Robot leg structure capable of being rapidly replaced and suitable for multiple terrains

Abstract

The invention discloses a robot leg structure capable of being rapidly replaced and suitable for multiple terrains, and belongs to the technical field of foot type robots. The robot leg structure comprises a shank shell, a push rod motor, two clamping jaws and a foot end device, and an innovative rapid replacement mechanism is designed for the robot leg structure. According to the mechanism, the modes of clamping by the clamping jaw, locking by the locking device and the like are adopted, so that the foot end device can be easily mounted or dismounted in a short time, complex tools and professional training are not needed, the replacement efficiency and convenience are greatly improved, and the problem that a traditional foot end structure is complex to dismount and mount is solved; the foot end device has an air injection function and can be more easily extracted from mud, attachments are reduced, and the problem that a traditional foot end structure is not suitable for complex and changeable environments is solved.

Description

Technical Field

[0001] The invention relates to the technical field of foot-type robots, and in particular to a robot leg structure that can be quickly replaced and is suitable for multiple terrains. Background Art

[0002] In today's rapidly developing technological era, the application demand of foot-end structures in military reconnaissance, agricultural operations, scientific investigations and other fields is becoming increasingly widespread. With the continuous innovation and breakthrough of robot technology, robot systems are gradually becoming an indispensable and important tool in these fields. Especially when performing complex tasks, robots need to be able to overcome various terrain obstacles to ensure the efficient completion of tasks. However, traditional robot foot-end structures often expose significant limitations when facing complex and changing environments. For example, in military reconnaissance missions, robots need to cross jungles, deserts, mountains and other terrains to obtain key intelligence. Traditional foot-end structures are often difficult to adapt to muddy, soft or rugged terrains, and are easily trapped in them, resulting in obstructed actions, and may even expose reconnaissance targets and increase mission risks. Modern agriculture relies on efficient mechanized operations, especially in paddy fields, muddy fields and other environments, where robots need to stably and efficiently perform tasks such as sowing, fertilizing, and harvesting. However, traditional foot-end structures are prone to adhere to mud in these environments, increasing energy consumption, reducing operating efficiency, and difficult to clean and maintain, affecting the continuity and efficiency of agricultural production. This greatly limits the scope of application and operating efficiency of robots.

[0003] In addition, another significant problem of the traditional foot end structure is that the disassembly and assembly is complicated and time-consuming. In practical applications, different types of foot ends (such as crawler, wheel, leg, etc.) may need to be replaced according to different task requirements and environmental conditions. However, the existing disassembly and assembly methods often involve a large number of fasteners and complex operating steps, which are not only time-consuming and labor-intensive, but also increase the burden on operators and the risk of errors.

[0004] In summary, the current market is in urgent need of a leg structure that can overcome the above defects, has the ability to be quickly replaced, and is suitable for a variety of complex terrains. This structure should have good environmental adaptability, be able to walk stably in muddy, soft, rugged and other complex terrains, and be easy to disassemble and assemble, so that it can be quickly adjusted according to different task requirements, thereby significantly improving the robot's operating efficiency and adaptability in various complex environments. Summary of the invention

[0005] Based on the problems existing in the above background technology, the present invention proposes a robot leg structure that can be quickly replaced and is suitable for multiple terrains, which solves the problem that the traditional foot end structure is not adapted to complex and changeable environments and is complicated to disassemble and assemble.

[0006] The embodiment of the present invention is achieved as follows:

[0007] An embodiment of the present invention provides a robot leg structure that can be quickly replaced and is suitable for multiple terrains, comprising a calf shell fixedly connected to the foot end of the robot, a push rod motor fixedly connected to the inside of the calf shell, the push rod motor being vertically arranged, two force transmission rods symmetrically hinged on both sides of the output shaft axis of the push rod motor, a guide groove being arranged in the middle of each force transmission rod, a fixing pin fixedly connected to the inside of the calf shell being arranged in each guide groove, a clamping claw being connected to the free end of each force transmission rod, the two clamping claws on the two force transmission rods being symmetrically arranged, and a space being arranged between the two clamping claws. A gap is formed between the two clamping jaws, a locking device is arranged between the two clamping jaws, a wedge-shaped surface is arranged at the bottom of the two clamping jaws, the wedge-shaped surfaces of the two clamping jaws are in an inverted "V" shape structure, a foot-end device is arranged below the two clamping jaws, the foot-end device comprises a foot-end support rod fixedly connected to the inside of the calf shell, a connecting head is arranged at the top of the foot-end support rod, the top of the connecting head is in a frustum structure with the tip facing upward, the two clamping jaws pass through the connecting head and are located at the top rod section of the foot-end support rod, the locking device drives the ends of the two clamping jaws to clamp the rod section of the foot-end support rod; a foot-end terminal with an air jet function is arranged at the bottom of the foot-end support rod.

