly connected to the motor, and one of the turntables passes through the mechanical thigh and is fixedly connected to the motor driving end.

[0010] Preferably, a track groove is provided on the inner wall of the cavity, and a baffle plate is slidably connected to the inner wall of the track groove, a first baffle bar is fixedly connected to one side wall of the baffle plate, a second baffle bar is fixedly connected to one side wall of the baffle block, a second spring sheet is fixedly connected to the side wall of the first baffle bar, and a side wall of the second spring sheet is fixedly connected to the electromagnet, a protrusion is provided on one side of the first baffle bar, and the protrusion is fixedly connected to the inner wall of the cavity.

[0011] Preferably, a vertical axis is provided on one side of the slider, and one end of the vertical axis passes through the slider and the fixed block, the vertical axis is fixedly connected to the fixed block, and a positioning pin is fixedly connected to the lower end of the vertical axis, and a positioning groove matching the positioning pin is opened on the upper surface of the walking wheel.

[0012] Preferably, one end of the locating pin and the locating slot are both chamfered.

[0013] Preferably, a rubber pad is provided at one end of the mechanical calf, and an outer wall of the rubber pad is provided with anti-slip grooves.

[0014] A four-legged inspection robot comprises a robot main body, wherein the robot main body comprises the above-mentioned detachable foot structure.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention can connect the mechanical shank and the walking wheel by setting a stopper, a fixing pin and a first spring sheet. When in use, when the robot body walks on a flat road, it can be driven by the walking wheel to make the robot body move quickly and smoothly; when the robot body walks on an uneven road, the robot body can remove the walking wheel by itself, which is convenient and trouble-free, and then use one end of the mechanical shank as the foot to walk, so that the walking wheel will not be damaged when walking;

[0017] 2. The present invention cooperates with a slider, an electric push rod, two clamping plates and a driving mechanism to be used together. When removing the walking wheel, the robot body first switches to a kneeling position, and then the electric push rod is started, so that the electric push rod pushes the fixed block to move downward, and the fixed block that moves downward drives the two clamping plates to move downward, and the clamping plates that move downward drive the roller shaft to move downward. When the roller shaft moves downward, the roller shaft abuts against the outer wall of the walking wheel, so that the clamping plate is deformed and opened. After the roller shaft moves down into the slot, the clamping plate restores its deformation, and then the roller shaft is stuck in the slot, thereby fixing the walking wheel. Then the driving mechanism can drive the slider and the walking wheel to move, so that the walking wheel is separated from the mechanical calf, and the walking wheel is removed, which is convenient and quick.

[0018] 3. The present invention can drive the slider and the walking wheel to separate from the mechanical leg by arranging two turntables and cooperating with the driving belt, etc. At the same time, when the driving belt is running, the driving belt can seal the strip groove, and to a certain extent prevent dust and other impurities from entering the mechanical thigh through the strip groove;

[0019] 4. The present invention sets a first block bar, a second block bar and a protrusion for use in conjunction with each other. When the electromagnet attracts the block bar to move, the moving block can drive the second block bar to move downward. After the second block bar moves down to a certain position, it contacts the first block bar. The second block bar drives the first block bar to move downward. After the first block bar moves to the moving position, the first block bar contacts the protrusion, so that the protrusion can block the second block bar, the first block bar and the block from continuing to move, thereby avoiding the problem of excessive compression of the first spring sheet and the second spring sheet by the block bar and protecting the first spring sheet and the second spring sheet, so that the first spring sheet and the second spring sheet are not easily damaged. At the same time, when the walking wheel and other structures move and the walking wheel is disassembled, the electric plug is disengaged from the electric socket, so that the walking wheel is disconnected from the electrical connection with the mechanical calf, and then the circuit of the electromagnet is disconnected. At this time, the second spring sheet can push the baffle plate to move, so that the baffle plate seals the electric socket to prevent external dust and the like from entering the electric socket. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1A schematic diagram of the three-dimensional structure of a four-legged inspection robot proposed by the present invention;

[0021] Figure 2 A schematic diagram of a three-dimensional structure of a detachable foot structure proposed by the present invention;

[0022] Figure 3 A first cross-sectional structural schematic diagram of a detachable foot structure proposed by the present invention;

[0023] Figure 4 for Figure 3 The enlarged structural diagram at A in the middle;

[0024] Figure 5 for Figure 3 The enlarged structural diagram at B in the middle;

[0025] Figure 6 for Figure 5 The enlarged structural diagram at C in the middle;

[0026] Figure 7 A schematic diagram of a partial structure of a detachable foot structure proposed by the present invention;

[0027] Figure 8 A second cross-sectional structural schematic diagram of a detachable foot structure proposed by the present invention;

[0028] Fig. 9 for Figure 8 Schematic diagram of the structure enlarged at point D in the middle.

