Foot sole structure of quadruped robot and quadruped robot

Abstract

The utility model discloses a foot sole structure of a quadruped robot, which belongs to the technical field of robots, solves the problem that the foot sole structure in the prior art cannot have better friction performance and wear resistance at the same time, and adopts the technical scheme that the foot sole structure mainly comprises a foot sole seat and a rubber foot pad paved at the bottom of the foot sole seat, a plurality of foot nails are arranged on the sole seat, a deformation part for enhancing the deformation capacity of the rubber foot pad is arranged on the rubber foot pad, and when the quadruped robot runs, the rubber foot pad deforms under the counter-acting force of the ground, so that the foot nails penetrate through the rubber foot pad to enhance the road holding force of the sole structure. The sole structure has good friction performance and wear resistance at the same time. The utility model further aims to disclose a quadruped robot which comprises the sole structure of the quadruped robot.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a sole structure of a quadruped robot and the quadruped robot. Background Art

[0002] Quadruped robots in the prior art, such as CN220518439U and CN111891253A, disclose that rubber foot pads are arranged on the sole structure of the quadruped robot to prevent the robot from slipping during walking. Generally, the movement speed of a quadruped robot is slow, and the friction between its sole and the ground during movement is small, so the sole is not easily worn. However, for a high-mobility quadruped robot (the movement speed can exceed 5 m / s), when running at high speed, a huge friction force will be generated between the sole and the ground, which will cause the sole to heat up rapidly in a short time. The sole made of rubber material will rub violently against the ground when the temperature rises, so it will be quickly damaged. Moreover, once the foot pad is damaged, the lengths of the four legs will be different, and the stability of the robot during movement will decrease, and it will not be able to maintain a long-distance high-speed run. In order to prevent the sole of the robot from slipping on the ground during movement, the sole needs to have sufficient grip. At the same time, in order to ensure the high-speed movement of the robot, the sole also needs to have high strength. Wear-resistant rubber foot pads are often too hard and have a low friction coefficient, and the rubber foot pads cannot provide the grip required by the quadruped robot. However, the rubber foot pads with better friction performance are too soft, and the rubber foot pads are prone to cracking when the quadruped robot runs at high speed. Summary of the Utility Model

[0003] The purpose to be achieved by the utility model is to provide a sole structure of a quadruped robot, which solves the problem that the sole structure in the prior art cannot simultaneously have good friction performance and wear resistance.

[0004] To achieve the above purpose, the utility model adopts the following technical scheme: A sole structure of a quadruped robot includes a sole base and a rubber foot pad laid at the bottom of the sole base. A plurality of foot nails are arranged on the sole base, and a deformation part for enhancing the deformation ability of the rubber foot pad is arranged on the rubber foot pad. When the quadruped robot runs, the rubber foot pad deforms under the ground reaction force so that the foot nails penetrate through the rubber foot pad to enhance the grip of the sole structure.

[0005] After adopting the above technical solution, the utility model has the following advantages: When the quadruped robot moves, the rubber foot pads will contact the ground, and a frictional force that causes the quadruped robot to move will be generated between the two. At the same time, the ground will generate an impact force acting on the rubber foot pads. The higher the moving speed of the quadruped robot, the greater the frictional force and the impact force will be. The increase in the frictional force can prevent slipping between the rubber foot pads and the ground, and the impact force can be used to cause the rubber foot pads to deform, so as to increase the contact area with the ground and reduce the damage to the rubber foot pads caused by the increase in the frictional force.

[0006] In this application, a deformation part for enhancing the deformation ability of the rubber foot pads is provided on the rubber foot pads. As the moving speed of the quadruped robot increases, the impact force received by the rubber foot pads will continuously increase, the deformation of the rubber foot pads will become larger and larger, and the contact area with the ground will also increase accordingly. Foot spikes are also provided on the foot sole base. When the robot moves at a high speed (exceeding 5 m / s), at this time, the frictional force generated by the friction between the rubber foot pads and the ground is not enough to push the robot to move at a speed exceeding 5 m / s. However, the highly deformed rubber foot pads can enable the foot spikes to penetrate the rubber foot pads and contact the ground, thereby providing a huge grip to meet the requirements of the high mobility of the quadruped robot, and can also prevent the rubber foot pads from being subjected to a huge frictional force, resulting in rapid wear of the rubber foot pads. Through the solution of this application, the rubber foot pads can select rubber materials with a harder texture, so that the rubber foot pads have better wear resistance and ensure the service life of the rubber foot pads. The frictional force between the harder rubber foot pads and the ground during low-speed movement can also meet the movement requirements of the robot. Moreover, the rubber material itself has elasticity. Even if small holes are generated after the rubber foot pads are penetrated by the foot spikes, it will not cause the overall rupture of the rubber foot pads.