[0008] As an optional solution to the above embodiment, the locking device includes two locking members respectively arranged on the side surfaces of the two clamping jaws, each of the locking members includes two spring pull rods, the two spring pull rods are respectively arranged on the side surfaces of the two clamping jaws, and a tension spring in a tensioned state is fixedly arranged between the two spring pull rods.

[0009] As an optional solution of the above embodiment, the calf outer shell is arranged on the outside of the push rod motor, clamping claw, locking device and foot end device, and the bottom of the foot end support rod and the foot end are located outside the bottom end of the calf outer shell.

[0010] As an optional scheme for the above embodiment, a fixing plate is provided in the middle part of the foot-end support rod; a ball head connecting part is provided at the bottom end of the foot-end support rod, and the ball diameter of the ball head connecting part is larger than the diameter of the foot-end support rod; the foot-end terminal comprises a foot-end cover plate, a foot-end connecting plate and a foot-end support plate which are fixedly connected in sequence from top to bottom; a spherical mounting cavity is provided in the foot-end cover plate, the foot-end connecting plate and the foot-end support plate, and the ball head connecting part is located in the mounting cavity; the foot-end cover plate and the foot-end connecting plate are detachably connected, and a thrust spring is provided between the upper end surface of the foot-end cover plate and the fixing plate.

[0011] As an optional solution of the above embodiment, a bushing is provided in the spherical installation cavity, the outer wall of the bushing is in tight contact with the inside of the spherical installation cavity, the ball head connecting part is located inside the bushing, and the material of the bushing is flexible.

[0012] As an optional scheme for the above embodiment, the outer sleeve of the calf outer shell is provided with an air intake duct, the top of the air intake duct is used to connect with the air compressor, and the bottom of the air intake duct is sealed and connected with the lower end surface of the foot-end support plate; a plurality of blowing holes connected with the air intake duct are provided on the end of the foot end, and the plurality of blowing holes are evenly distributed in a ring shape with the axis of the foot-end support rod as the center, and each blowing hole is vertically arranged and passes through the foot-end cover plate, the foot-end connecting plate and the foot-end support plate.

[0013] As an optional solution of the above embodiment, each of the blowing holes is in a "T"-shaped structure, and a one-way valve ball and a compression spring are arranged inside each blowing hole, and the compression spring pushes the one-way valve ball to seal the blowing hole.

[0014] As an optional scheme for the above embodiment, the top and bottom ends of the calf outer shell are flush with the top and bottom ends of the air intake pipe respectively, a gap is arranged between the top of the calf outer shell and the top of the air intake pipe, the bottom end of the calf outer shell is sealedly connected with the bottom end of the air intake pipe, and the bottom end of the air intake pipe is provided with a flexible shell for covering the lower end surface of the foot-end support plate; the calf outer shell is provided with an air intake hole connected with the air intake pipe, the air intake hole is a circular arc strip hole structure, and the air intake hole is located at the top of the multiple blowing holes.

[0015] As an optional solution of the above embodiment, the material of the foot end support plate is rubber.

[0016] As an optional solution of the above embodiment, an axial end fixing plate for fixing the connecting head is arranged inside the calf shell.

[0017] The beneficial effects of the present invention are: 1. The present invention provides a robot leg structure that can be quickly replaced and is suitable for multiple terrains. When the foot-end support rod is inserted into the calf shell, the push rod motor pushes the clamping claw downward. Under the action of the push rod force, the tension spring of the clamping claw is always tightened to fix the foot-end device in the current position, and finally the foot-end device can be quickly replaced, solving the complex disassembly and assembly of the traditional foot-end structure.

