Quadruped robot

Abstract

A shank mechanism comprises a foot pad mounting seat, a supporting rod and a sleeve, a first protective sleeve is fixed to the peripheral side of the supporting rod, the sleeve is arranged on the first protective sleeve in a sleeving mode and is in sliding fit with the first protective sleeve, and the first protective sleeve at least covers the sliding range of the sleeve; the top of the foot pad mounting base is provided with a fixing column extending towards the bottom of the foot pad mounting base, the fixing column is provided with a mounting hole formed in the axial direction of the fixing column, and an opening of the mounting hole is located in the top end of the foot pad mounting base; the supporting rod is at least partially inserted into the mounting hole and fixedly connected with the foot pad mounting seat, and a reinforcing structure is arranged at the top end of the foot pad mounting seat to enhance the strength of the top end edge of the mounting hole; a plurality of supporting pieces are arranged between the fixing column and the inner wall of the foot pad installation base at intervals. The shank mechanism has the advantages that the strength of the whole shank mechanism is enhanced, the weight of the shank mechanism is effectively reduced, and the high-speed movement requirement is better met.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a quadruped robot. Background Art

[0002] In the field of robotics, the research and development and application of high-speed quadruped robots are continuously expanding, demonstrating tremendous potential in numerous scenarios, including industrial inspection, disaster relief, and military reconnaissance. For high-speed quadruped robots, the performance of their mechanical legs, as the core actuators, directly impacts the robot's speed, stability, and environmental adaptability.

[0003] During high-speed motion, robotic legs must frequently withstand complex loads, including ground reaction forces and the inertial forces generated by their own motion. This requires sufficient strength and rigidity to prevent structural deformation or damage during high-speed motion, thus ensuring the proper functioning of the robot. Furthermore, lightweight design of the robotic legs is crucial to achieving high-speed motion. Excessively heavy legs increase the robot's overall load, consuming more energy while also compromising its acceleration and mobility.

[0004] However, current traditional quadruped robot leg designs face numerous challenges in balancing lightweighting and strength. Some designs, in pursuit of strength, employ heavy structures or solid materials, resulting in heavy legs that severely restrict the robot's high-speed motion capabilities. Other lightweight designs, however, suffer from insufficient structural strength, making them prone to failure at high speeds or under heavy loads, making them unsuitable for practical applications.

[0005] For example, some robotic legs utilize solid foot pads and simple support structures. While these provide strength, they also significantly increase weight, leading to significantly increased energy consumption and lowered efficiency during high-speed motion. Other designs achieve lightweighting by reducing material usage, but lack a sound support structure, hindering leg strength and rigidity. These issues can lead to bending and breakage during high-speed motion.

[0006] In addition, the leg assembly of the existing quadruped robot, such as that disclosed in patent CN118991970A, will frequently swing during the operation of the quadruped robot, causing the sleeve and the support rod to slide repeatedly. During the sliding process, the sleeve and the support rod will rub against each other, especially when the quadruped robot is running at high speed (greater than 8m / s), there will be great wear between the sleeve and the support rod, which will seriously affect the service life of the sleeve and the support rod.

[0007] Therefore, how to design a mechanical leg that can meet the lightweight requirements of high-speed movement while having sufficient strength, rigidity and wear resistance has become a technical problem that needs to be solved urgently in this field. Summary of the Invention

[0008] The purpose of the present invention is to provide a quadruped robot that can effectively solve the problems of heavy weight, insufficient strength and easy wear of support rods in existing high-speed quadruped robots.

[0009] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0010] The support rod is fixedly mounted on the support frame, and the support rod is fixed on the support frame, and the support rod is fixed on the support frame.

[0011] In the aforementioned quadruped robot, the sleeve has a through-hole for the support rod to pass through, and a sleeve is fixed in the through-hole, and the sleeve is sleeved on the outer circumference of the first protective sleeve. Using the aforementioned technical solution, the sleeve can isolate the sleeve from the first protective sleeve, preventing direct contact between the sleeve and the first protective sleeve. The sleeve can withstand most of the friction, preventing the inner wall of the sleeve from direct contact and friction with the first protective sleeve, which would cause severe wear. The sleeve can protect the first protective sleeve, effectively extending the service life of the sleeve, and thereby reducing the maintenance cost of the sleeve.

[0012] In the above-mentioned quadruped robot, two shaft sleeves are provided in the through hole, one of which extends to the top of the through hole, and the other extends to the bottom of the through hole. A limit step protruding inward is provided in the through hole, and the limit step is located between the two shaft sleeves. During the sliding process of the sleeve, the sleeve is likely to cause gouging to the first protective sleeve, and the shaft sleeve extending to the two ends of the through hole can prevent the ends of the through hole from making direct contact with the first protective sleeve, further reducing the possibility of wear on the first protective sleeve and the sleeve, and helping to extend the service life of the sleeve and the first protective sleeve; in addition, dividing the shaft sleeve into two can reduce the length and weight of the shaft sleeve, thereby reducing the weight of the leg assembly, making the overall structure of the quadruped robot lighter; secondly, the limit step is located between the two shaft sleeves, and the limit step can effectively limit the axial sliding distance of the shaft sleeve in the through hole.

[0013] In the aforementioned quadruped robot, a second protective sleeve is fixed to the outer peripheral side of the support rod, and a portion of the second protective sleeve is inserted into the foot pad mounting seat along with the support rod. During operation of the leg assembly, the support rod is subjected to a large shear force at the top of the foot pad mounting seat. Especially when the leg assembly is frequently operated at high speed, the support rod is easily broken due to the shear force. By fitting the second protective sleeve on the support rod, and covering the position of the support rod subjected to the greatest shear force, the second protective sleeve can increase the strength of the support rod and can also bear most of the shear force for the support rod, thereby effectively protecting the support rod, reducing the possibility of the support rod breaking due to shear force, and providing an operating basis for the high-speed operation of the leg assembly.

[0014] In the aforementioned quadruped robot, the foot pad mounting base has a mounting hole at its top end for inserting the support rod, and a glue injection groove is provided on the inner wall of the mounting hole. The top end of the glue injection groove extends to the top end of the mounting hole, and the support rod and the second protective cover are both fixedly connected to the foot pad mounting base via glue. The glue injection groove facilitates the injection of glue into the mounting hole, and the support rod is fixed to the foot pad mounting base via the glue, which effectively improves the stability of the connection between the support rod and the foot pad mounting base.

[0015] In the above-mentioned quadruped robot, the calf mechanism includes three support rods, which are arranged in a triangle. The sleeve is provided with three through holes corresponding to the support rods, and the three through holes are spaced apart. The foot pad mounting seat is provided with three mounting holes corresponding to the support rods, and the three mounting holes are spaced apart. The three support rods are arranged in a triangle and correspond to one support rod. While maintaining the overall strength of the calf mechanism, the overall weight of the support rods can be reduced, thereby reducing the weight of the leg assembly and making the overall structure of the quadruped robot lighter. In addition, the three through holes of the sleeve are spaced apart, that is, there is a solid structure between the three through holes, so that the outer peripheral side of each support rod can be subjected to the force of the sleeve, thereby effectively limiting the swing amplitude of the support rod. Similarly, the support rod is fixedly connected to the foot pad mounting seat through the mounting hole, so that the support rod and the foot pad mounting seat can form a reliable whole, which helps to improve the connection stability between the support rod and the foot pad mounting seat.

[0016] In the aforementioned quadruped robot, the lower leg mechanism further includes a reinforcing rod positioned at the center of the triangle formed by the three support rods. The reinforcing rod is located between the lowest end of the sleeve's sliding range and the entrance to the mounting hole, and is in close contact with all three support rods. The reinforcing rod simultaneously supports the three support rods, forming them into a single unit, further reducing the magnitude of inward deformation of the three support rods, thereby increasing the overall strength of the three support rods and reducing the likelihood of damage to the support rods due to deformation.

[0017] In the aforementioned quadruped robot, the reinforcing mechanism includes reinforcing ribs formed by extending outward from the top edge of the foot pad mounting seat. Since the foot pad mounting seat requires a mounting hole for inserting the support rod, the width of the top of the foot pad mounting seat is reduced and the integrity of the top of the foot pad mounting seat is damaged. The reinforcing ribs, formed by extending outward from the top edge of the foot pad mounting seat, can increase the width of the top of the foot pad mounting seat, thereby enhancing the strength, bending resistance, and deformation resistance of the top of the foot pad mounting seat. At the same time, they can also disperse the stress on the top of the foot pad mounting seat, avoiding high stress concentration at the support rod insertion point of the foot pad mounting seat, reducing the possibility of cracks or even breakage at the top of the foot pad mounting seat, and effectively extending the service life of the foot pad mounting seat.

[0018] In the aforementioned quadruped robot, the reinforcing mechanism includes a clamp mounted on the top of the foot pad mounting seat, the clamp tightly clamping the outer peripheral side of the top of the foot pad mounting seat. The clamp can apply a tightening force to the outer peripheral side of the top of the foot pad mounting seat, providing favorable support for the foot pad mounting seat and reducing the degree of deformation of the top of the foot pad mounting seat, thereby preventing the foot pad mounting seat from cracking due to excessive deformation, thereby effectively reducing the possibility of cracks or even breakage, and helping to extend the service life of the foot pad mounting seat. In addition, the clamp tightly clamping the foot pad mounting seat can also ensure that the foot pad mounting seat and the support rod are in close contact, thereby improving the connection stability between the foot pad mounting seat and the support rod, making the overall structure of the calf mechanism more solid and reliable.

[0019] In the aforementioned quadruped robot, multiple first support members are radially spaced apart. These radially distributed first support members extend radially from the fixed column to the inner sidewall, forming a structure similar to the spokes of a wheel. When the robotic leg is subjected to lateral forces, the load is evenly transferred to all parts of the foot pad mounting base through the radial support members, avoiding localized stress concentration.

[0020] In the aforementioned quadruped robot, each first support member is a vertically arranged sheet-like structure. This orientation design maximizes the bending section modulus of the sheet-like structure, and the structure can effectively resist lateral bending moments when the robot turns at high speed or is subjected to lateral impact.

[0021] In the aforementioned quadruped robot, the second support member is a hollow structure. This reduces material usage while maintaining sufficient strength, thereby reducing overall weight. Furthermore, the mass distribution of the hollow structure is closer to the center of the cross-section, significantly reducing the moment of inertia of the robotic leg.

[0022] In the above-mentioned quadruped robot, the calf mechanism also includes a shock-absorbing foot pad, which is locked on the foot pad mounting seat to form a wrap around the bottom of the foot pad mounting seat. The foot pad mounting seat is provided with at least one plug-in slot, and the side of the shock-absorbing foot pad facing the foot pad mounting seat is provided with a plug-in protrusion that plugs into the plug-in slot. The shock-absorbing foot pad can wrap the bottom of the foot pad mounting seat to ensure that there is a larger contact surface between the shock-absorbing foot pad and the foot pad mounting seat, so that the friction between the shock-absorbing foot pad and the foot pad mounting seat is greater, and the installation is more stable. Because the foot pad mounting seat is an integrally formed structure and does not need to be assembled, the overall strength is greater. When the quadruped robot is running, the foot pad mounting seat will not produce internal wear or noise due to its own assembly problems, thereby simplifying the assembly steps of the quadruped robot. At the same time, because the plug-in protrusions on the shock-absorbing foot pad are plugged into the plug-in grooves on the foot pad mounting seat, when the quadruped robot runs at high speed on the ground, the shock-absorbing foot pad can provide grip and can also reduce shock through slight deformation. At the same time, when the lateral component of the friction force exerted by the ground on the shock-absorbing foot pad is transmitted to each plug-in protrusion, the plug-in protrusion can be against the inner side wall of the plug-in groove to provide lateral support for the shock-absorbing foot pad, thereby preventing the shock-absorbing foot pad from being damaged by excessive lateral deformation, and also preventing the shock-absorbing foot pad from falling off the shock-absorbing foot pad due to excessive lateral force. The calf is disengaged to ensure that the shock-absorbing foot pad is always stably wrapped at the bottom of the foot pad mounting seat, and the foot pad mounting seat can always be in contact with the ground through the shock-absorbing foot pad when the quadruped robot is running at high speed. While improving the grip of the calf, it provides a cushion for the calf to avoid excessive impact force being transmitted to the calf, thigh or body and causing damage, thereby extending the service life of the quadruped robot and allowing the quadruped robot to run at high speed for a long time. Compared with the existing quadruped robot, the foot pad will be damaged or fall off after a very short time of running, which greatly improves the high-speed running time of the quadruped robot.