[0007] Further, a plurality of the deformation parts are provided on the rubber foot pads, and the deformation parts are grooves or pits provided on one side of the rubber foot pads facing the foot sole base; or, a plurality of the deformation parts are provided on the rubber foot pads, and the deformation parts are cavities provided inside the rubber foot pads.

[0008] With the foregoing technical solutions, both the groove or the pit can weaken the material thickness of the set position thereof, thereby providing deformation space for the surrounding materials, and can also weaken the strength of the rubber foot pad at the set position of the deformation part, making it easy for the set position and the surrounding area to generate deformation. The present application also provides another technical solution, that is, the deformation part is a cavity arranged inside the rubber foot pad. The cavity can weaken the material thickness of the set position thereof, thereby providing deformation space for the surrounding materials and making it easy for the set position and the surrounding area to generate deformation, and can also make the upper and lower sides of the rubber foot pad more complete, ensuring the contact area between the rubber foot pad and the footrest and the ground. Compared with setting a single larger deformation part, this solution sets multiple deformation parts. While weakening the strength of multiple parts of the rubber foot pad, it will not cause excessive deformation of a certain part of the rubber foot pad and local damage, affecting the maneuverability of the quadruped robot. A large number of foot nails can also extend out when the running speed of the robot increases to improve the grip.

[0009] Furthermore, the set position of each of the deformation parts corresponds to at least one foot nail.

[0010] With the foregoing technical solutions, the deformation parts weaken the structural strength of the set position by reducing the thickness of the foot pad. It is not only easy to deform but also makes the tip of the foot nail easily penetrate through the rubber foot pad. The part corresponding to the foot nail is the part with a thinner thickness on the rubber foot pad. Not only is this area more likely to deform, but the foot nail is also more likely to penetrate through.

[0011] Furthermore, a plurality of the deformation parts are arranged on one side of the rubber foot pad facing the footrest. The deformation parts are grooves extending from the front side to the rear side of the rubber foot pad. A plurality of foot nails are arranged along the set direction of the grooves, and the tip of the foot nail extends into the grooves.

[0012] With the foregoing technical solutions, the set direction of the grooves is the same as the friction direction when the quadruped robot runs. Therefore, the friction force acting on the rubber foot pad will not generate a force that pulls the rubber structures on both sides of the grooves to expand outward, resulting in cracking of the rubber foot pad along the grooves. Even if the rubber foot pad is damaged due to the penetration of the foot nails through the rubber foot pad, it will not be vulnerable due to the damage. In addition, the tip of the foot nail extends into the grooves, enabling the rubber foot pad to quickly penetrate through the rubber foot pad after deformation to ensure the grip.

[0013] Furthermore, anti-slip patterns opposite to the positions of the foot nails are arranged on the side of the rubber foot pad facing away from the footrest. The tip of the foot nail penetrates through the concave area of the anti-slip pattern to extend out of the rubber foot pad when the rubber foot pad deforms.

[0014] With the foregoing technical solution, the anti-slip texture is provided to enable the rubber foot pad to generate tangential elastic deformation when contacting the ground, generating a tangential force that can be superimposed on the frictional force to further increase the frictional force of the rubber foot pad. Secondly, the concave area of the anti-slip texture is thinner, and the nails can more easily penetrate through the rubber foot pad and protrude, capable of providing the required grip in a timely manner when the quadruped robot runs at high speed.

[0015] Furthermore, the lower surface of the foot sole seat is arc-shaped, and the thickness of the rubber foot pad gradually increases from the rear to the front.