[0018] 2. The present invention provides a robot leg structure that can be quickly replaced and is suitable for multiple terrains. The end of the foot has an air jet function. When the foot device encounters muddy terrain, the foot device sinks into the mud. Due to the effect of atmospheric pressure, it is difficult to pull the robot leg out of the mud. At this time, the air compressor can transmit compressed air to the foot device through the air intake pipe. When the pressure exceeds the compression spring force, the one-way valve ball will be pushed open, and the compressed air will be blown out from the blowing hole, making it easier to pull the foot device out of the mud and reduce attachments, thereby solving the problem that the traditional foot structure is not suitable for complex and changeable environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. As shown in the accompanying drawings, the above and other purposes, features and advantages of the present invention will be clearer. The same reference numerals in all the drawings indicate the same parts. The drawings are not deliberately scaled to the actual size, and the focus is on illustrating the main purpose of the present invention.

[0020] Figure 1 The figure is a three-dimensional structural diagram of a robot leg structure that can be quickly replaced and is suitable for multiple terrains.

[0021] Figure 2 The diagram is a top-down structural diagram of a robot leg structure that can be quickly replaced and is suitable for multiple terrains.

[0022] Figure 3 for Figure 2 Schematic diagram of the structure in the AA direction.

[0023] Figure 4 This is a schematic diagram of the enlarged structure of the foot end.

[0024] Figure 5 Schematic diagram of the robot's leg structure after removing the air intake duct.

[0025] Figure 6 Schematic diagram of the robot's leg structure after removing the calf shell.

[0026] Among them, 1. calf shell; 2. push rod motor; 3. force transmission rod; 4. guide groove; 5. fixing pin; 6. clamping claw; 7. wedge surface; 8. foot end support rod; 9. connecting head; 10. foot end; 11. spring pull rod; 12. tension spring; 13. fixing plate; 14. ball head connecting part; 15. foot end cover plate; 16. foot end connecting plate; 17. foot end support plate; 18. spherical mounting cavity; 19. thrust spring; 20. bushing; 21. air intake duct; 22. blowing hole; 23. one-way valve ball; 24. compression spring; 25. flexible shell; 26. air intake hole; 27. shaft end fixing plate. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0030] Please refer to Figure 1 to Figure 6 As shown, the present invention provides a robot leg structure that can be quickly replaced and is suitable for multiple terrains, which includes a calf shell 1 fixedly connected to the foot end of the robot, a push rod motor 2 fixedly connected to the calf shell 1, the push rod motor 2 is vertically arranged, and two force transmission rods 3 are symmetrically hinged on both sides of the output shaft axis of the push rod motor 2, each force transmission rod 3 is provided with a guide groove 4 in the middle part, and a fixing pin 5 fixedly connected to the inside of the calf shell 1 is provided in each guide groove 4, and a clamping claw 6 is connected to the free end of each force transmission rod 3, and the two clamping claws 6 on the two force transmission rods 3 are symmetrically arranged, with a gap provided between the two clamping claws 6, and a locking device is provided between the two clamping claws 6. The bottom of each clamping jaw 6 is provided with a wedge-shaped surface 7, and the wedge-shaped surfaces 7 of the two clamping jaws 6 are in an inverted "V" shape structure. A foot-end device is provided below the two clamping jaws 6, and the foot-end device includes a foot-end support rod 8 fixedly connected to the inside of the calf shell 1, and a connecting head 9 is provided on the top of the foot-end support rod 8. The top of the connecting head 9 is a truncated cone structure with the tip facing upward. The two clamping jaws 6 pass through the connecting head 9 and are located at the top rod section of the foot-end support rod 8. The locking device drives the ends of the two clamping jaws 6 to clamp the rod section of the foot-end support rod 8. The inside of the calf shell 1 is provided with an axial end fixing plate 2713 for fixing the connecting head 9; the bottom of the foot-end support rod 8 is provided with a foot-end terminal 10 with an air jet function.