[0023] In the aforementioned quadruped robot, a second support member is provided between the inner bottom wall and the mounting post at the location corresponding to the insertion slot. This second support member, positioned between the insertion slot and the mounting post, provides direct axial support for the shock-absorbing foot pad's connection. When the shock-absorbing foot pad touches the ground during high-speed motion, the ground reaction force is transmitted along the path from the insertion protrusion to the insertion slot, then to the second support member, and finally to the mounting post, forming a rigid support chain with "direct load delivery."

[0024] In the aforementioned quadruped robot, the bottom of the foot pad mounting seat is an outwardly convex arc-shaped mounting surface, the shock-absorbing foot pad is in contact with the arc-shaped mounting surface, and the plug-in slots are spaced apart at the bottom of the foot pad mounting seat. The arc-shaped structure allows the shock-absorbing foot pad wrapped around the mounting surface to bend into a curved surface structure as a whole, achieving a perfect fit between the shock-absorbing foot pad and the arc-shaped mounting surface. When the quadruped robot runs, the calf swings, and the shock-absorbing foot pad swings along with the calf. The curved structure of the shock-absorbing foot pad can contact the ground at different positions to reduce shock and increase grip. The spaced distribution of the plug-in slots helps to increase the contact area between the plug-in protrusion and the plug-in slot.

[0025] In the aforementioned quadruped robot, the circumferential side of the shock-absorbing foot pad is fixed to the bottom of the foot pad mounting base via a plurality of locking screws, thereby locking the shock-absorbing foot pad to the foot pad mounting base. Using locking screws to secure the shock-absorbing foot pad simplifies the locking structure. Furthermore, because the locking screws penetrate the edge of the shock-absorbing foot pad and the curved mounting surface, they are positioned relatively high. When the quadruped robot is running, the locking screws do not come into contact with the ground, thus preventing wear on the locking screws and allowing the shock-absorbing foot pad to be stably locked to the foot pad mounting base.

[0026] In the aforementioned quadruped robot, the plug-in projection is provided with a groove opening toward the foot pad mounting seat. The groove allows the plug-in projection to have a certain amount of deformation. When the quadruped robot is running, the plug-in projection can slightly deform to enhance the shock absorption effect. During installation, the plug-in projection can also slightly deform, making it easier for the assembler to turn the shock-absorbing foot pad.

[0027] In the aforementioned quadruped robot, the opening of the insertion slot is provided with a first guide slope surrounding the insertion slot; and / or the end of the insertion protrusion away from the shock-absorbing foot pad is provided with a second guide slope surrounding the insertion protrusion. Both the first guide slope of the insertion slot and the second guide slope of the insertion protrusion can guide the insertion protrusion during installation, eliminating the need for precise alignment of the insertion protrusion with the insertion slot, thereby reducing assembly difficulty.

[0028] In the above-mentioned quadruped robot, the calf mechanism also includes a shock-absorbing foot pad and a metal gripping piece. The shock-absorbing foot pad is locked on the foot pad mounting seat to wrap the bottom of the foot pad mounting seat. The metal gripping piece is installed on the shock-absorbing foot pad and passes through the shock-absorbing foot pad. The foot pad mounting seat is provided with a plug-in slot, and the upper end of the metal gripping piece extends into the plug-in slot to be plugged into and cooperate with the plug-in slot. By arranging a shock-absorbing foot pad at the bottom of the foot pad mounting seat, the shock-absorbing foot pad can not only reduce the shock of the foot pad mounting seat through slight deformation, but also improve the grip by increasing the friction between the foot pad and the ground. By arranging a metal gripping piece that passes through the shock-absorbing foot pad on the shock-absorbing foot pad, and inserting the metal gripping piece into the plug-in slot of the foot pad mounting seat, when the quadruped robot runs at high speed on the ground, the metal gripping piece with a hard material can be embedded into the ground through the bottom end protruding from the shock-absorbing foot pad to improve the grip effect, making the running of the quadruped robot more stable. At the same time, when the lateral component of the friction force exerted by the ground on the shock-absorbing foot pad is transmitted to each metal gripping piece, the metal gripping piece can resist the inner side wall of the plug-in slot to provide lateral support to the shock-absorbing foot pad with the metal gripping piece, thereby preventing the shock-absorbing foot pad from excessively deforming in the lateral direction. The metal gripping piece can not only improve the gripping force, but also limit the position of the shock-absorbing foot pad. When the quadruped robot is running at high speed, the foot pad mounting seat is always in contact with the ground through the shock-absorbing foot pad and the metal gripping piece. While improving the gripping force of the calf, the shock-absorbing foot pad is prevented from being freely detached, and the foot pad mounting seat is prevented from directly contacting the ground and being subjected to excessive impact force, thereby avoiding excessive impact force being transmitted to the calf, thigh or body to cause damage, thereby extending the service life of the quadruped robot and allowing the quadruped robot to run at high speed for a long time. Compared with the existing quadruped robot, the foot pad will be damaged or fall off after a very short time of running, which greatly improves the high-speed running time of the quadruped robot.

[0029] In the aforementioned quadruped robot, a plurality of metal grippers are provided, spaced apart on the shock-absorbing foot pad, and the insertion slots are arranged in a one-to-one correspondence with the metal grippers. This allows the metal grippers to control the position of each shock-absorbing foot pad, effectively securing the shock-absorbing foot pad.

[0030] In the aforementioned quadruped robot, the bottom of the foot pad mounting base is provided with a curved mounting surface that arches toward the shock-absorbing foot pad, the shock-absorbing foot pad covers the curved mounting surface, the insertion slot is provided on the curved mounting surface, and the shock-absorbing foot pad is provided with a plurality of through holes at positions opposite the curved mounting surface. Because the central axis directions of the insertion slots on the curved mounting surface vary, the central axis directions of the metal grippers mounted on the curved surface of the shock-absorbing foot pad also vary. If the shock-absorbing foot pads with the metal grippers mounted thereon are directly fastened to the foot pad mounting base in the same direction, it will be impossible to quickly insert all of the metal grippers into the insertion slots because the central axis directions of many of the metal grippers differ from the fastening direction. Therefore, during installation, the shock-absorbing foot pad, with the metal gripper installed, must first be deformed and flipped into a shape that arches toward the upper end of the metal gripper. The pad must then be snapped onto the foot pad mounting seat along the central axis of the curved mounting surface, so that the metal gripper at the center of the shock-absorbing foot pad (the central axis of this portion of the metal gripper is close to the snapping direction) is inserted into the corresponding insertion slot. Finally, the shock-absorbing foot pad is deformed and flipped, with the two sides of the shock-absorbing foot pad converging toward the curved mounting surface. The central axes of the metal grippers on both sides of the shock-absorbing foot pad are close to the converging direction, allowing the metal grippers on both sides of the shock-absorbing foot pad to quickly plug into the insertion slot. Therefore, multiple through-holes are provided at positions opposite the curved mounting surface. These through-holes provide a clearance for deformation of the shock-absorbing foot pad, facilitating its flipping and allowing the assembler to save effort when flipping the shock-absorbing foot pad, thus reducing assembly difficulty.

[0031] In the aforementioned quadruped robot, the metal gripping member includes a claw and a staple. The staple includes a rod and a staple head disposed at the end of the rod. The staple head is inserted into the insertion slot. The rod passes through the shock-absorbing pad and is locked with the claw, so that the staple head and the claw jointly clamp the shock-absorbing pad. By configuring the metal gripping member as a separate claw and staple, when the claw and staple are locked, they can be fixed to the shock-absorbing pad by clamping it, resulting in a secure and stable installation.

[0032] In the aforementioned quadruped robot, a receiving groove is provided on a side of the shock-absorbing foot pad facing away from the foot pad mounting base, and the claws are fully embedded in the receiving groove. Hiding the claws in the receiving groove ensures that, when the quadruped robot is moving at a slow speed, the contact between the shock-absorbing foot pad and the road surface provides sufficient grip, without the claws needing to extend out of the receiving groove. When the quadruped robot is running at high speed, the compression on the shock-absorbing foot pad is increased, causing the lower ends of the claws to extend out of the receiving groove, thereby enhancing grip.

[0033] In the aforementioned quadruped robot, the claws comprise a ring body and multiple claw tips extending toward the shock-absorbing foot pad. The claw tips surround the outer circumference of the ring body and are integrally formed with the ring body. The staples pass through the ring body and are riveted to the ring body. The ring body provides a connection location for the staples, which pass through the ring body and are riveted to the ring body. When the claws contact the ground, each claw can contact the ground through its multiple claw tips. The provision of multiple claw tips significantly enhances the gripping force of a single metal gripper.

[0034] Compared with the prior art, the advantages of the present invention are:

[0035] The footpad mount utilizes a hollow structure, significantly reducing material usage compared to traditional solid structures, lowering the overall weight of the leg. This meets the lightweight requirements of high-speed quadruped robots, reduces inertial loads during movement, and improves efficiency. Multiple first support members are positioned between the fixed column and the inner side wall, and multiple second support members are positioned between the fixed column and the inner bottom wall, forming a "skeleton" support system. This "distributed support" replaces the traditional solid structure, providing stable mechanical support without the need for solid filling material. While ensuring structural rigidity when the footpad mount is subjected to stress, it avoids redundant material accumulation, achieving the goal of "maximum load with minimum material." The first support members provide radial support on the sides of the footpad mount, resisting lateral impact forces and preventing lateral deformation. The second support members provide axial support at the bottom, bearing vertical loads during robot movement and preventing bottom collapse or fracture.

[0036] During the operation of the leg assembly, the sleeve will slide relative to the support rod. If the sleeve is in direct contact with the support rod, the sleeve will plane the support rod during the relative sliding process, causing wear on the outer surface of the support rod. In particular, when the leg assembly is used in a high-mobility quadruped robot, the leg assembly will perform high-frequency and high-speed motion (about 10m / s). Similarly, when the sleeve performs high-frequency reciprocating motion relative to the support rod, frictional heat will be generated, causing the strength of the support rod material to decrease. In the present invention, a first protective sleeve is fixed to the outer peripheral side of the support rod, and the first protective sleeve isolates the sleeve and the support rod to avoid direct contact between the sleeve and the support rod. Therefore, the relative sliding of the sleeve and the support rod will not generate friction on the support rod, thereby preventing the support rod from being damaged by the friction of the sleeve, and can effectively protect the support rod, which helps to extend the service life of the support rod. In addition, the sleeve is not in direct contact with the support rod, and the support rod is not affected by the sliding of the copper sleeve. Therefore, the support rod can be made of carbon fiber material with higher strength, higher quality and lighter weight, which can significantly reduce the overall weight of the leg assembly and reduce the load during the operation of the quadruped robot, so as to support the high-speed operation of the quadruped robot. At the same time, the carbon fiber material can also enhance the strength of the leg assembly, so that the quadruped robot can carry more weight, and can also enable the leg assembly to withstand greater forces, providing a favorable foundation for the high-speed operation of the quadruped robot; secondly, the first protective sleeve covers the sliding range of the sleeve, ensuring that the first protective sleeve can provide effective support for the entire sliding range of the sleeve, reducing the shaking amplitude of the sleeve in the radial direction, and making the sliding of the sleeve smoother and smoother; thirdly, the support rod is partially inserted into the foot pad mounting seat and fixedly connected to the foot pad mounting seat. The foot pad mounting seat can wrap part of the support rod, which helps to improve the aesthetics of the leg assembly, and can also protect the support rod, reducing the possibility of the support rod being directly damaged by collision.

[0037] A reinforcement structure is provided at the top of the foot pad mounting seat, which can effectively enhance the strength of the top of the mounting hole, thereby increasing the bending and deformation resistance of the top of the foot pad mounting seat. At the same time, the reinforcement structure can also disperse the stress on the top of the foot pad mounting seat, avoiding high stress concentration at the support rod insertion position of the foot pad mounting seat, reducing the possibility of cracks or even fractures at the top of the foot pad mounting seat, and can effectively extend the service life of the foot pad mounting seat; in addition, the reinforcement structure can improve the fatigue resistance of the foot pad mounting seat, reduce the accumulation of plastic deformation, delay the initiation and expansion of cracks, and further reduce the possibility of fracture of the foot pad mounting seat; secondly, the support rod is partially inserted into the foot pad mounting seat and fixedly connected to the foot pad mounting seat. The foot pad mounting seat can wrap part of the support rod, which helps to improve the aesthetics of the calf mechanism, while also protecting the support rod and reducing the possibility of damage to the support rod due to direct collision.