[0016] With the foregoing technical solution, since the foot sole structure is installed on the leg assembly of the quadruped robot, the landing point of the quadruped robot during running is behind the rubber foot pad. As the leg assembly of the quadruped robot swings, the contact point with the ground will gradually move forward. The arc-shaped foot sole seat can ensure smoother swinging of the leg assembly of the quadruped robot, reducing the load on the motor driving the movement of the leg assembly. Secondly, the greater thickness at the rear of the rubber foot pad can reduce the damage to the rubber foot pad when it receives a large impact force during landing. Such a design can also reduce the thickness of the front part of the rubber foot pad, reducing the weight of the rubber foot pad and the rotational inertia generated when the leg assembly of the quadruped robot swings, improving the high maneuverability of the quadruped robot.

[0017] Furthermore, the foot sole seat includes a base and a socket. The socket is arranged on the base for connecting with the leg assembly of the quadruped robot. The base is provided with a plurality of through holes for assembling the foot nails, and the rubber foot pad is attached to the bottom surface of the base.

[0018] With the foregoing technical solution, there is no need to set up too many structures on the foot sole seat to reduce the weight of the foot sole seat and the rotational inertia of the lower leg of the quadruped robot.

[0019] Furthermore, the foot sole seat includes a socket, a first bottom plate, and a second bottom plate. The socket is arranged on the first bottom plate for connecting with the leg assembly of the quadruped robot. The first bottom plate and the second bottom plate are detachably connected. The foot nails are pressed between the first bottom plate and the second bottom plate, and the rubber foot pad is attached to the bottom surface of the second bottom plate.

[0020] With the foregoing technical solution, after the rubber foot pad is damaged and the foot nails are worn, the second bottom plate can be removed for replacement, reducing the later maintenance cost.

[0021] Furthermore, the foot nails are arranged in an array between the rubber foot pad and the foot sole seat.

[0022] With the foregoing technical solution, the foot nails arranged in an array can provide support in all directions, making the quadruped robot more stable when turning, accelerating, or decelerating, and not easily slipping or losing balance.

[0023] Another object of the present utility model is to provide a quadruped robot, including a leg assembly. The leg assembly includes a thigh component and a calf component hinged to the thigh component. The calf component includes a support member, a hinge member, and the sole structure of the quadruped robot disclosed in any one of the above technical solutions. The hinge member is hinged to the thigh assembly, and the support member is supported between the hinge member and the sole structure.

[0024] By adopting the foregoing technical solution, the sole structure has good friction performance and wear resistance at the same time, meeting the high maneuverability of the quadruped robot.

[0025] Further, the studs on the sole structure are inclined relative to the sole base. The quadruped robot includes four sets of leg assemblies, where two sets of leg assemblies are the front feet of the quadruped robot, and the other two sets of leg assemblies are the rear feet of the quadruped robot. The inclination direction of the studs on the front feet is opposite to the inclination direction of the studs on the rear feet.

[0026] By adopting the foregoing technical solution, when the orientation of the studs is consistent with the forward running direction of the quadruped robot, the studs facing forward will sink into the ground, and to pull out the studs, resistance needs to be overcome, which generates a backward frictional force, hindering the forward direction and acting like a brake on the quadruped robot. When the orientation of the studs is opposite to the forward running direction of the quadruped robot, then when the quadruped robot moves forward, the studs will not hinder the movement, but will be more stable when pushing, because at this time, the force to be overcome is the forward force, and the design that the studs are opposite to the forward running direction of the quadruped robot just provides this force support. Since when the quadruped robot runs, the front feet and the rear feet take turns to support the weight of the quadruped robot and help maintain balance. At the same time, the main task of the rear feet at this stage is to push off from the ground to provide the forward power for the quadruped robot, while the front feet need to provide a certain amount of friction to achieve a certain braking effect to reduce the phenomenon of the quadruped robot slipping. In this solution, the inclination direction of the studs on the front feet is opposite to the inclination direction of the studs on the rear feet. The rear feet are used for gripping the ground, and the front feet are used for braking to provide better gripping and braking effects when the quadruped robot runs at high speed. Description of the Drawings

[0027] The present utility model will be further described below with reference to the drawings:

[0028] Figure 1 It is a schematic diagram of the sole structure of the quadruped robot in Embodiment 1 of the present utility model;

[0029] Figure 2 It is a schematic diagram of another perspective of the sole structure of the quadruped robot in Embodiment 1 of the present utility model;

[0030] Figure 3 It is a cross-sectional view of the sole structure of the quadruped robot in Embodiment 1 of the present utility model;