[0029] In the figure: 1. mechanical thigh; 2. mechanical shank; 3. walking wheel; 4. groove; 5. cavity; 6. electromagnet; 7. first spring sheet; 8. block; 9. fixing pin; 10. pin groove; 11. electric socket; 12. electric plug; 13. cavity; 14. slider; 15. electric push rod; 16. strip groove; 17. fixing block; 18. clamping plate; 19. roller; 20. slot; 21. turntable; 22. driving belt; 23. motor; 24. track groove; 25. baffle plate; 26. first baffle bar; 27. second baffle bar; 28. second spring sheet; 29. ​​vertical axis; 30. positioning pin; 31. positioning groove; 32. rubber pad; 33. robot body; 34. bump. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] See also Figure 1-Figure 9A detachable foot structure comprises a mechanical thigh 1, a mechanical shank 2 and a walking wheel 3, one end of the walking wheel 3 is provided with a groove 4, and one end of the mechanical shank 2 is inserted into the groove 4, a cavity 5 is provided inside the mechanical shank 2, and an electromagnet 6 is fixedly connected to the inner wall of the cavity 5, both side walls of the electromagnet 6 are fixedly connected to a first spring sheet 7, and one end of the first spring sheet 7 is fixedly connected to a stopper 8, the stopper 8 is made of magnetic material, and a fixing pin 9 is fixedly connected to one side wall of the stopper 8, a pin slot 10 is provided on the inner wall of the groove 4, and one end of the fixing pin 9 penetrates the mechanical The mechanical shank 2 extends to the interior of the pin slot 10, an electrical socket 11 is provided at one end of the mechanical shank 2, an electrical plug 12 is provided at one end of the walking wheel 3, and one end of the electrical plug 12 is inserted into the electrical socket 11, a circuit connected to the mechanical shank 2 is buried in the electrical socket 11, the circuit of the walking wheel 3 is connected with the electrical plug 12, when the electrical plug 12 is inserted into the electrical socket 11, the circuit of the walking wheel 3 can be connected with the circuit of the mechanical shank 2 through the electrical plug 12, a cavity 13 is provided inside the mechanical thigh 1, and a lower wheel mechanism is arranged in the cavity 13.

[0032] It can be seen from the above structure that: by setting the block 8, the fixing pin 9 and the first spring sheet 7, the mechanical shank 2 and the walking wheel 3 can be connected. When in use, when the robot body 33 is walking on a flat road, it can be driven by the walking wheel 3 to make the robot body 33 move quickly and smoothly; when the robot body 33 is walking on an uneven road, the robot body 33 can remove the walking wheel 3 by itself, which is convenient and saves trouble, and then use one end of the mechanical shank 2 for the foot to walk, so that the walking wheel 3 will not be damaged when walking.

[0033] Further, the lower wheel mechanism includes a slider 14 arranged in the cavity 13, and the inner wall of the slider 14 is fixedly connected with an electric push rod 15, the lower surface of the mechanical thigh 1 is provided with a strip groove 16, and a fixed block 17 is arranged below the strip groove 16, one end of the electric push rod 15 passes through the slider 14 and is fixedly connected to the fixed block 17, and two clamping plates 18 are fixedly connected to the lower surface of the fixed block 17, and a limit groove is arranged on one side wall of the clamping plate 18, and a roller 19 is arranged in the limit groove, and a card groove 20 is arranged on both side walls of the walking wheel 3, and a driving mechanism is arranged in the cavity 13; by arranging the slider 14, the electric push rod 15, the two clamping plates 18 and the driving mechanism, etc. When the walking wheel 3 is removed, the robot body 33 first switches to a kneeling position, and then the electric push rod 15 is started, so that the electric push rod 15 pushes the fixed block 17 to move downward, and the fixed block 17 that moves downward drives the two clamps 18 to move downward, and the clamps 18 that move downward drive the roller shaft 19 to move downward. When the roller shaft 19 moves downward, the roller shaft 19 abuts against the outer wall of the walking wheel 3, causing the clamps 18 to deform and open. After the roller shaft 19 moves down into the slot 20, the clamps 18 restore their deformation, and then the roller shaft 19 is stuck in the slot 20, thereby fixing the walking wheel 3, and then the driving mechanism can drive the slider 14 and the walking wheel 3 to move, so that the walking wheel 3 is separated from the mechanical calf 2.