[0038] By adopting the above-mentioned technical solution, a reinforcing structure is set on the foot pad mounting seat, so that the calf mechanism can be strengthened, thereby being able to adapt to the high-speed operation of the quadruped robot, so that the calf mechanism can be effectively applied to high-mobility robots, and the calf mechanism can adapt to the high-speed operation of high-mobility robots; in addition, the reinforcing structure mainly strengthens the top of the foot pad mounting seat, which can reduce the overall weight of the reinforcing structure. While ensuring that the calf mechanism has sufficient strength, it can also keep the calf mechanism lightweight, thereby improving the endurance time of the quadruped robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A three-dimensional diagram of a quadruped robot according to the present invention;

[0040] Figure 2 is a three-dimensional diagram of the leg assembly of the present invention;

[0041] Figure 3 is a three-dimensional diagram of the calf mechanism of the present invention;

[0042] Figure 4 is a cross-sectional view of the calf mechanism of the present invention;

[0043] Figure 5 for Figure 3 A partial enlarged view of the middle part;

[0044] Figure 6 for Figure 3 A partial enlarged view of point B in the middle;

[0045] Figure 7 is a three-dimensional diagram of the sleeve in the present invention;

[0046] Figure 8 The three-dimensional structure of the midfoot pad mounting seat of the present invention Figure 1 ;

[0047] Figure 9 This is a front view of the midfoot pad mounting seat of the present invention;

[0048] Figure 10 for Figure 9 Cross-sectional view of CC;

[0049] Figure 11 A schematic diagram of the structure of the midfoot pad mounting seat of the present invention when viewed from above;

[0050] Figure 12 This is a schematic diagram of the structure of the mid-foot pad mounting base of the present invention combined with the shock-absorbing foot pad of the first structure;

[0051] Figure 13 A cross-sectional view of a shock-absorbing foot pad of the first structure in the present invention;

[0052] Figure 14The three-dimensional structure of the shock-absorbing foot pad of the first structure of the present invention Figure 1 ;

[0053] Figure 15 The three-dimensional structure of the shock-absorbing foot pad of the first structure of the present invention Figure 2 ;

[0054] Figure 16 This is a schematic diagram of the structure of the midfoot pad mounting seat, the second structure of the shock-absorbing foot pad, and the metal gripping member of the present invention;

[0055] Figure 17 A cross-sectional view of the second structure of the shock-absorbing foot pad and the metal gripping member in the present invention;

[0056] Figure 18 The third embodiment is a combination of the shock-absorbing foot pad and the metal gripping piece of the second structure of the present invention. Figure 1 ;

[0057] Figure 19 The third embodiment is a combination of the shock-absorbing foot pad and the metal gripping piece of the second structure of the present invention. Figure 2 ;

[0058] Figure 20 The three-dimensional structure of the shock-absorbing foot pad of the second structure of the present invention Figure 1 ;

[0059] Figure 21 The three-dimensional structure of the shock-absorbing foot pad of the second structure of the present invention Figure 2 ;

[0060] Figure 22 A perspective view of the metal gripping element of the present invention.

[0061] The accompanying drawings are:

[0062] Thigh mechanism 1;

[0063] Lower leg mechanism 2;

[0064] Support rod 21, first protective sleeve 211, second protective sleeve 212, end cover 213, first connecting column 214;

[0065] Sleeve 22, through hole 221, annular groove 2211, shaft sleeve 222, limiting step 223, elastic positioning member 224, hinge end 225, tension spring 226, second connecting column 227;

[0066] Foot pad mounting seat 23, mounting hole 231, reinforcing rib 2310, cushion 2311, support platform 232, glue injection groove 233, inner side wall 234, first support member 235, inner bottom wall 236, second support member 237, insertion groove 238, first guide slope 2381, arc-shaped mounting surface 239;

[0067] Shock-absorbing foot pad 24, receiving groove 241, insertion hole 242, anti-slip protrusion 243, through hole 244, insertion protrusion 245, groove 246, second guide slope 247, anti-slip groove 248;

[0068] Fixed column 25;

[0069] Metal gripping member 26, claw 261, ring body 2611, claw tip 2612, nail 262, nail rod 2621, nail head 2622;

[0070] Locking screw 27;

[0071] Motor 3;

[0072] Torso 4. DETAILED DESCRIPTION

[0073] A quadruped robot includes a thigh mechanism 1 and a calf mechanism 2, wherein the calf mechanism 2 includes a foot pad mounting seat 23, a support rod 21 and a sleeve 22, the thigh mechanism 1 is hinged to the sleeve 22, a first protective sleeve 211 is fixed to the outer peripheral side of the support rod 21, the sleeve 22 is sleeved on the first protective sleeve 211 and slidably cooperates with the first protective sleeve 211, and the first protective sleeve 211 at least covers the sliding range of the sleeve 22; a fixing column 25 extending toward the bottom of the foot pad mounting seat 23 is provided on the top of the foot pad mounting seat 23, and a mounting hole 231 is provided on the fixing column 25 along its axial direction. The opening of the mounting hole 231 is located at the top of the foot pad mounting seat 23; the support rod 21 is at least partially inserted into the mounting hole 231 and fixedly connected to the foot pad mounting seat 23, and the top of the foot pad mounting seat 23 is provided with a reinforcing structure to enhance the strength of the top edge of the mounting hole 231; the foot pad mounting seat 23 includes an inner side wall 234 located on the side of the foot pad mounting seat 23 and an inner bottom wall 236 located at the bottom of the foot pad mounting seat 23, and a plurality of first support members 235 are arranged between the fixing column 25 and the inner side wall 234, and a plurality of second support members 237 are arranged between the fixing column 25 and the inner bottom wall 236.

[0074] The foot pad mount 23 utilizes a hollow structure, significantly reducing material usage compared to traditional solid structures, lowering the overall weight of the robotic leg. This meets the lightweight requirements of high-speed quadruped robots, reduces inertial loads during movement, and improves motion efficiency. Multiple first support members 235 are positioned between the fixed column 25 and the inner sidewall 234, and multiple second support members 237 are positioned between the fixed column 25 and the inner bottom wall 236, forming a "skeleton" support system. This "distributed support" replaces the traditional solid structure, providing stable mechanical support without the need for solid material filling. While ensuring structural rigidity when the foot pad mount 23 is subjected to stress, it avoids redundant material accumulation, achieving the goal of "maximum load bearing with minimal material." The first support members 235 provide radial support for the sides of the foot pad mount 23, resisting lateral impact forces and preventing lateral deformation. The second support members 237 provide axial support at the bottom, bearing vertical loads during robot movement and preventing bottom collapse or fracture.

[0075] A first protective sleeve 211 is fixed to the outer peripheral side of the support rod 21, and the first protective sleeve 211 isolates the sleeve 22 and the support rod 21 to avoid direct contact between the sleeve 22 and the support rod 21, and prevents the support rod 21 from being damaged due to the friction of the sleeve 22, which can effectively protect the support rod 21 and help to extend the service life of the support rod 21; in addition, the sleeve 22 does not directly contact the support rod 21, and the support rod 21 is not affected by the sliding of the copper sleeve, so the support rod 21 can adopt a carbon fiber material with higher strength and lighter quality, which can significantly reduce the overall weight of the leg assembly and reduce the load of the quadruped robot during operation, so as to support the high-speed operation of the quadruped robot. At the same time, the carbon fiber material can also enhance the strength of the leg assembly, making the quadruped robot The quadruped robot can carry a greater weight and can also enable the leg assembly to withstand a greater force, providing a favorable foundation for the high-speed operation of the quadruped robot; secondly, the first protective sleeve 211 covers the sliding range of the sleeve 22, ensuring that the first protective sleeve 211 can provide effective support for the entire sliding range of the sleeve 22, reducing the shaking amplitude of the sleeve 22 in the radial direction, and making the sliding of the sleeve 22 smoother and smoother; thirdly, the support rod 21 is partially inserted into the foot pad mounting seat 23 and fixedly connected to the foot pad mounting seat 23. The foot pad mounting seat 23 can wrap part of the support rod 21, which helps to improve the aesthetics of the leg assembly, and can also protect the support rod 21, reducing the possibility of the support rod 21 being directly damaged by collision.

[0076] The top of the foot pad mounting seat 23 is provided with a reinforcement structure, which can effectively enhance the strength of the top of the mounting hole 231, thereby increasing the bending and deformation resistance of the top of the foot pad mounting seat 23. At the same time, the reinforcement structure can also disperse the stress on the top of the foot pad mounting seat 23, avoiding high stress concentration at the insertion part of the support rod 21 of the foot pad mounting seat 23, reducing the possibility of cracks or even fracture at the top of the foot pad mounting seat 23, and can effectively extend the service life of the foot pad mounting seat 23; in addition, the reinforcement structure can improve the fatigue resistance of the foot pad mounting seat 23, reduce the accumulation of plastic deformation, delay the initiation and expansion of cracks, and further reduce the possibility of fracture of the foot pad mounting seat 23; secondly, the support rod 21 is partially inserted into the foot pad mounting seat 23 and fixedly connected to the foot pad mounting seat 23. The foot pad mounting seat 23 can wrap part of the support rod 21, which helps to improve the aesthetics of the calf mechanism 2, and at the same time can also protect the support rod 21, reducing the possibility of the support rod 21 being directly damaged by collision.

[0077] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0078] See Figure 1 This is an embodiment of a quadruped robot of the present invention. The quadruped robot includes a torso 4 and four leg assemblies rotatably connected to the torso 4. The leg assembly includes a motor 3, a thigh mechanism 1, a calf mechanism 2 and a foot end connected in sequence. The leg assembly includes a thigh mechanism 1 and a calf mechanism 2. The calf mechanism 2 includes a foot pad mounting seat 23, a support rod 21 and a sleeve 22. The bottom end of the foot pad mounting seat 23 forms the foot end, and a shock-absorbing foot pad 24 is provided on the foot end. The support rod 21 is partially inserted into the foot pad mounting seat 23 and fixedly connected to the foot pad mounting seat 23. The thigh mechanism 1 is hinged to the sleeve 22, and the sleeve 22 is elastically loaded and has a tendency to slide away from the foot end.

[0079] The present invention mainly improves the leg assembly of the existing high-speed quadruped robot, and its improvements mainly include:

[0080] 1. A protective sleeve is provided on the outer periphery of the support rod 21 to enhance the performance of the connection between the support rod 21, the sleeve 22 and the foot pad mounting seat 23.

[0081] Second, the top of the foot pad mounting seat 23 is reinforced to prevent the top of the foot pad mounting seat 23 and the supporting rod 21 from being cracked due to stress.

[0082] 3. Optimize the structure of the foot pad mounting seat 23 to ensure sufficient strength while achieving lightweight.

[0083] 4. Optimize the structure of the shock-absorbing foot pad 24 and the connection structure between the shock-absorbing foot pad 24 and the foot pad mounting seat 23 to ensure that the shock-absorbing foot pad 24 can provide sufficient grip and does not slip with the foot pad mounting seat 23 when the quadruped robot moves at high speed.

[0084] The above improvements will be described in detail below in multiple embodiments.

[0085] Example 1

[0086] This embodiment mainly introduces the first improvement point. Figures 2 to 8 As shown, the leg assembly is fixed with a first protective sleeve 211 on the outer peripheral side of the support rod 21, the sleeve 22 is sleeved on the first protective sleeve 211 and slidably cooperates with the first protective sleeve 211, and the first protective sleeve 211 at least covers the sliding range of the sleeve 22.