[0031] Figure 4 This is a schematic diagram of another perspective of the foot structure of the quadruped robot in the first embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the quadruped robot in the second embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the leg assembly in the second embodiment of the present invention;

[0034] In the figure, 1 is the front foot; 2 is the rear foot; 11 is the thigh component; 12 is the support member; 13 is the hinge member; 14 is the foot structure; 141 is the foot base; 1411 is the lower surface; 1412 is the base; 1413 is the socket; 1414 is the through hole; 1415 is the heat dissipation hole; 142 is the rubber foot pad; 1421 is the deformation part; 1422 is the anti-slip pattern; 1423 is the concave area; 143 is the foot nail; 1431 is the tip part. Detailed implementation manners

[0035] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part rather than all of the embodiments of the present invention.

[0036] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here.

[0037] It should be understood that in various embodiments of the present invention, such as the magnitudes of the sequence numbers of each process, they do not mean the sequence of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0038] It should be understood that in the present invention, "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0039] It should be understood that in the present utility model, "a plurality of" means two or more. "And / or" is merely a description of the relationship between associated objects, indicating that three relationships may exist. For example, X and / or Y may represent three situations: X exists alone, X and Y exist simultaneously, and Y exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "Including X, Y, and Z" and "including X, Y, Z" mean that all of X, Y, and Z are included. "Including X, Y, or Z" means that one of X, Y, and Z is included. "Including X, Y, and / or Z" means that any one or any two or all three of X, Y, and Z are included.

[0040] The technical solution of the present utility model will be described in detail below with specific embodiments. These several specific embodiments below can be combined or replaced according to the actual situation. For the same or similar concepts or processes, they may not be described again in some embodiments.

[0041] Embodiment 1:

[0042] As Figures 1 to 4 shown, the present utility model provides a sole structure of a quadruped robot, which is installed on the leg assembly of the quadruped robot. The sole structure 14 of the quadruped robot includes a sole base 141 and a rubber foot pad 142 laid on the bottom of the sole base 141. When the quadruped robot moves, the rubber foot pad 142 will contact the ground, and a frictional force that enables the quadruped robot to move will be generated between the two. At the same time, an impact force will be generated on the rubber foot pad 142 by the ground. The higher the moving speed of the quadruped robot, the greater the frictional force and the impact force will be. The increase in the frictional force can prevent slipping between the rubber foot pad 142 and the ground, and the impact force can be used to cause the rubber foot pad 142 to deform, so as to increase the contact area with the ground and reduce the damage to the rubber foot pad 142 caused by the increase in the frictional force.

[0043] Furthermore, a deformation part 1421 for enhancing the deformation ability of the rubber foot pad 142 is provided on the rubber foot pad 142. As the moving speed of the quadruped robot increases, the impact force received by the rubber foot pad 142 will continuously increase, the deformation of the rubber foot pad 142 will become larger and larger, and the contact area with the ground will also increase accordingly.

[0044] When the robot moves at a high speed (more than 5 m / s), the frictional force generated by the rubber foot pads 142 rubbing against the ground is no longer sufficient to push the robot to move at a speed exceeding 5 m / s. Further, multiple foot spikes 143 are provided on the foot sole base 141. When the quadruped robot runs, the rubber foot pads 142 are deformed by the ground reaction force, so that the foot spikes 143 penetrate through the rubber foot pads 142 to enhance the grip of the foot structure 14, meeting the requirements of the high mobility of the quadruped robot, and also avoiding excessive frictional force on the rubber foot pads 142, resulting in rapid wear of the rubber foot pads 142. Through the solution of this application, the rubber foot pads 142 can select rubber materials with a harder texture, enabling the rubber foot pads 142 to have better wear resistance and ensuring the service life of the rubber foot pads 142. The frictional force between the harder rubber foot pads 142 and the ground during low-speed movement can also meet the movement requirements of the robot. Moreover, the rubber material itself has elasticity. Even if small holes are generated after the rubber foot pads 142 are penetrated by the foot spikes 143, the rubber foot pads 142 will not be damaged as a whole.