[0031] In the above technical solution, the wedge-shaped surface 7 at the bottom of the two clamping jaws 6 and the truncated cone structure of the connecting head 9 facilitate the foot-end support rod 8 to pass through the two clamping jaws 6 and connect with the shaft-end fixing plate 2713. When installing the entire foot-end device, the connecting head 9 at the top of the foot-end support rod 8 is inserted into the two clamping jaws 6 and fixed to the shaft-end fixing plate 2713 inside the calf shell 1. At the same time, by controlling the extension length of the output shaft of the push rod motor 2 and under the joint action of the locking device, the two clamping jaws 6 clamp the rod section of the foot-end support rod 8, so that the entire foot-end device is installed in the correct position and the foot-end device can be prevented from falling. When disassembling the entire foot-end device, the output shaft of the push rod motor 2 is controlled to retract, and the two clamping jaws 6 open after overcoming the pulling force of the locking device until the gap between the two clamping jaws 6 is larger than the maximum diameter of the connecting head 9, and the output shaft of the push rod motor 2 stops running, and then the foot-end support rod 8 is pulled outward by force to disassemble the entire foot-end device. During the process of installing or disassembling the entire foot-end device, no additional tools are required, and there is no need to use traditional bolt connectors, which enables rapid installation of the foot-end device and solves the problem of complex disassembly and assembly of traditional foot-end structures.

[0032] As a specific arrangement of the locking device, the locking device includes two locking members respectively arranged on the side surfaces of the two clamping jaws 6, each of which includes two spring pull rods 11, the two spring pull rods 11 are respectively arranged on the side surfaces of the two clamping jaws 6, and a tension spring 12 in a tensioned state is fixedly arranged between the two spring pull rods 11. The tension spring 12 applies tension to the two clamping jaws 6 through the spring pull rod 11, forcing the two clamping jaws 6 to move toward each other and always clamp the rod section of the foot-end support rod 8, thereby preventing the foot-end support rod 8 and the foot-end device at the bottom thereof from being separated from the calf shell 1.

[0033] Preferably, but not limited to, the calf housing 1 is sleeved on the outside of the push rod motor 2, the clamping claw 6, the locking device and the foot end device, and the bottom of the foot end support rod 8 and the foot end terminal 10 are located outside the bottom end of the calf housing 1. The functions of the calf housing 1 are: 1. to protect the push rod motor 2, the clamping claw 6, the locking device and the foot end device; 2. to provide conditions for the subsequent setting of the foot end terminal 10 with an air jet function and to isolate and guide the flow of compressed gas.

[0034] As a connection setting mode of the foot-end support rod 8 and the foot-end terminal 10, a fixing plate 13 is provided in the middle of the foot-end support rod 8; a ball head connection part 14 is provided at the bottom end of the foot-end support rod 8, and the ball diameter of the ball head connection part 14 is larger than the diameter of the foot-end support rod 8; the foot-end terminal 10 comprises a foot-end cover plate 15, a foot-end connecting plate 16 and a foot-end support plate 17 which are fixedly connected in sequence from top to bottom; a spherical installation cavity 18 is provided in the foot-end cover plate 15, the foot-end connecting plate 16 and the foot-end support plate 17, and the ball head connection part 14 is located in the installation cavity; the foot-end cover plate 15 is detachably connected to the foot-end connecting plate 16, and a thrust spring 19 is provided between the upper end surface of the foot-end cover plate 15 and the fixing plate 13. Preferably, the material of the foot-end support plate 17 is rubber. When the robot leg structure is walking, the foot end support rod 8 is equivalent to the calf part, the foot end terminal 10 is equivalent to the sole part, and the foot end support plate 17 in the foot end terminal 10 is in contact with the ground.

[0035] Specifically, a bushing 20 is disposed in the spherical installation cavity 18, the outer wall of the bushing 20 is in close contact with the inside of the spherical installation cavity 18, the ball head connection portion 14 is located inside the bushing 20, and the material of the bushing 20 is a flexible material. The function of the bushing 20 is to reduce the friction of the ball head connection portion 14 on the spherical installation cavity 18, avoid excessive wear of the ball head connection portion 14 and the spherical installation cavity 18, and play a role in protecting the ball head connection portion 14 and the spherical installation cavity 18.