[0034] Furthermore, the driving mechanism includes two turntables 21 rotatably connected to the inner wall of the cavity 13, and the outer wall of the turntable 21 is provided with a driving belt 22, both ends of the driving belt 22 are fixedly connected to the slider 14, and the outer wall of the mechanical thigh 1 is fixedly connected to the motor 23, one of the turntables 21 passes through the mechanical thigh 1 and is fixedly connected to the driving end of the motor 23; by setting two turntables 21 and cooperating with the driving belt 22, the slider 14 and the walking wheel 3 can be driven to separate from the mechanical calf 2, and at the same time, when the driving belt 22 is running, the driving belt 22 can seal the strip groove 16, thereby preventing dust and other impurities from entering the mechanical thigh 1 through the strip groove 16 to a certain extent.

[0035] Furthermore, a track groove 24 is provided on the inner wall of the cavity 5, and a baffle plate 25 is slidably connected to the inner wall of the track groove 24, a first baffle 26 is fixedly connected to one side wall of the baffle plate 25, a second baffle 27 is fixedly connected to one side wall of the block 8, a second spring sheet 28 is fixedly connected to the side wall of the first baffle 26, and a side wall of the second spring sheet 28 is fixedly connected to the electromagnet 6, a protrusion 34 is provided on one side of the first baffle 26, and the protrusion 34 is fixedly connected to the inner wall of the cavity 5; by setting the first baffle 26, the second baffle 27 and the protrusion 34 for use in conjunction with each other, when the electromagnet 6 attracts the block 8 to move When the second stopper 27 moves downward, the moving stopper 8 can drive the second stopper 27 to move downward. After the second stopper 27 moves downward to a certain position, it contacts the first stopper 26. The second stopper 27 drives the first stopper 26 to move downward. After the first stopper 26 moves to the moving position, the first stopper 26 contacts the protrusion 34, so that the protrusion 34 can block the second stopper 27, the first stopper 26 and the stopper 8 from continuing to move, thereby avoiding the problem that the stopper 8 and the first stopper 26 over-compress the first spring sheet 7 and the second spring sheet 28, protecting the first spring sheet 7 and the second spring sheet 28, so that the first spring sheet 7 and the second spring sheet 28 are not easily damaged.

[0036] When the walking wheel 3 and other structures move and the walking wheel 3 is disassembled, the electrical plug 12 is disengaged from the electrical socket 11, so that the walking wheel 3 is disconnected from the electrical connection with the mechanical shank 2, and then the circuit of the electromagnet 6 is disconnected. At this time, the second spring sheet 28 can push the baffle plate 25 to move, so that the baffle plate 25 seals the electrical socket 11 to prevent external dust and the like from entering the interior of the electrical socket 11.

[0037] Furthermore, a vertical shaft 29 is provided on one side of the slider 14, and one end of the vertical shaft 29 passes through the slider 14 and is provided with the fixed block 17, the vertical shaft 29 is fixedly connected to the fixed block 17, and a positioning pin 30 is fixedly connected to the lower end of the vertical shaft 29, and a positioning groove 31 matching the positioning pin 30 is provided on the upper surface of the walking wheel 3; by providing the vertical shaft 29, the stability of the movement of the fixed block 17 can be increased when the fixed block 17 moves downward, and by providing the positioning pin 30 and using it in conjunction with the positioning groove 31, the positioning pin 30 can move downward accordingly when the fixed block 17 moves downward, and after the positioning pin 30 moves down to a certain position, the positioning pin 30 can be inserted into the positioning groove 31, so that the positioning pin 30 cooperates with the positioning groove 31 to position the walking wheel 3, thereby ensuring the position of the walking wheel 3 after disassembly, so as to facilitate the reinsertion of one end of the mechanical calf 2 into the groove 4 during the later installation.