[0045] Since the leg components of the quadruped robot swing during movement, the contact points between the rubber foot pads 142 and the ground will change. To further ensure the wear resistance of the rubber foot pads 142 while providing sufficient frictional force to the quadruped robot, multiple deformation parts 1421 are provided on the rubber foot pads 142, which can ensure that there are always foot spikes 143 in contact with the ground during the swinging process of the leg components, ensuring the stability of movement, and also avoiding excessive deformation of a large area of the rubber foot pads 142, resulting in the foot spikes 143 penetrating through the rubber foot pads 142 when the quadruped robot runs at a low speed, thereby providing a grip greater than that required by the quadruped robot and affecting the mobility of the quadruped robot; the deformation parts 1421 are grooves provided on the side of the rubber foot pads 142 facing the foot sole base 141. The grooves can weaken the material thickness of the set parts, thereby providing deformation space for the surrounding materials, and also weakening the strength of the rubber foot pads 142 at the set parts of the deformation parts 1421, making it easy for the set parts and the surrounding areas to deform.

[0046] Among them, the setting position of each deformation part 1421 corresponds to at least one foot spike 143, which can not only facilitate deformation but also make the tip part 1431 of the foot spike 143 easily penetrate through the rubber foot pads 142. The part corresponding to the foot spike 143 is the part with a thinner thickness on the rubber foot pads 142. Not only is this area more easily deformed, but the foot spike 143 is also more easily penetrated.

[0047] Furthermore, on the side of the rubber foot pad 142 facing away from the foot sole base 141, there are anti-slip patterns 1422 corresponding to the positions of the foot spikes 143. The anti-slip patterns 1422 can cause the rubber foot pad 142 to generate tangential elastic deformation when in contact with the ground, generating a tangential force that can be superimposed on the frictional force, which can further increase the frictional force of the rubber foot pad 142. Secondly, the tip part 1431 of the foot spike 143 penetrates through the recessed area 1423 of the anti-slip pattern 1422 to extend out of the rubber foot pad 142 when the rubber foot pad 142 deforms. The recessed area 1423 of the anti-slip pattern 1422 is relatively thin, and it is easier for the foot spike 143 to penetrate through the rubber foot pad 142 and extend out, which can provide the required grip in a timely manner when the quadruped robot runs at high speed.

[0048] In order to further ensure the service life of the rubber foot pad 142, the groove extends from the front side to the rear side of the rubber foot pad 142, and the setting direction of the groove is the same as the direction of the frictional force when the quadruped robot runs. Therefore, the frictional force acting on the rubber foot pad 142 will not generate a force that pulls the rubber structure on both sides of the groove outward and causes the rubber foot pad 142 to crack along the groove. Even if the rubber foot pad 142 is damaged due to the foot spike 143 penetrating through the rubber foot pad 142, it will not be vulnerable due to the damage. Moreover, a plurality of foot spikes 143 are arranged along the setting direction of the groove, and each groove corresponds to a plurality of foot spikes 143. The tip part 1431 of the foot spike 143 extends into the groove, so that the rubber foot pad 142 can quickly penetrate through the rubber foot pad 142 after deformation to ensure the grip.

[0049] Since the foot sole structure 14 is installed on the leg assembly of the quadruped robot, the landing point of the quadruped robot during running is on the rear side of the rubber foot pad 142. As the leg assembly of the quadruped robot swings, the contact point between the rubber foot pad 142 and the ground will gradually move forward. In order to ensure the service life of the rubber foot pad 142, the lower surface 1411 of the foot sole base 141 is arc-shaped, and the thickness of the rubber foot pad 142 gradually increases from the rear to the front. The arc-shaped foot sole base 141 can ensure that the swing of the leg assembly of the quadruped robot is smoother, reducing the load on the motor driving the movement of the leg assembly. Secondly, the greater thickness of the rear side of the rubber foot pad 142 can reduce the damage to the rubber foot pad 142 caused by the large impact force when it lands. Such a design can also reduce the thickness of the front side part of the rubber foot pad 142, reduce the weight of the rubber foot pad 142, and reduce the moment of inertia generated when the leg assembly of the quadruped robot swings, improving the high maneuverability of the quadruped robot.

[0050] In order to further ensure the high maneuverability of the quadruped robot, the foot spikes 143 are arranged in an array between the rubber foot pad 142 and the foot sole base 141. The foot spikes 143 can provide support in all directions, making the quadruped robot more stable when turning, accelerating or decelerating, and not prone to slipping or losing balance.