[0036] As a specific setting mode of the foot-end terminal 10 with the jet function, the outer sleeve of the calf shell 1 is provided with an air intake duct 21, the top of the air intake duct 21 is used to connect with the air compressor, and the bottom of the air intake duct 21 is sealed and connected with the lower end surface of the foot-end support plate 17; the foot-end terminal 10 is provided with a plurality of blowing holes 22 connected with the air intake duct 21, and the plurality of blowing holes 22 are evenly distributed in a ring shape with the axis of the foot-end support rod 8 as the center, and each blowing hole 22 is vertically arranged and passes through the foot-end cover plate 15, the foot-end connecting plate 16 and the foot-end support plate 17. In the above technical scheme, the functions of the air intake duct 21 are: 1. to isolate the external dust and mud; 2. to connect the air compressor and the blowing hole 22, so that the air compressor can deliver compressed gas to the blowing hole 22, so that the foot-end terminal 10 has the jet function.

[0037] Specifically, each of the blowing holes 22 is in a "T"-shaped structure, and a one-way valve ball 23 and a compression spring 24 are arranged inside each blowing hole 22. The compression spring 24 pushes the one-way valve ball 23 to block the blowing hole 22. When the foot-end device encounters muddy terrain, the foot-end device sinks into the mud. Due to the effect of atmospheric pressure, it is difficult for the robot legs to be pulled out of the mud. At this time, the air compressor can transmit compressed air to the foot-end device through the air intake pipe 21. When the pressure exceeds the force of the compression spring 24, the one-way valve ball 23 will be pushed open, and the compressed air will be blown out from the blowing hole 22, making it easier to pull the foot-end device out of the mud and reducing attachments, solving the problem that the traditional foot-end structure is not suitable for complex and changing environments.

[0038] As a specific setting method between the calf shell 1 and the air intake duct 21, the top and bottom ends of the calf shell 1 are respectively flush with the top and bottom ends of the air intake duct 21, and a gap is arranged between the top of the calf shell 1 and the top of the air intake duct 21, and the bottom end of the calf shell 1 is sealedly connected to the bottom end of the air intake duct 21, and the bottom end of the air intake duct 21 is provided with a flexible shell 25 for covering the lower end surface of the foot end support plate 17. The setting of the flexible shell 25 can prevent external impurities from entering the robot leg structure, thereby improving the service life and operation stability of the robot leg structure; the calf shell 1 is provided with an air intake hole 26 connected with the air intake duct 21, and the air intake hole 26 is a circular arc strip hole structure, and the air intake hole 26 is located at the top of the plurality of blowing holes 22.

[0039] In summary, the present invention provides a robot leg structure that can be quickly replaced and is suitable for multiple terrains, and designs an innovative quick replacement mechanism. The mechanism adopts the clamping claw 6 and the locking device to lock, so that the foot end device can be easily installed or removed in a short time without complex tools and professional training, which greatly improves the replacement efficiency and convenience; the foot end 10 has an air jet function, which is easier to extract from the mud and reduce attachments, solving the problem that the traditional foot end structure is not suitable for complex and changeable environments.

[0040] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot leg structure that can be quickly replaced and is suitable for multiple terrains, characterized in that: The invention comprises a calf shell fixedly connected to the foot end of the robot, a push rod motor is fixedly connected to the calf shell, the push rod motor is vertically arranged, two force transmission rods are symmetrically hinged on both sides of the output shaft axis of the push rod motor, a guide groove is arranged in the middle of each force transmission rod, a fixing pin fixedly connected to the inside of the calf shell is arranged in each guide groove, a clamping claw is connected to the free end of each force transmission rod, the two clamping claws on the two force transmission rods are symmetrically arranged, a gap is arranged between the two clamping claws, a locking device is arranged between the two clamping claws, and the two The bottom of each clamp is provided with a wedge-shaped surface, and the wedge-shaped surfaces of the two clamps are in an inverted "V" shape. A foot-end device is provided below the two clamps, and the foot-end device includes a foot-end support rod fixedly connected to the inside of the calf shell, and a connecting head is provided on the top of the foot-end support rod, and the top of the connecting head is a frustum structure with the tip facing upward. The two clamps pass through the connecting head and are located at the top rod section of the foot-end support rod, and the locking device drives the ends of the two clamps to clamp the rod section of the foot-end support rod; the bottom of the foot-end support rod is provided with a foot-end terminal with an air jet function.