[0038] Furthermore, one end of the positioning pin 30 and the positioning groove 31 are both chamfered; the chamfering facilitates the positioning pin 30 to be inserted into the positioning groove 31 .

[0039] Furthermore, a rubber pad 32 is provided at one end of the mechanical calf 2 , and an outer wall of the rubber pad 32 is provided with anti-slip grooves; by providing the rubber pad 32 , the rubber pad 32 can act as a foot to protect one end of the mechanical calf 2 .

[0040] A four-legged inspection robot comprises a robot body 33, wherein the robot body 33 comprises the above-mentioned detachable foot structure.

[0041] In the present invention, when the robot body 33 is in use, it can be driven by the walking wheels 3 to make the robot body 33 move quickly and smoothly when walking on a flat road; when the robot body 33 is walking on an uneven road, the robot body 33 can remove the walking wheels 3 by itself, which is convenient and saves trouble, and then use the rubber pads 32 as the feet to walk, so that when walking, the rubber pads 32 rub against the ground and will not damage the walking wheels 3;

[0042] When removing the walking wheel 3, the robot body 33 first switches to a kneeling position, and then starts the electric push rod 15, so that the electric push rod 15 pushes the fixing block 17 downward, and the fixing block 17 that moves downward drives the two clamping plates 18 to move downward, and the clamping plates 18 that move downward drive the roller shaft 19 to move downward. When the roller shaft 19 moves downward, the roller shaft 19 abuts against the outer wall of the walking wheel 3, so that the clamping plates 18 are deformed and opened. After the roller shaft 19 moves down into the card slot 20, the clamping plates 18 restore their deformation, so that the roller shaft 19 is stuck in the card slot 20, thereby fixing the walking wheel 3;

[0043] After the walking wheel 3 is fixed, the electromagnet 6 is started, so that the electromagnet 6 attracts the block 8, and then the block 8 moves to a position close to the electromagnet 6, and the moving block 8 drives the fixing pin 9 to move, so that the fixing pin 9 is pulled out of the pin groove 10. After the fixing pin 9 is pulled out of the pin groove 10, the motor 23 is started, so that the motor 23 drives the turntable 21 to rotate, and the rotating turntable 21 can drive the driving belt 22 to operate, and the operating driving belt 22 can drive the slider 14 to move, and the moving slider 14 can drive the fixed block 17 and the walking wheel 3 and other structures to move, and the disassembly of the walking wheel 3 is completed. The disassembled walking wheel 3 is hung on one side of the mechanical thigh 1, and the robot body 33 can stand up and walk;

[0044] When the electromagnet 6 attracts the stopper 8 to move, the moving stopper 8 can drive the second stopper 27 to move downward, and after the second stopper 27 moves downward to a certain position, it contacts the first stopper 26, and the second stopper 27 drives the first stopper 26 to move downward. After the first stopper 26 moves to the moving position, the first stopper 26 contacts the protrusion 34, so that the protrusion 34 can block the second stopper 27, the first stopper 26 and the stopper 8 from continuing to move, thereby avoiding the problem that the stopper 8 and the first stopper 26 over-compress the first spring sheet 7 and the second spring sheet 28, protecting the first spring sheet 7 and the second spring sheet 28, so that the first spring sheet 7 and the second spring sheet 28 are not easily damaged;

[0045] When the walking wheel 3 and other structures move and the walking wheel 3 is disassembled, the electrical plug 12 disengages from the electrical socket 11, so that the walking wheel 3 is disconnected from the electrical connection with the mechanical shank 2, and then the circuit of the electromagnet 6 is disconnected. At this time, the second spring sheet 28 can push the baffle plate 25 to move, so that the baffle plate 25 seals the electrical socket 11 to prevent external dust and the like from entering the interior of the electrical socket 11.