[0087] In this embodiment, during the operation of the leg assembly, the sleeve 22 will slide relative to the support rod 21. If the sleeve 22 is in direct contact with the support rod 21, the sleeve 22 will scrape the support rod 21 during the relative sliding process, causing wear on the outer surface of the support rod 21. In particular, when the leg assembly is used in a high-mobility quadruped robot, the leg assembly will perform high-frequency and high-speed motion (about 10m / s). Similarly, when the sleeve 22 performs high-frequency reciprocating motion relative to the support rod 21, frictional heat will be generated, causing the material strength of the support rod 21 to be reduced. The outer peripheral side of the support rod 21 of the present invention is fixed with a first protective sleeve 211, which isolates the sleeve 22 and the support rod 21 to prevent the sleeve 22 from directly contacting the support rod 21. Therefore, the relative sliding of the sleeve 22 and the support rod 21 will not cause friction to the support rod 21, thereby preventing the support rod 21 from being damaged by the friction of the sleeve 22, effectively protecting the support rod 21, and helping to extend the service life of the support rod 21. In addition, the sleeve 22 does not directly contact the support rod 21 , the support rod 21 is not affected by the sliding of the copper sleeve, so the support rod 21 can be made of carbon fiber material with higher strength, higher quality and lighter weight, which can significantly reduce the overall weight of the leg assembly and reduce the load during the operation of the quadruped robot, so as to support the high-speed operation of the quadruped robot. At the same time, the carbon fiber material can also enhance the strength of the leg assembly, so that the quadruped robot can carry a larger weight, and can also enable the leg assembly to withstand a larger force, providing a favorable foundation for the high-speed operation of the quadruped robot; secondly, the first protective sleeve 211 covers the sliding range of the sleeve 22, ensuring that the first protective sleeve 211 can provide effective support for the entire sliding range of the sleeve 22, reducing the shaking amplitude of the sleeve 22 in the radial direction, and making the sliding of the sleeve 22 smoother and smoother; thirdly, the support rod 21 is partially inserted into the foot pad mounting seat 23 and fixedly connected to the foot pad mounting seat 23. The foot pad mounting seat 23 can wrap part of the support rod 21, which helps to improve the aesthetics of the leg assembly, and can also protect the support rod 21, reducing the possibility of the support rod 21 being directly damaged by collision.

[0088] like Figure 2 and Figure 3As shown, the calf mechanism 2 described in this embodiment includes a foot pad mounting seat 23, a support rod 21 and a sleeve 22. The part of the support rod 21 away from the thigh mechanism 1 is inserted into the foot pad mounting seat 23 and fixedly connected to the foot pad mounting seat 23. The bottom end of the foot pad mounting seat 23 is connected with a foot pad. After the foot pad is connected to the foot pad mounting seat 23, a foot end is formed. The sleeve 22 is sleeved on the support rod 21, and the sleeve 22 slides relative to the support rod 21 at the end of the support rod 21 close to the thigh mechanism 1. A hinged end 225 is provided on one side of the sleeve 22, and the thigh mechanism 1 is rotatably connected to the hinged end 225, thereby realizing the relative swing of the calf mechanism 2 and the thigh mechanism 1. In addition, an end cap 213 is provided at the end of the support rod 21 away from the foot pad mounting seat 23, and the top end of the support rod 21 is fixedly connected to the end cap 213 by a fastener. The end cap 213 can form a limit for the sleeve 22, thereby preventing the sleeve 22 from separating from the support rod 21, making the sliding connection between the sleeve 22 and the support rod 21 more stable and reliable. The first connecting column 214 is provided on the outer side of the end cover 213, and the second connecting column 227 is provided on the outer side of the sleeve 22. The calf mechanism 2 also includes an elastic member, which is a tension spring 226. One end of the tension spring 226 is positioned at the first connecting column 214, and the other end is positioned at the second connecting column 227. When the sleeve 22 is against the end cover 213, the length of the tension spring 226 is at its shortest state. During the operation of the leg assembly, when the calf mechanism 2 is impacted, the sleeve 22 will slide downward against the support rod 21. During the sliding of the sleeve 22, the distance between the first connecting column 214 and the second connecting column 227 becomes larger, thereby causing the tension spring 226 to be stretched. The tension spring 226 can convert the impact force received by the calf mechanism 2 into elastic deformation, thereby effectively weakening the impact force received by the leg assembly, so that the leg assembly can perform high-speed and high-frequency movements. At the same time, it can also reduce the possibility of the leg assembly being damaged by the impact force, which helps to extend the service life of the leg assembly.

[0089] like Figure 4 and Figure 5 As shown, the sleeve 22 in this embodiment has a through hole 221 for the support rod 21 to pass through, and a sleeve 222 is fixed to the inner wall of the through hole 221. The sleeve 222 is sleeved on the outer peripheral side of the first protective sleeve 211, that is, when the sleeve 22 slides along the axial direction of the support rod 21, the sleeve 222 and the first protective sleeve 211 slide relative to each other and generate friction. The sleeve 222 can isolate the sleeve 22 from the first protective sleeve 211 to avoid direct contact between the sleeve 22 and the first protective sleeve 211. The sleeve 222 can withstand most of the friction and prevent the inner wall of the sleeve 22 from directly contacting and rubbing with the first protective sleeve 211 to cause serious wear. The sleeve 222 can protect the first protective sleeve 211, effectively extend the service life of the sleeve 22, and thus reduce the maintenance cost of the sleeve 22.

[0090] In this embodiment, two shaft sleeves 222 are provided in the through hole 221, one of which extends to the top of the through hole 221, and the other extends to the bottom of the through hole 221, that is, the shaft sleeve 222 is flush with the top and bottom of the through hole 221, and an inwardly protruding limiting step 223 is provided in the through hole 221, and the limiting step 223 is located between the two shaft sleeves 222. In addition, two annular grooves 2211 are provided on the inner wall of the through hole 221. The two annular grooves 2211 are respectively The top and bottom ends of the through hole 221 are not close to each other. An elastic positioning member 224 is installed in the annular groove 2211. The elastic positioning member 224 is interference fit with the outer peripheral side of the sleeve 222, thereby increasing the friction between the sleeve 222 and the through hole 221, improving the positioning stability of the sleeve 222 and the sleeve 22, and also reducing the possibility of the sleeve 222 being separated from the through hole 221. In addition, during the sliding process of the sleeve 22, the sleeve 22 is likely to cause planing to the first protective sleeve 211, and the sleeve 222 extends to the two ends of the through hole 221, which can prevent the ends of the through hole 221 from making direct contact with the first protective sleeve 211, further reducing the possibility of wear of the first protective sleeve 211 and the sleeve 22, and helping to extend the service life of the sleeve 22 and the first protective sleeve 211; secondly, dividing the shaft sleeve 222 into two can reduce the length and weight of the shaft sleeve 222, thereby reducing the weight of the leg assembly and making the overall structure of the quadruped robot lighter; the limiting step 223 is located between the two shaft sleeves 222, and the limiting step 223 can effectively limit the axial sliding distance of the shaft sleeve 222 in the through hole 221. In order to avoid direct contact between the limiting step 223 and the first protective sleeve 211, the inner diameter of the limiting step 223 in this embodiment is smaller than the outer diameter of the first protective sleeve 211, that is, there is a gap between the limiting step 223 and the outer peripheral side of the first protective sleeve 211, thereby preventing the sleeve 22 and the first protective sleeve 211 from being damaged by friction.

[0091] It should be noted that the bushing 222 described in this embodiment is a copper bushing, which has good wear resistance and can effectively reduce the wear between the bushing 222 and the first protective sleeve 211, thereby significantly extending the service life of the bushing 222 and the first protective sleeve 211. At the same time, the copper bushing has a smaller friction coefficient, which makes the sliding of the bushing 222 relative to the support rod 21 smoother and smoother; of course, it is understandable that in other embodiments, a bushing 222 can also be set in the through hole 221, one end of the bushing 222 extends to the top of the through hole 221, and the other end extends to the bottom of the through hole 221, that is, the length of the bushing 222 is equal to the bushing 222 of the through hole 221.

[0092] like Figure 4 、 Figure 6 and Figure 8As shown, in this embodiment, the top of the foot pad mounting seat 23 is provided with a mounting hole 231 for inserting the support rod 21, and a second protective sleeve 212 is fixed to the outer peripheral side of the support rod 21. The second protective sleeve 212 is partially inserted into the foot pad mounting seat 23 along with the support rod 21. The inner wall of the mounting hole 231 is provided with an inwardly protruding support platform 232, and the bottom end of the second protective sleeve 212 is against the support platform 232. During the operation of the leg assembly, the position of the support rod 21 at the top of the foot pad mounting seat 23 will be subjected to a large shear force, especially when the leg assembly is frequently running at high speed, the support rod 21 is easily broken due to the shear force, and the second protective sleeve 212 is installed on the support rod 21. , and the second protective sleeve 212 covers the position of the support rod 21 that is subject to the greatest shear force. The second protective sleeve 212 can increase the strength of the support rod 21, and can also bear most of the shear force for the support rod 21, thereby effectively protecting the support rod 21, reducing the possibility of the support rod 21 breaking due to shear force, and providing a basis for the high-speed operation of the leg assembly; in addition, the support platform 232 can limit the second protective sleeve 212, limiting the second protective sleeve 212 from sliding downward relative to the support rod 21, so that the second protective sleeve 212 can be fixed relative to the support rod 21, preventing relative friction between the second protective sleeve 212 and the support rod 21.

[0093] In this embodiment, the first protective sleeve 211 and the second protective sleeve 212 are spaced apart on the support rod 21, thereby reducing the overall length and weight of the first protective sleeve 211 and the second protective sleeve 212, thereby reducing the weight of the leg assembly and making the overall structure of the quadruped robot lighter; of course, it is understandable that in other embodiments, the first protective sleeve 211 and the second protective sleeve 212 can be an integrated structure, that is, the length of the protective sleeve is greater than the sliding range of the sleeve 22, and the protective sleeve is partially inserted into the foot pad mounting seat 23. The use of an integrated structure can effectively increase the contact area between the protective sleeve and the support rod 21, making the fixation of the protective sleeve and the support rod 21 more stable and reliable, reducing the possibility of relative sliding between the protective sleeve and the support rod 21, avoiding damage to the support rod 21 due to friction, and helping to extend the service life of the support rod 21; in addition, the first protective sleeve 211 and the second protective sleeve 212 are an integrated structure, which can significantly enhance the overall strength of the support rod 21 and help to improve the bearing capacity of the support rod 21.

[0094] It should be noted that the first protective sleeve 211 and the second protective sleeve 212 are both steel sleeves, which have better tensile strength, can withstand more loads and impacts for the support rod 21, and are not prone to deformation; in addition, during the high-frequency and high-speed operation of the leg assembly, the sliding speed of the sleeve 22 relative to the support rod 21 is relatively large, and the friction between the first protective sleeve 211 and the shaft sleeve 222 will generate a higher temperature, and the steel sleeve has better high-temperature resistance, so that the first protective sleeve 211 can still maintain structural stability at high temperatures, providing structural support for the high-frequency and high-speed operation of the leg assembly.

[0095] like Figure 8 As shown, the top of the foot pad mounting seat 23 described in this embodiment is provided with a mounting hole 231 for inserting the support rod 21, and the inner wall of the mounting hole 231 is provided with a glue injection groove 233, and the top of the glue injection groove 233 extends to the top of the mounting hole 231. The support rod 21 and the second protective cover 212 are fixedly connected to the foot pad mounting seat 23 by glue. In the process of connecting the support rod 21 and the foot pad mounting seat 23, the support rod 21 is first inserted into the mounting hole 231, and then glue is injected into the mounting hole 231 through the glue injection groove 233. After the glue solidifies, the support rod 21 and the foot pad mounting seat 23 can be fixedly connected. The glue injection groove 233 can facilitate the injection of glue into the mounting hole 231. The support rod 21 is fixed to the foot pad mounting seat 23 by the glue, which can effectively improve the connection stability between the support rod 21 and the foot pad mounting seat 23.

[0096] like Figure 2 、 Figure 3 As shown, the calf mechanism 2 in this embodiment includes three support rods 21, which are arranged in a triangle. The sleeve 22 is provided with three through holes 221 corresponding to the support rods 21, and the three through holes 221 are distributed at intervals. The foot pad mounting seat 23 is provided with three mounting holes 231 corresponding to the support rods 21, and the three mounting holes 231 are distributed at intervals. The three support rods 21 are arranged in a triangle and correspond to one support rod 21. While maintaining the overall strength of the calf mechanism 2, the overall weight of the support rod 21 can also be reduced, thereby reducing the leg assembly. weight, making the overall structure of the quadruped robot lighter; in addition, the three through holes 221 of the sleeve 22 are distributed at intervals, that is, the three through holes 221 are solid structures, so that the outer peripheral side of each support rod 21 can be affected by the force of the sleeve 22, thereby effectively limiting the swing amplitude of the support rod 21; similarly, the support rod 21 is fixedly connected to the foot pad mounting seat 23 through the mounting hole 231, so that the support rod 21 and the foot pad mounting seat 23 can form a reliable whole, which helps to improve the connection stability of the support rod 21 and the foot pad mounting seat 23.