2. The robot leg structure that can be quickly replaced and is suitable for multiple terrains according to claim 1 is characterized in that: The locking device includes two locking members respectively arranged on the side surfaces of the two clamping jaws, each of the locking members includes two spring pull rods, the two spring pull rods are respectively arranged on the side surfaces of the two clamping jaws, and a tension spring in a tensioned state is fixedly arranged between the two spring pull rods.

3. The robot leg structure that can be quickly replaced and is suitable for multiple terrains according to claim 1, characterized in that: The calf shell is sleeved on the outside of the push rod motor, the clamping claw, the locking device and the foot end device, and the bottom of the foot end support rod and the foot end are located outside the bottom end of the calf shell.

4. The robot leg structure that can be quickly replaced and is suitable for multiple terrains according to claim 3 is characterized in that: A fixing plate is provided in the middle of the foot-end support rod; a ball head connecting part is provided at the bottom end of the foot-end support rod, and the ball diameter of the ball head connecting part is larger than the diameter of the foot-end support rod; the foot-end terminal comprises a foot-end cover plate, a foot-end connecting plate and a foot-end support plate which are fixedly connected in sequence from top to bottom; a spherical mounting cavity is provided in the foot-end cover plate, the foot-end connecting plate and the foot-end support plate, and the ball head connecting part is located in the mounting cavity; the foot-end cover plate is detachably connected to the foot-end connecting plate, and a thrust spring is provided between the upper end surface of the foot-end cover plate and the fixing plate.

5. The robot leg structure that can be quickly replaced and is suitable for multiple terrains according to claim 4 is characterized in that: A bushing is arranged in the spherical installation cavity, the outer wall of the bushing is in tight contact with the inside of the spherical installation cavity, the ball head connecting part is located inside the bushing, and the material of the bushing is a flexible material.

6. The robot leg structure that can be quickly replaced and is suitable for multiple terrains according to claim 4, characterized in that: The outer sleeve of the calf outer shell is provided with an air intake duct, the top of the air intake duct is used to connect with the air compressor, and the bottom of the air intake duct is sealed and connected with the lower end surface of the foot-end support plate; a plurality of blowing holes connected with the air intake duct are provided on the end of the foot-end, and the plurality of blowing holes are evenly distributed in a ring shape with the axis of the foot-end support rod as the center, and each blowing hole is vertically arranged and passes through the foot-end cover plate, the foot-end connecting plate and the foot-end support plate.

7. The robot leg structure that can be quickly replaced and is suitable for multiple terrains according to claim 6, characterized in that: Each of the blowing holes is in a "T"-shaped structure, and a one-way valve ball and a compression spring are arranged inside each blowing hole. The compression spring is used to push the one-way valve ball to seal the blowing hole.

8. The robot leg structure that can be quickly replaced and is suitable for multiple terrains according to claim 6, characterized in that: The top and bottom ends of the calf outer shell are flush with the top and bottom ends of the air intake pipe respectively, a gap is arranged between the top of the calf outer shell and the top of the air intake pipe, the bottom end of the calf outer shell is sealedly connected with the bottom end of the air intake pipe, and a flexible shell for covering the lower end surface of the foot end support plate is arranged at the bottom end of the air intake pipe; an air intake hole connected with the air intake pipe is arranged on the calf outer shell, the air intake hole is a circular arc strip hole structure, and the air intake hole is located at the top of the plurality of blowing holes.

9. The robot leg structure that can be quickly replaced and is suitable for multiple terrains according to any one of claims 4 to 8, characterized in that: The material of the foot end support plate is rubber.

10. The robot leg structure that can be quickly replaced and is suitable for multiple terrains according to claim 1, characterized in that: An axial end fixing plate for fixing the connecting head is arranged inside the calf shell.

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