Claims

1. A detachable foot structure, comprising a mechanical thigh (1), a mechanical shank (2) and a walking wheel (3), characterized in that: A groove (4) is formed at one end of the walking wheel (3), and one end of the mechanical shank (2) is inserted into the groove (4). A cavity (5) is formed inside the mechanical shank (2), and an electromagnet (6) is fixedly connected to the inner wall of the cavity (5). Both side walls of the electromagnet (6) are fixedly connected to a first spring sheet (7), and one end of the first spring sheet (7) is fixedly connected to a stopper (8), the stopper (8) is made of a magnetic material, and a fixing pin is fixedly connected to one side wall of the stopper (8). (9), a pin groove (10) is provided on the inner wall of the groove (4), and one end of the fixing pin (9) penetrates the mechanical shank (2) and extends to the inside of the pin groove (10), an electric socket (11) is provided on one end of the mechanical shank (2), an electric plug (12) is provided on one end of the walking wheel (3), and one end of the electric plug (12) is inserted into the inside of the electric socket (11), and a cavity (13) is provided inside the mechanical thigh (1), and a lower wheel mechanism is provided in the cavity (13).

2. A detachable foot structure according to claim 1, characterized in that: The lower wheel mechanism comprises a slider (14) arranged in a cavity (13), and an electric push rod (15) is fixedly connected to the inner wall of the slider (14), a strip groove (16) is provided on the lower surface of the mechanical thigh (1), and a fixed block (17) is provided below the strip groove (16), one end of the electric push rod (15) passes through the slider (14) and is fixedly connected to the fixed block (17), two clamping plates (18) are fixedly connected to the lower surface of the fixed block (17), and a limit groove is provided on one side wall of the clamping plate (18), and a roller shaft (19) is provided in the limit groove, and a clamping groove (20) is provided on both side walls of the walking wheel (3), and a driving mechanism is provided in the cavity (13).

3. A detachable foot structure according to claim 2, characterized in that: The driving mechanism comprises two rotating disks (21) rotatably connected to the inner wall of the cavity (13), and the outer wall of the rotating disk (21) is provided with a driving transmission belt (22), both ends of the driving transmission belt (22) are fixedly connected to the slider (14), and the outer wall of the mechanical thigh (1) is fixedly connected to a motor (23), and one of the rotating disks (21) passes through the mechanical thigh (1) and is fixedly connected to the driving end of the motor (23).

4. A detachable foot structure according to claim 1, 2 or 3, characterized in that: The inner wall of the cavity (5) is provided with a track groove (24), and the inner wall of the track groove (24) is slidably connected to a baffle plate (25), one side wall of the baffle plate (25) is fixedly connected to a first baffle bar (26), one side wall of the baffle block (8) is fixedly connected to a second baffle bar (27), the side wall of the first baffle bar (26) is fixedly connected to a second spring sheet (28), and one side wall of the second spring sheet (28) is fixedly connected to the electromagnet (6), and a convex block (34) is provided on one side of the first baffle bar (26), and the convex block (34) is fixedly connected to the inner wall of the cavity (5).

5. A detachable foot structure according to claim 2 or 3, characterized in that: A vertical shaft (29) is provided on one side of the slider (14), and one end of the vertical shaft (29) passes through the slider (14) and the fixed block (17), the vertical shaft (29) is fixedly connected to the fixed block (17), and a positioning pin (30) is fixedly connected to the lower end of the vertical shaft (29), and a positioning groove (31) matching the positioning pin (30) is provided on the upper surface of the walking wheel (3).

6. A detachable foot structure according to claim 5, characterized in that: One end of the positioning pin (30) and the positioning groove (31) are both chamfered.

7. A detachable foot structure according to claim 1, 2, 3 or 6, characterized in that: A rubber pad foot (32) is provided at one end of the mechanical shank (2), and an outer wall of the rubber pad foot (32) is provided with anti-slip grooves.

8. A detachable foot structure according to claim 4, characterized in that: A rubber pad foot (32) is provided at one end of the mechanical shank (2), and an outer wall of the rubber pad foot (32) is provided with anti-slip grooves.

9. A detachable foot structure according to claim 5, characterized in that: A rubber pad foot (32) is provided at one end of the mechanical shank (2), and an outer wall of the rubber pad foot (32) is provided with anti-slip grooves.

10. A four-legged inspection robot, comprising a robot body (33), characterized in that: The robot body (33) comprises the detachable foot structure according to any one of the above claims.

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