[0097] Of course, it is understandable that in other embodiments, the number of the support rods 21 may be two or one.

[0098] In order to further enhance the strength of the support rod 21, the calf mechanism 2 described in this embodiment also includes a reinforcing rod, which is arranged between the bottom end of the sliding range of the sleeve 22 and the top end of the foot pad mounting seat 23. The reinforcing rod is between the three support rods 21 and maintains contact with the three support rods 21 at the same time. The reinforcing rod can support the three support rods 21 at the same time, so that the three support rods 21 form a whole, further reducing the amplitude of the inward deformation of the three support rods 21, thereby improving the overall strength of the three support rods 21 and reducing the possibility of the support rods 21 being damaged due to deformation.

[0099] Example 2

[0100] Based on the above embodiment, this embodiment mainly introduces the second improvement point, such as Figure 3 、 4 As shown in , 6 and 8, the top of the foot pad mounting seat 23 is provided with a mounting hole 231 for inserting the support rod 21, and the support rod 21 is at least partially inserted into the mounting hole 231 and fixedly connected to the foot pad mounting seat 23. The top of the foot pad mounting seat 23 is provided with a reinforcing structure to enhance the strength of the top of the mounting hole 231.

[0101] The top of the foot pad mounting seat 23 described in this embodiment is provided with a reinforcement structure, which can effectively enhance the strength of the top of the mounting hole 231, thereby increasing the bending and deformation resistance of the top of the foot pad mounting seat 23. At the same time, the reinforcement structure can also disperse the stress on the top of the foot pad mounting seat 23, avoiding high stress concentration at the insertion position of the support rod 21 of the foot pad mounting seat 23, reducing the possibility of cracks or even breakage at the top of the foot pad mounting seat 23, and can effectively extend the service life of the foot pad mounting seat 23; in addition, the reinforcement structure can improve the fatigue resistance of the foot pad mounting seat 23, reduce the accumulation of plastic deformation, delay the initiation and expansion of cracks, and further reduce the possibility of breakage of the foot pad mounting seat 23; secondly, the support rod 21 is partially inserted into the foot pad mounting seat 23 and fixedly connected to the foot pad mounting seat 23. The foot pad mounting seat 23 can wrap part of the support rod 21, which helps to improve the aesthetics of the calf mechanism 2, and at the same time can also protect the support rod 21, reducing the possibility of the support rod 21 being directly damaged by collision.

[0102] like Figure 8As shown, the reinforcement structure described in this embodiment includes a reinforcement rib 2310, which is formed by extending the top edge of the foot pad mounting seat 23 outward. Since the support rod 21 is inserted into the foot pad mounting seat 23 from the top end of the foot pad mounting seat 23, the insertion port of the mounting hole 231 is formed at the top end surface of the foot pad mounting seat 23, which will reduce the width of the top end of the foot pad mounting seat 23 and destroy the integrity of the top end of the foot pad mounting seat 23. The reinforcement rib 2310 is formed by extending the top edge of the foot pad mounting seat 23 outward, which can increase the width of the top end of the foot pad mounting seat 23, thereby enhancing the strength and anti-bending and anti-deformation capabilities of the top end of the foot pad mounting seat 23, and at the same time can also disperse the stress on the top end of the foot pad mounting seat 23, avoid high stress concentration of the foot pad mounting seat 23 at the insertion part of the support rod 21, reduce the possibility of cracks or even breakage at the top end of the foot pad mounting seat 23, and effectively extend the service life of the foot pad mounting seat 23.

[0103] Of course, it is understandable that in other embodiments, the reinforcement structure may also include a clamp, which is sleeved on the top of the foot pad mounting seat 23 and clamped to the outer peripheral side of the top of the foot pad mounting seat 23. The clamp can adjust the clamping force on the foot pad mounting seat 23 through a fastener. When the clamp clamps the foot pad mounting seat 23, the clamp will apply a tightening force to the outer peripheral side of the top of the foot pad mounting seat 23. The clamp can provide favorable support for the foot pad mounting seat 23, and can also reduce the degree of deformation of the top of the foot pad mounting seat 23, thereby preventing the foot pad mounting seat 23 from cracking due to excessive deformation, thereby effectively reducing the possibility of cracks or even breakage, and helping to extend the service life of the foot pad mounting seat 23; in addition, the clamp clamping the foot pad mounting seat 23 tightly can also keep the foot pad mounting seat 23 and the support rod 21 in close fit, thereby improving the connection stability between the foot pad mounting seat 23 and the support rod 21, and making the overall structure of the calf mechanism 2 more firm and reliable.

[0104] Of course, it is understandable that in other embodiments, the reinforcement structure may also include a reinforcement rib 2310 and a clamp, that is, while the reinforcement rib 2310 is provided on the outer peripheral side of the top end of the foot pad mounting seat 23, a clamp is also provided on the outer peripheral side of the top end of the foot pad mounting seat 23, and the clamp is located on the lower side of the reinforcement rib 2310. While the clamp holds the foot pad mounting seat 23 tightly, it can also support and position the reinforcement rib 2310.

[0105] like Figure 6As shown, in this embodiment, a buffer pad 2311 is fixed to the top of the foot pad mounting seat 23, and the buffer pad 2311 is fixed to the top surface of the foot pad mounting seat 23, and the buffer pad 2311 is provided with a through hole 244, the through hole 244 of the buffer pad 2311 is aligned with the mounting hole 231, and the buffer pad 2311 is installed at the edge of the top of the mounting hole 231, and the buffer pad 2311 is sleeved on the outer peripheral side of the support rod 21, and the support rod 21 passes through the buffer pad 2311 and is inserted into the mounting hole 231, and the buffer pad 2311 forms a protective layer on the top surface of the foot pad mounting seat 23. During the normal operation of the calf mechanism 2, the lowest sliding position of the sleeve 22 does not contact the foot pad mounting seat 23, and when the sleeve When the tension spring 226 between the tube 22 and the end cover 213 breaks, the sleeve 22 will slide directly downward under the action of the impact force of the calf mechanism 2 and counteract the top surface of the foot pad mounting seat 23. Due to the loss of the elastic force of the tension spring 226, the sleeve 22 will produce a large impact force on the foot pad mounting seat 23. The setting of the buffer pad 2311 can absorb the impact force of the sleeve 22 on the foot pad mounting seat 23, thereby reducing the impact force on the foot pad mounting seat 23 and the reaction force on the sleeve 22, reducing the possibility of damage to the foot pad mounting seat 23 and the sleeve 22, and avoiding damage to both the sleeve 22 and the foot pad mounting seat 23 due to the breakage of the tension spring 226, which can effectively reduce the maintenance cost of the calf mechanism 2.

[0106] By providing a reinforcing structure on the foot pad mounting seat 23, the calf mechanism 2 can be strengthened, so that it can adapt to the high-speed operation of the quadruped robot, and the calf mechanism 2 can be effectively applied to the high-mobility robot, and the calf mechanism 2 can adapt to the high-speed operation of the high-mobility robot; in addition, the reinforcing structure mainly strengthens the top of the foot pad mounting seat 23, which can reduce the overall weight of the reinforcing structure. While ensuring that the calf mechanism 2 has sufficient strength, it can also keep the calf mechanism 2 lightweight, thereby improving the endurance time of the quadruped robot.

[0107] Example 3

[0108] Based on any of the above embodiments, this embodiment mainly introduces the third improvement point. Figures 9 to 11 As shown, the calf mechanism 2 includes a hollow foot pad mount 23 and a shock-absorbing foot pad 24. The hollow foot pad mount 23 needs to bear a certain amount of load and can be made of lightweight materials such as carbon fiber. The shape of the foot pad mount 23 can be customized according to design requirements. The shock-absorbing foot pad 24 is located at the bottom of the foot pad mount 23. The shock-absorbing foot pad 24 mainly provides cushioning and increases friction. Therefore, the shock-absorbing foot pad 24 can be made of materials such as rubber. The shock-absorbing foot pad 24 is generally required to cover the bottom of the foot pad mount 23 to adapt to the quadruped robot walking on various terrains and ensure that the shock-absorbing foot pad 24 can function.

[0109] A fixing post 25 is provided at the top of the foot pad mount 23, extending toward the bottom of the foot pad mount 23. The fixing post 25 has a mounting hole 231 with an open top in a vertical direction. A support rod 21 is positioned within the mounting hole 231 for connection to the thigh mechanism 1. The number of mounting holes 231 can be adjusted based on design requirements. In this embodiment, the fixing post 25 has three parallel mounting holes 231. The top of the fixing post 25 is fixedly connected to the top of the foot pad mount 23, effectively being suspended within the foot pad mount 23. During the running of the quadruped robot, the ground force acting on the leg is transmitted through the shock-absorbing foot pad 24 to the bottom of the foot pad mount 23, then from the top of the foot pad mount 23 to the fixing post 25, and then upwardly transmitted through the support rod 21 connected within the fixing post 25. This force transmission path places high demands on the strength of the foot pad mount 23, hindering the lightweight design of the entire leg. Excessive leg weight can also affect the running speed of the quadruped robot.

[0110] The side of the foot pad mounting seat 23 is provided with an inner side wall 234, that is, the side of the foot pad mounting seat 23 faces the inner wall of the foot pad mounting seat 23; accordingly, the bottom of the foot pad mounting seat 23 is provided with an inner bottom wall 236, that is, the bottom of the foot pad mounting seat 23 faces the inner wall of the foot pad mounting seat 23. To solve the above technical problems, a plurality of first support members 235 are spaced between the fixing column 25 and the inner side wall 234, and a plurality of second support members 237 are spaced between the fixing column 25 and the inner bottom wall. The spaced arrangement of the plurality of first support members 235 and second support members 237 replaces the traditional solid foot pad mounting seat 23 or large-area filler material, forming a large number of hollow areas within the robotic leg. This not only reduces the weight of the robotic leg and achieves a lightweight design of the robotic leg, but also transmits external loads to the fixing column 25 through multiple paths, avoiding overload in a single location.

[0111] The first support member 235 is provided between the fixed column 25 and the inner side wall 234 to resist lateral forces and prevent the side deformation of the foot pad mounting seat 23; the second support frame is provided between the fixed column 25 and the inner bottom wall to resist vertical forces and prevent the bottom from collapsing. The two work together to enable the robotic leg to withstand impact forces several times its own weight during high-speed movement. The essence of arranging multiple support members at intervals is to achieve a balance between "lightweight and high strength": using the support members as a "skeleton" to bear the load, and replacing redundant materials with hollow areas, which not only meets the high-speed robot's demand for lightweight robotic legs, but also ensures strength and stability through distributed support.

[0112] Furthermore, the first support members 235 are radially spaced apart. That is, the first support members 235 are radially connected to the inner sidewall 234 with the fixed column 25 as the center, forming a structure similar to the spokes of a wheel. When the robotic leg is subjected to lateral forces (such as centrifugal force when the robot turns or lateral impact caused by uneven ground), the load can be evenly transmitted to various parts of the foot pad mounting base 23 through the radial support members, avoiding localized stress concentration. For example, when an impact force is applied in a certain direction, the radial support members can decompose the force into multiple components, distributing them through different support members, thereby improving the uniformity of stress distribution on the side of the foot pad mounting base 23. In addition, the radially distributed support members, the fixed column 25, and the inner sidewall 234 form multiple triangular support units (triangles have higher stability), which enhance the overall rigidity of the side structure. Even if a support member is damaged, the other support members can still share the load, avoiding structural failure and improving the reliability of the robotic leg.

[0113] Through the "radially spaced distribution" of the first support member 235 structure, the torsional strength, stress dispersion ability and dynamic stability of the mechanical leg are significantly improved without increasing the material consumption. At the same time, the lightweight effect is further optimized, providing key support for the reliability of the high-speed quadruped robot in complex motion scenarios.

[0114] Furthermore, each first support member 235 is a vertically arranged sheet structure. This orientation design can maximize the bending section modulus of the sheet structure, and when the robot turns at high speed or is subjected to a lateral impact, the structure can effectively resist the lateral bending moment. In order to meet the lateral stability requirements of high-speed quadruped robots in complex motion scenarios, the precise matching of structural orientation and load direction significantly improves the anti-roll and anti-torsion capabilities of the mechanical legs without increasing the weight. In addition, the vertical sheet support members, the fixed columns 25, and the inner side walls 234 form a "vertical-horizontal" rigid frame, similar to the load-bearing walls in a building, which can resist the vertical shear force and horizontal thrust of the mechanical legs. Under sudden impacts such as the robot slipping and falling, the structure can keep the side shape of the foot pad mounting seat 23 unchanged, reducing the risk of structural failure.

[0115] Based on the above embodiment, the bottom of the foot pad mounting seat 23 is an outward-convex arc surface structure. When the shock-absorbing foot pad 24 is tightly attached to the bottom of the foot pad mounting seat 23, the contact point of the mechanical leg when touching the ground changes naturally with the ups and downs of the ground. When the robot walks on a flat road, the center of the bottom of the arc surface touches the ground first, and then extends to both sides, forming a progressive contact of "point → line → surface", avoiding the impact vibration caused by the "instantaneous surface contact" of the flat bottom.

[0116] The outer surface of the bottom of the foot pad mounting base 23 is provided with a socket groove 238. A corresponding socket protrusion 245 is provided on the shock-absorbing foot pad 24. The cross-section of the socket groove 238 can be polygonal, elliptical, or circular. In this embodiment, the cross-section of the socket groove 238 is circular to avoid stress concentration points. The tight fit between the socket protrusion 245 and the groove 246 forms a mechanical limit. When the robot moves at high speeds (e.g., speeds ≥ 10 m / s), the horizontal friction force acting on the shock-absorbing foot pad 24 (such as ground adhesion during emergency stops and turns) is directly transmitted to the groove 246 of the foot pad mounting base 23 via the protrusion, preventing the shock-absorbing foot pad 24 from sliding circumferentially or radially relative to the foot pad mounting base 23.

[0117] Furthermore, if the area of ​​the plug-in slot 238 lacks support, it is prone to inward deformation under long-term high-frequency impact, resulting in failure of the connection of the shock-absorbing foot pad 24. In this embodiment, a second support member 237 is provided between the inner bottom wall 236 and the position corresponding to the plug-in slot 238 and the fixed column 25 to directly provide axial support to the connection part of the shock-absorbing foot pad 24 (i.e., the plug-in slot 238). When the shock-absorbing foot pad 24 touches the ground during high-speed movement of the robot, the ground reaction force is transmitted through the path of the plug-in protrusion 245 → plug-in slot 238 → second support member 237 → fixed column 25, forming a "direct load" rigid support chain. This design can reduce the local stress in the plug-in slot 238 area and avoid deformation or cracking of the groove 246 caused by long-term impact. By placing a second support member 237 between the socket 238 and the fixed column 25, a direct load transfer path is established from the bottom to the top of the robotic leg. This not only strengthens the structural strength of the connection area of ​​the shock-absorbing foot pad 24, but also optimizes the stress distribution at the bottom of the curved surface, achieving both increased rigidity and stability without significantly increasing weight. This design is particularly suitable for high-speed robots in high-frequency impact scenarios in complex terrain, ensuring connection reliability and motion performance through precise structural support.

[0118] In this embodiment, the area of ​​the second support member 237 at the end connected to the inner bottom wall 236 is greater than the area of ​​the second support member 237 at the end connected to the fixing post 25. The bottom area of ​​the second support member 237 (connected to the inner bottom wall 236) is larger than the top area (connected to the fixing post 25), forming a gradient cross-sectional structure with a smaller top and a larger bottom. When the robotic leg is impacted by the ground, the load is transferred from the bottom (larger cross-section) to the top (smaller cross-section), resulting in a more uniform stress distribution and reduced maximum stress concentration within the support member. This is particularly true at the connection between the support member and the inner bottom wall 236 (a high-stress area in conventional designs), where stress amplitude is significantly reduced, effectively preventing fatigue fracture.

[0119] Furthermore, the cross-sectional area of ​​the second support member 237 gradually decreases from the end connected to the inner bottom wall 236 to the end connected to the fixing column 25. For example, if the cross-sectional area of ​​the second support member 237 is circular, then the entire second support member 237 is truncated cone-shaped. The design of the cross-sectional area gradually decreasing from bottom to top causes the cross-sectional moment of inertia of the second support member 237 to continuously change along the axial direction, thereby matching the mechanical characteristic that the load gradually decreases from bottom to top. When the mechanical leg is subjected to ground impact, the load enters the support member through the large cross-sectional area at the bottom and is gradually released as the cross-sectional area decreases. This can control the stress gradient within the support member to within 10% (the stress gradient of traditional uniform cross-sectional supports is up to 30%), effectively avoiding fatigue damage caused by stress concentration. The large cross-sectional area at the bottom of the gradient cross-sectional support member can improve the anti-buckling stiffness (resist axial compression deformation), and the small cross-sectional area at the top can reduce the moment of inertia (reduce the inertial force of movement). When the robot lands at high speed, the critical axial buckling load of the structure is increased by 25% compared with the equal-section support. At the same time, due to the reduced weight, the swing energy consumption of the mechanical legs is reduced by 12%, achieving the dual advantages of "strong support + low energy consumption".

[0120] On the basis of the above embodiment, the axis extension direction of the second support member 237 converges on the vertical center line of the fixed column 25, forming a radial support structure similar to a "pyramid". When the mechanical leg is subjected to a vertical load (such as its own weight, ground impact force), the axial force of each support member can be directly transmitted along the axis to the center of the fixed column 25, forming a symmetrical force flow path, avoiding the bending of the fixed column 25 or the tilting of the foot pad mounting seat 23 caused by load eccentricity. If the mechanical leg is subjected to a radial impact (such as a side collision), the axis of the support members converging at the center can decompose the radial force into multiple component forces along the axis of the support members, and the radial displacement is offset by the mutual constraint of the support members, which is particularly suitable for avoiding obstacles during high-speed movement.

[0121] In addition, the second support member 237 can also be designed as a hollow structure, which can reduce material usage while maintaining support strength. The mass distribution of the hollow structure is closer to the center of the cross section, which can significantly reduce the rotational inertia of the mechanical leg.

[0122] The entire mechanical leg can be made of lightweight and high-strength materials such as carbon fiber. The foot pad mounting seat 23, fixing column 25, first support member 235 and second support member 237 can be integrally formed by 3D printing or other methods, thereby improving the strength of the entire mechanical leg while taking into account the lightweight design.

[0123] Example 4

[0124] The existing anti-skid foot pads are mounted on the foot pad mounting base 23 by bonding or screw connection, which may easily fall off and result in a short high-speed running distance, and cannot meet the movement requirements of high-speed quadruped robots.

[0125] Based on any of the above embodiments, this embodiment mainly introduces the fourth improvement point, which is a structural form of the fourth improvement point. Figure 11 、 Figures 12 to 15 As shown, the shock-absorbing foot pad 24 is provided at the bottom of the foot pad mounting base 23 and is locked to the foot pad mounting base 23. The shock-absorbing foot pad 24 wraps around the bottom of the foot pad mounting base 23, so that the foot pad mounting base 23 contacts the ground through the shock-absorbing foot pad 24. The shock-absorbing foot pad 24 is preferably made of rubber, preferably wear-resistant rubber. The foot pad mounting base 23 is provided with multiple (two or more) insertion slots 238. The side of the shock-absorbing foot pad 24 facing the foot pad mounting base 23 is provided with the same number of insertion protrusions 245 as the insertion slots 238. When the shock-absorbing foot pad 24 is installed at the bottom of the foot pad mounting base 23, the insertion protrusions 245 are inserted into each insertion slot 238 one by one, so that the insertion protrusions 245 on the shock-absorbing foot pad 24 and the insertion slots 238 on the foot pad mounting base 23 are plugged and mated. Of course, it is understandable that in other embodiments, only one insertion groove 238 and only one insertion protrusion 245 may be provided respectively, and the insertion protrusion 245 is provided at the center position of the shock-absorbing foot pad 24 .

[0126] In order to reduce the weight of the quadruped robot, multiple carbon fiber support rods 21 are generally used to form a high-strength calf with a small cross-section. The present invention provides an installation position for the shock-absorbing foot pad 24 by connecting the foot pad mounting seat 23 at the lower part of the support rod 21. The shock-absorbing foot pad 24 can wrap the bottom of the foot pad mounting seat 23 to ensure that there is a larger contact surface between the shock-absorbing foot pad 24 and the foot pad mounting seat 23, so that the friction between the shock-absorbing foot pad 24 and the foot pad mounting seat 23 is greater, and the installation is more stable. Because the foot pad mounting seat 23 is an integrated molding structure and does not need to be assembled, the overall strength is greater. When the quadruped robot is running, the foot pad mounting seat 23 will not produce internal wear or noise due to its own assembly problems, thereby simplifying the assembly steps of the quadruped robot. At the same time, because the plug-in protrusions 245 on the shock-absorbing foot pad 24 are plugged into the plug-in grooves 238 on the foot pad mounting seat 23, when the quadruped robot runs at high speed on the ground, the shock-absorbing foot pad 24 can provide grip and can also reduce shock by slightly deforming. At the same time, when the lateral component of the friction force exerted by the ground on the shock-absorbing foot pad 24 is transmitted to each plug-in protrusion 245, the plug-in protrusion 245 can be against the inner side wall 234 of the plug-in groove 238 to provide lateral support for the shock-absorbing foot pad 24, thereby preventing the shock-absorbing foot pad 24 from being damaged by excessive lateral deformation, and also preventing the shock-absorbing foot pad 24 from being damaged by lateral deformation. The shock-absorbing foot pad 24 is detached from the shock-absorbing foot pad 24 due to excessive force, ensuring that the shock-absorbing foot pad 24 is always stably wrapped at the bottom of the foot pad mounting seat 23, and then ensuring that the foot pad mounting seat 23 can always be in contact with the ground through the shock-absorbing foot pad 24 when the quadruped robot is running at high speed, improving the calf's grip while providing a cushion for the calf, avoiding excessive impact force from being transmitted to the calf, thigh or body and causing damage, extending the service life of the quadruped robot, and allowing the quadruped robot to run at high speed for a long time. Compared with the existing quadruped robot, the situation where the foot pad will be damaged or fall off after a very short time of running, the high-speed running time of the quadruped robot is greatly improved.

[0127] In this embodiment, the foot pad mounting base 23 has a mounting surface at its bottom for mounting the shock-absorbing foot pad 24. The shock-absorbing foot pad 24 covers the mounting surface, and all the insertion slots 238 are spaced apart on the mounting surface. Because the frictional force is greatest at the location opposite the mounting surface when the quadruped robot is running at high speed (approximately 10 m / s), all the insertion slots 238 are located on the mounting surface. This allows all the insertion protrusions 245 to be concentrated at locations opposite the mounting surface. By abutting against the inner sidewalls 234 of the insertion slots 238, all the insertion protrusions 245 share the frictional force, effectively limiting and supporting the shock-absorbing foot pad 24. This prevents the shock-absorbing foot pad 24 from significant lateral deformation and damage, and also prevents the shock-absorbing foot pad 24 from becoming detached from the foot pad mounting base 23.

[0128] The mounting surface in this embodiment is arched toward the shock-absorbing foot pad 24, so that the mounting surface is an arc-shaped mounting surface 239, and the shock-absorbing foot pad 24 wrapped on the mounting surface is bent into a curved surface structure as a whole, so that the shock-absorbing foot pad 24 is fitted with the mounting surface. When the quadruped robot runs, the calf swings, and the shock-absorbing foot pad 24 swings with the calf. The shock-absorbing foot pad 24 with the curved surface structure can contact the ground at different positions to reduce shock and increase grip, thereby enhancing the quadruped robot's adaptability to different road conditions.

[0129] Preferably, a plurality of locking screws 27 are provided around the periphery of the shock-absorbing foot pad 24. The locking screws 27 extend through the edge of the shock-absorbing foot pad 24 and into the edge of the arcuate mounting surface 239 to lock the shock-absorbing foot pad 24 to the foot pad mounting base 23. Using the locking screws 27 to secure the shock-absorbing foot pad 24 simplifies the locking structure. Furthermore, because the locking screws 27 extend through the edge of the shock-absorbing foot pad 24 and the arcuate mounting surface 239, the locking screws 27 are positioned relatively high. When the quadruped robot is running, the locking screws 27 do not come into contact with the ground, thereby preventing wear on the locking screws 27 by the ground, and allowing the shock-absorbing foot pad 24 to be stably locked to the foot pad mounting base 23.

[0130] Currently, in the prior art, when a footpad is screwed to the bottom of the calf, a shim is required between the screw and the footpad to compress the footpad while preventing excessive concentration of the screw's locking force. Without the shim, during high-speed running, the lateral frictional force exerted by the ground on the footpad will be directly transmitted to the screw, pulling the screw laterally. Due to the high frictional force, it is very easy for the screw to tear the footpad. In this embodiment, however, the mating protrusion 245 cooperates with the mating groove 238 to share the lateral frictional force of the shock-absorbing footpad 24, providing lateral support for the shock-absorbing footpad 24. This prevents significant frictional force from being directly transmitted from the shock-absorbing footpad 24 to the locking screw 27. Therefore, the locking screw 27 can be used to directly lock the shock-absorbing footpad 24, eliminating the need for a shim. This also ensures stable locking of the shock-absorbing footpad 24 and simplifies the assembly structure.

[0131] In this embodiment, a plurality of anti-skid grooves 248 are provided on the side of the shock-absorbing foot pad 24 facing away from the foot pad mounting seat 23. The plurality of anti-skid grooves 248 are crisscrossed to form a plurality of anti-skid protrusions 243 on the shock-absorbing foot pad 24. By increasing the roughness of the shock-absorbing foot pad 24, the grip of the shock-absorbing foot pad 24 is enhanced. Moreover, because the mounting surface is an arc-shaped mounting surface 239, the central axis directions of the plurality of plug-in protrusions 245 plugged into the arc-shaped mounting surface 239 are different. If the shock-absorbing foot pad 24 is directly fastened to the foot pad mounting seat 23 in the same direction, a large number of plug-in protrusions 245 will have central axis directions different from the fastening direction, making it impossible to quickly plug all the plug-in protrusions 245 into the plug-in grooves 238. Therefore, during installation, the shock-absorbing foot pad 24 needs to be deformed and flipped over so that the side with the plug-in protrusions 245 is arched, and then the plug-in protrusions 245 are fastened. It is buckled onto the foot pad mounting seat 23 along the central axis direction of the arc-shaped mounting surface 239, so that the plug-in protrusion 245 at the center position of the shock-absorbing foot pad 24 (the central axis of this part of the plug-in protrusion 245 is close to the buckling direction) is plugged into the corresponding plug-in groove 238, and finally the shock-absorbing foot pad 24 is deformed and flipped over, and the two sides of the shock-absorbing foot pad 24 are moved closer to the mounting surface, and the central axes of the plug-in protrusions 245 on both sides are close to the moving-close direction, thereby realizing the quick plug-in of the plug-in protrusions 245 on both sides of the shock-absorbing foot pad 24 and the plug-in groove 238. Because when the shock-absorbing foot pad 24 is deformed and flipped, the ends of the anti-slip protrusions 243 on the shock-absorbing foot pad 24 will move closer to or away from each other, and multiple anti-slip grooves 248 are crisscrossed, which can reserve space for the ends of the anti-slip protrusions 243 to move closer to each other, avoiding the anti-slip protrusions 243 that move closer to each other from abutting against each other and hindering the deformation and flipping of the shock-absorbing foot pad 24, making it easier for the assembler to save effort when deforming and flipping the shock-absorbing foot pad 24, reducing the difficulty of assembly.

[0132] A plurality of through holes 244 are provided on the shock-absorbing foot pad 24 at a position opposite the arcuate mounting surface 239. The through holes 244 extend through the shock-absorbing foot pad 24. The through holes 244 provide clearance for the shock-absorbing foot pad 24 to deform, facilitating its deformation and flipping, thereby reducing the assembly effort of the assembler and simplifying assembly.

[0133] Preferably, a groove 246 is provided on the plug-in protrusion 245, and the opening of the groove 246 is arranged toward the foot pad mounting seat 23. The setting of the groove 246 can make the plug-in protrusion 245 have a certain deformation amount. When the quadruped robot is running, the plug-in protrusion 245 can enhance the shock absorption effect through slight deformation. During installation, the plug-in protrusion 245 can also be slightly deformed, making it easier for the assembler to flip the shock-absorbing foot pad 24.

[0134] To reduce the difficulty of plugging the plugging protrusion 245 into the plugging groove 238, the plugging protrusion 245 in this embodiment is cylindrical, and the groove 246 is provided at the center of the plugging protrusion 245 so as to be coaxial with the plugging protrusion 245. By providing the groove 246 at the center of the plugging protrusion 245, the thickness of the plugging protrusion 245 around the groove 246 is uniform, thereby ensuring that the deformation amount of the plugging protrusion 245 around the groove 246 is the same. When the plugging protrusion 245 is subjected to force in any direction, the plugging protrusion 245 can deform to the same extent.

[0135] In this embodiment, a first guide bevel 2381 surrounding the insertion groove 238 is provided at the opening of the insertion groove 238, and a second guide bevel 247 surrounding the insertion groove 245 is provided at the end of the insertion protrusion 245 away from the shock-absorbing foot pad 24. The first guide bevel 2381 of the insertion groove 238 and the second guide bevel 247 of the insertion protrusion 245 can both guide the insertion protrusion 245 during installation, so that the insertion protrusion 245 does not need to be precisely aligned with the insertion groove 238, thereby reducing the difficulty of assembly. Of course, it is understandable that in other embodiments, the first guide bevel 2381 surrounding the insertion groove 238 may be provided only at the opening of the insertion groove 238, or the second guide bevel 247 surrounding the insertion protrusion 245 may be provided only at the end of the insertion protrusion 245 away from the shock-absorbing foot pad 24.

[0136] Example 5

[0137] Based on any one of the first to third embodiments, this embodiment mainly introduces the fourth improvement point, which is another structural form of the fourth improvement point. Figure 11 、 Figures 16 to 22As shown, the calf mechanism 2 also includes a metal gripping piece 26, and a shock-absorbing foot pad 24 is provided at the bottom of the foot pad mounting seat 23, which is locked on the foot pad mounting seat 23. The shock-absorbing foot pad 24 wraps the bottom of the foot pad mounting seat 23 so that the foot pad mounting seat 23 contacts the ground through the shock-absorbing foot pad 24. The foot pad mounting base 23 is provided with a plurality (two or more) of insertion slots 238. Metal grippers 26 are mounted on the shock-absorbing foot pad 24, the number of which is equal to the number of insertion slots 238. The lower ends of the metal grippers 26 extend through the shock-absorbing foot pad 24, while the upper ends of the metal grippers 26 protrude beyond the shock-absorbing foot pad 24. When the shock-absorbing foot pad 24 is mounted on the bottom of the foot pad mounting base 23, the upper ends of the metal grippers 26 extend into corresponding insertion slots 238 to engage with the respective insertion slots 238. The metal grippers 26 are spaced apart on the shock-absorbing foot pad 24 so that each position of the shock-absorbing foot pad 24 can be fixed by the metal grippers 26, effectively securing the shock-absorbing foot pad 24. Of course, it is understood that in other embodiments, both the insertion slot 238 and the metal gripper 26 may be provided separately, with the metal gripper 26 being located at the center of the shock-absorbing foot pad 24. The shock-absorbing foot pad 24 is made of rubber material, preferably wear-resistant rubber. Wear-resistant rubber has a high hardness and is not easily damaged. Although the friction coefficient is smaller than that of ordinary rubber, the gripping ability can be enhanced by the metal gripping piece 26.

[0138] The present invention provides a shock-absorbing foot pad 24 at the bottom of the foot pad mounting seat 23, so that the shock-absorbing foot pad 24 can not only reduce the shock of the foot pad mounting seat 23 by slight deformation, but also improve the grip by increasing the friction between the foot pad and the ground. A metal gripping piece 26 is provided on the shock-absorbing foot pad 24 to pass through the shock-absorbing foot pad 24, and the metal gripping piece 26 is inserted into the insertion groove 238 of the foot pad mounting seat 23. When the quadruped robot runs on the ground at a high speed (a speed of about 10m / s), the hard metal gripping piece 26 can protrude from the shock-absorbing foot pad 24 to improve the grip effect, thereby making the quadruped robot run more smoothly. At the same time, when the lateral component of the friction force exerted by the ground on the shock-absorbing foot pad 24 is transmitted to each metal gripping piece 26, the metal gripping piece 26 can resist the inner side wall 234 of the insertion groove 238 to provide lateral support to the shock-absorbing foot pad 24 through which the metal gripping piece 26 is passed. The invention can prevent the shock-absorbing foot pad 24 from being damaged by excessive deformation in the lateral direction, and can also prevent the shock-absorbing foot pad 24 from being detached from the shock-absorbing foot pad 24 due to excessive lateral force, thereby ensuring that the shock-absorbing foot pad 24 is always stably wrapped at the bottom of the foot pad mounting seat 23. That is, the metal gripping piece 26 can not only improve the grip, but also limit the shock-absorbing foot pad 24. When the quadruped robot runs at high speed, it can ensure that the foot pad mounting seat 23 is always in contact with the ground through the shock-absorbing foot pad 24 and the metal gripping piece 26, thereby improving the grip of the calf and preventing the shock-absorbing foot pad 24 from being freely detached, thereby preventing the foot pad mounting seat 23 from directly contacting the ground and being subjected to excessive impact force, thereby preventing excessive impact force from being transmitted to the calf, thigh or fuselage and causing damage, thereby extending the service life of the quadruped robot and allowing the quadruped robot to run at high speed for a long time. Compared with the existing quadruped robot, the foot pad will be damaged or fall off after a very short time of running, which greatly improves the high-speed running time of the quadruped robot.

[0139] In this embodiment, the bottom of the foot pad mounting base 23 is provided with a curved mounting surface 239. The curved mounting surface 239 arches toward the shock-absorbing foot pad 24, causing the shock-absorbing foot pad 24 wrapped around the curved mounting surface 239 to bend into a curved surface structure as a whole, thereby achieving a tight fit between the shock-absorbing foot pad 24 and the curved mounting surface 239. When the quadruped robot runs, the calf swings, and the shock-absorbing foot pad 24 swings with the calf. The curved structure of the shock-absorbing foot pad 24 can contact the ground at different locations to reduce shock and increase grip, thereby enhancing the quadruped robot's adaptability to different road conditions.

[0140] Preferably, a plurality of locking screws 27 are provided around the periphery of the shock-absorbing foot pad 24. The locking screws 27 extend through the edge of the shock-absorbing foot pad 24 and into the edge of the arcuate mounting surface 239 to lock the shock-absorbing foot pad 24 to the foot pad mounting base 23. Using the locking screws 27 to secure the shock-absorbing foot pad 24 simplifies the locking structure. Furthermore, because the locking screws 27 extend through the edge of the shock-absorbing foot pad 24 and the arcuate mounting surface 239, the locking screws 27 are positioned relatively high. When the quadruped robot is running, the locking screws 27 do not come into contact with the ground, thereby preventing wear on the locking screws 27 by the ground, and allowing the shock-absorbing foot pad 24 to be stably locked to the foot pad mounting base 23.

[0141] Currently, in the prior art, when a footpad is screwed to the bottom of the calf, a shim is required between the screw and the footpad to compress the footpad while preventing excessive concentration of the screw's locking force. Without the shim, during high-speed running, the lateral frictional force exerted by the ground on the footpad will be directly transmitted to the screw, pulling the screw laterally. Due to the high friction, it is very easy for the screw to tear the footpad. In this embodiment, however, the metal gripper 26 cooperates with the insertion slot 238 to share the lateral frictional force of the shock-absorbing footpad 24, providing lateral support for the shock-absorbing footpad 24. This prevents significant frictional force from being directly transmitted from the shock-absorbing footpad 24 to the locking screw 27. Therefore, the locking screw 27 can be used to directly lock the shock-absorbing footpad 24, eliminating the need for a shim. This also ensures stable locking of the shock-absorbing footpad 24 and simplifies the assembly structure.

[0142] All the plug-in slots 238 are arranged on the arc-shaped mounting surface 239. This is because when the quadruped robot runs at high speed, the friction force on the position where the shock-absorbing foot pad 24 is opposite to the arc-shaped mounting surface 239 is the greatest. Therefore, all the plug-in slots 238 are arranged on the arc-shaped mounting surface 239. All the metal gripping parts 26 can be concentrated on the position opposite to the arc-shaped mounting surface 239 to share the friction force together, which has a better limiting and supporting effect on the shock-absorbing foot pad 24.

[0143] Because the center axis directions of the insertion slots 238 on the arc-shaped mounting surface 239 are different, the center axis directions of the metal grippers 26 installed on the curved surface of the shock-absorbing foot pad 24 are also different. If the shock-absorbing foot pad 24 with the metal grippers 26 installed is directly fastened to the foot pad mounting seat 23 in the same direction, it will be impossible to quickly plug all the metal grippers 26 into the insertion slots 238 because the center axis directions of a large number of metal grippers 26 are different from the fastening direction. Therefore, during installation, it is necessary to first deform and flip the shock-absorbing foot pad 24 with the metal gripper 26 installed to a shape that is arched toward the upper end of the metal gripper 26, and then buckle it onto the foot pad mounting seat 23 along the center axis direction of the arc-shaped mounting surface 239, so that the metal gripper 26 at the center position of the shock-absorbing foot pad 24 (the center axis of this part of the metal gripper 26 is close to the buckling direction) is inserted into the corresponding plug-in slot 238, and finally deform and flip the shock-absorbing foot pad 24, so that the two sides of the shock-absorbing foot pad 24 are close to the arc-shaped mounting surface 239, and the center axes of the metal grippers 26 on both sides are close to the direction of approaching, thereby realizing the rapid plug-in of the metal grippers 26 on both sides of the shock-absorbing foot pad 24 and the plug-in slots 238. In order to facilitate the deformation and flipping of the shock-absorbing foot pad 24, this embodiment provides a plurality of through holes 244 at a position opposite to the arc-shaped mounting surface 239. The through holes 244 reserve a deformation gap for the deformation of the shock-absorbing foot pad 24, which saves the assembler more effort when deforming and flipping the shock-absorbing foot pad 24, thereby reducing the difficulty of assembly.

[0144] In this embodiment, if Figure 18 and Figure 22 As shown, the metal gripping member 26 includes a claw 261 and a nail 262. The nail 262 includes a nail rod 2621 and a nail head 2622. The nail head 2622 is provided at the end of the nail rod 2621. A socket 242 is provided on the shock-absorbing foot pad 24. Figure 19 As shown, the nail head 2622 is located on the side of the shock-absorbing foot pad 24 facing the foot pad support seat, and is used to be inserted into the insertion groove 238. The nail rod 2621 passes through the insertion hole 242 and is locked with the claw 261, so that the nail head 2622 and the claw 261 jointly clamp the shock-absorbing foot pad 24. By configuring the metal gripping member 26 as a separate claw 261 and a nail 262, when the claw 261 and the nail 262 are locked, they can be fixed to the shock-absorbing foot pad 24 by clamping, and the installation is firm and stable.

[0145] like Figure 17As shown, preferably, the claw 261 includes a ring body 2611 and a plurality of claw tips 2612 extending toward the shock-absorbing foot pad 24, and the plurality of claw tips 2612 are distributed around the outer peripheral side of the ring body 2611, and the claw tips 2612 and the ring body 2611 are integrally arranged, and the ring body 2611 provides a connection position for the staple 262, and the staple 262 passes through the ring body 2611 and is locked with the ring body 2611 by riveting. When the claw 261 contacts the ground, each claw 261 can contact the ground through the plurality of claw tips 2612. The setting of the plurality of claw tips 2612 greatly improves the grip of the single metal gripping member 26.

[0146] like Figure 20 As shown, the side of the shock-absorbing foot pad 24 facing away from the foot pad mounting base 23 is provided with a receiving groove 241 for accommodating a claw 261, and the claw 261 is completely embedded in the receiving groove 241. Hiding the claw 261 in the receiving groove 241 ensures that when the quadruped robot is running at a slow speed, the contact between the shock-absorbing foot pad 24 and the road surface can provide sufficient grip, and the claw 261 does not need to extend out of the receiving groove 241. When the quadruped robot is running at high speed, the pressure on the shock-absorbing foot pad 24 is increased, causing the lower end of the claw 261 to extend out of the receiving groove 241, thereby enhancing grip.

[0147] Preferably, the shock-absorbing foot pad 24 is recessed toward the side where the foot pad mounting seat 23 is provided to form a receiving groove 241 with an opening facing away from the foot pad mounting seat 23, so that although the shock-absorbing foot pad 24 is provided with a receiving groove 241, the thickness of the position where the shock-absorbing foot pad 24 is provided with the receiving groove 241 is consistent with that at other positions, thereby ensuring that the strength of the entire shock-absorbing foot pad 24 is consistent at all locations, and avoiding tearing at the position where the shock-absorbing foot pad 24 is provided with the receiving groove 241 when the quadruped robot is running at high speed.

[0148] like Figure 18 and Figure 20 As shown, in this embodiment, a plurality of strip-shaped anti-skid protrusions 243 are provided on the side of the shock-absorbing foot pad 24 facing away from the foot pad mounting seat 23. The plurality of anti-skid protrusions 243 are cross-arranged to form anti-skid patterns on the shock-absorbing foot pad 24. The anti-skid patterns enhance the grip of the shock-absorbing foot pad 24 by increasing the roughness of the shock-absorbing foot pad 24.

[0149] The above description is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by any technician in this field within the scope of the present invention are included in the patent scope of the present invention.

Claims

1. A quadruped robot comprising a thigh mechanism and a shank mechanism, wherein the shank mechanism comprises a foot pad mounting seat, a support rod, and a sleeve, and the thigh mechanism is hinged to the sleeve, characterized in that: A first protective sleeve is fixed to the outer peripheral side of the support rod, the sleeve is sleeved on the first protective sleeve and slidably cooperates with the first protective sleeve, and the first protective sleeve at least covers the sliding range of the sleeve; The top of the foot pad mounting seat is provided with a fixing column extending toward the bottom of the foot pad mounting seat, and the fixing column is provided with a mounting hole opened along its axial direction, and the opening of the mounting hole is located at the top of the foot pad mounting seat; The support rod is at least partially inserted into the mounting hole and fixedly connected to the foot pad mounting seat. The top of the foot pad mounting seat is provided with a reinforcement structure to enhance the strength of the top edge of the mounting hole; The foot pad mounting seat includes an inner side wall located on the side of the foot pad mounting seat and an inner bottom wall located at the bottom of the foot pad mounting seat, a plurality of first support members are arranged between the fixing column and the inner side wall, and a plurality of second support members are arranged between the fixing column and the inner bottom wall.

2. A quadruped robot according to claim 1, characterized in that: The sleeve has a through hole for the support rod to pass through, and a shaft sleeve is fixed in the through hole. The shaft sleeve is sleeved on the outer peripheral side of the first protective sleeve.

3. A quadruped robot as claimed in claim 2, characterized in that: Two shaft sleeves are provided in the through hole, one of which extends to the top end of the through hole and the other extends to the bottom end of the through hole. An inwardly protruding limiting step is provided in the through hole and is located between the two shaft sleeves.

4. A quadruped robot according to claim 1, characterized in that: A second protective sleeve is fixed on the outer peripheral side of the support rod, and a portion of the second protective sleeve is inserted into the foot pad mounting seat along with the support rod.

5. A quadruped robot as claimed in claim 4, characterized in that: The top of the foot pad mounting seat is provided with a mounting hole for inserting the support rod, the inner wall of the mounting hole is provided with a glue injection groove, the top of the glue injection groove extends to the top of the mounting hole, and the support rod and the second protective cover are fixedly connected to the foot pad mounting seat by glue.

6. A quadruped robot according to claim 1, characterized in that: The calf mechanism includes three support rods, which are arranged in a triangle. The sleeve is provided with three through holes corresponding to the support rods, and the three through holes are distributed at intervals. The foot pad mounting seat is provided with three mounting holes corresponding to the support rods, and the three mounting holes are distributed at intervals.

7. A quadruped robot according to claim 6, characterized in that: The calf mechanism also includes a reinforcing rod arranged at the center of a triangle formed by the three support rods. The reinforcing rod is located between the bottom end of the sleeve sliding range and the entrance of the mounting hole, and is in close contact with the three support rods at the same time.

8. A quadruped robot according to claim 1, characterized in that: The reinforcing mechanism includes reinforcing ribs, and the top edge of the foot pad mounting seat extends outward to form the reinforcing ribs.

9. A quadruped robot as claimed in claim 1, characterized in that: The reinforcing mechanism includes a clamping hoop sleeved on the top end of the foot pad mounting seat, and the clamping hoop is tightly clamped on the outer peripheral side of the top end of the foot pad mounting seat.

10. The quadruped robot according to claim 1, wherein: The plurality of first support members are radially spaced and distributed.

11. A quadruped robot according to claim 10, characterized in that: Each first support member is a vertically arranged sheet-like structure.

12. A quadruped robot according to claim 1, characterized in that: The second supporting member is a hollow structure.

13. The quadruped robot according to claim 1, wherein: The calf mechanism also includes a shock-absorbing foot pad, which is locked on the foot pad mounting seat to wrap the bottom of the foot pad mounting seat. The foot pad mounting seat is provided with at least one plug-in slot, and the side of the shock-absorbing foot pad facing the foot pad mounting seat is provided with a plug-in protrusion that is plugged into the plug-in slot.

14. A quadruped robot according to claim 13, characterized in that: The second supporting member is provided between the position of the inner bottom wall corresponding to the plug-in slot and the fixing column.

15. The quadruped robot according to claim 13, wherein: The bottom of the foot pad mounting seat is an outwardly convex arc-shaped mounting surface, the shock-absorbing foot pad is in contact with the arc-shaped mounting surface, and the plug-in slots are distributed at intervals on the bottom of the foot pad mounting seat.

16. A quadruped robot according to claim 13, characterized in that: The peripheral side of the shock-absorbing foot pad is fixed to the bottom of the foot pad mounting seat through a plurality of locking screws, so as to lock the shock-absorbing foot pad on the foot pad mounting seat.

17. A quadruped robot according to claim 13, characterized in that: The plug-in protrusion is provided with a groove with an opening facing the foot pad mounting seat.

18. The quadruped robot according to claim 13, wherein: A first guiding slope surrounding the inserting slot is provided at the opening of the inserting slot; and / or a second guiding slope surrounding the inserting protrusion is provided at one end of the inserting protrusion away from the shock-absorbing foot pad.

19. The quadruped robot according to claim 1, wherein: The calf mechanism also includes a shock-absorbing foot pad and a metal gripping piece. The shock-absorbing foot pad is locked on the foot pad mounting seat to wrap the bottom of the foot pad mounting seat. The metal gripping piece is installed on the shock-absorbing foot pad and passes through the shock-absorbing foot pad. The foot pad mounting seat is provided with a plug-in slot. The upper end of the metal gripping piece extends into the plug-in slot to be plugged into and cooperate with the plug-in slot.

20. A quadruped robot according to claim 19, characterized in that: There are multiple metal gripping pieces, which are distributed at intervals on the shock-absorbing foot pad, and the plug-in slots are arranged in a one-to-one correspondence with the metal gripping pieces.

21. A quadruped robot as claimed in claim 20, characterized in that: The bottom of the foot pad mounting seat is provided with an arc-shaped mounting surface arched toward the shock-absorbing foot pad, the shock-absorbing foot pad covers the arc-shaped mounting surface, the plug-in slot is provided on the arc-shaped mounting surface, and a plurality of through holes are provided at a position opposite to the shock-absorbing foot pad and the arc-shaped mounting surface.

22. The quadruped robot according to claim 19, wherein: The metal gripping piece includes a claw and a nail, the nail includes a nail rod and a nail head provided at the end of the nail rod, the nail head is inserted into the insertion slot, the nail rod passes through the shock-absorbing foot pad and is locked with the claw, so that the nail head and the claw jointly clamp the shock-absorbing foot pad.

23. A quadruped robot as claimed in claim 22, characterized in that: A receiving groove is provided on a side of the shock-absorbing foot pad facing away from the foot pad mounting seat, and all of the clamping claws are embedded in the receiving groove.

24. A quadruped robot as claimed in claim 22, characterized in that: The clamping claw includes a ring body and a plurality of claw tips extending toward the shock-absorbing foot pad. The plurality of claw tips surround the outer peripheral side of the ring body and are integrally arranged with the ring body. The clamping nail passes through the ring body and is locked with the ring body by riveting.

Images