[0051] In order to reduce the rotational inertia of the calf of the quadruped robot, the foot sole base 141 includes a base 1412 and a socket 1413. The socket 1413 is arranged on the base 1412 for connecting with the leg assembly of the quadruped robot. A plurality of through holes 1414 for assembling the foot spikes 143 are provided on the base 1412. The rubber foot pad 142 is attached to the bottom surface of the base 1412, and there is no need for the foot sole base 141 to be provided with too many structures to reduce the weight of the foot sole base 141.

[0052] When the quadruped robot runs at high speed, the temperature of the foot sole structure 14 rises rapidly. In order to facilitate heat dissipation, heat dissipation holes 1415 are provided on the base 1412. The heat dissipation holes 1415 are channels that penetrate through the base 1412 from the front end to the rear end.

[0053] It can be understood that in other embodiments, the deformation part is a concave pit provided on the side of the rubber foot pad facing the foot sole base. The concave pit can weaken the material thickness of its set position, so as to provide deformation space for the surrounding materials and weaken the strength of the rubber foot pad at the set position of the deformation part, making it easy for the set position and the surrounding area to generate deformation. The processing difficulty of the concave pit is relatively low and it is convenient for processing.

[0054] It can be understood that in other embodiments, the deformation part is a cavity provided inside the rubber foot pad. The cavity can weaken the material thickness of its set position, so as to provide deformation space for the surrounding materials and make it easy for the set position and the surrounding area to generate deformation. It can also make the upper and lower sides of the rubber foot pad more complete and ensure the contact area between the rubber foot pad and the foot sole base and the ground. Among them, the cavity is a channel that penetrates through the rubber foot pad from the front end to the rear end.

[0055] It can be understood that in other embodiments, the foot sole base includes a socket, a first bottom plate and a second bottom plate. The socket is arranged on the first bottom plate for connecting with the leg assembly of the quadruped robot. The first bottom plate and the second bottom plate are detachably connected. The foot spike is pressed between the first bottom plate and the second bottom plate. The rubber foot pad is attached to the bottom surface of the second bottom plate. After the rubber foot pad is damaged and the foot spike is worn, the second bottom plate can be removed for replacement, reducing the later maintenance cost.

[0056] It can be understood that in other embodiments, a plurality of openings corresponding to the plurality of foot spikes are provided on the rubber foot pad for the foot spikes to protrude, making it easier for the foot spikes to penetrate through the rubber foot pad.

[0057] Embodiment 2:

[0058] Such as Figure 5 And Figure 6As shown, a quadruped robot is provided in this embodiment, including a leg assembly, the leg assembly including a thigh component 11 and a calf component hinged to the thigh component 11, the calf component including a support member 12, an articulation member 13 and a sole structure 14 of the quadruped robot disclosed in any one of the above technical solutions, the articulation member 13 is hinged to the thigh assembly, the support member 12 is supported between the articulation member 13 and the sole structure 14, so that the sole structure 14 has both good friction performance and wear resistance, thereby meeting the high maneuverability of the quadruped robot.

[0059] The quadruped robot includes four groups of leg components, two of which are the front feet 1 of the quadruped robot, and the other two groups of leg components are the rear feet 2 of the quadruped robot. The foot nails 143 on the sole structure 14 are tilted relative to the sole seat 141. If the direction of the foot nails 143 is consistent with the direction of the quadruped robot running forward, the forward foot nails 143 will sink into the ground, and resistance needs to be overcome to pull out the foot nails 143, which generates a backward friction force, hindering the forward direction and playing a similar role to the brakes on the quadruped robot. If the direction of the foot nails 143 is opposite to the direction of the quadruped robot running forward, then when the quadruped robot moves forward, the foot nails 143 will not hinder the movement, but will be more stable when pushed, because at this time what needs to be overcome is the forward force, and the design of the foot nails 143 facing the opposite direction of the quadruped robot running forward just provides support for this force. When the quadruped robot is running, the front foot 1 and the rear foot 2 take turns to support the weight of the quadruped robot and help maintain balance. At the same time, the main task of the rear foot 2 at this stage is to push away from the ground to provide the quadruped robot with forward momentum, while the front foot 1 needs to provide a certain friction force to play a certain braking effect and reduce the phenomenon of the quadruped robot slipping. For this reason, in this embodiment, the inclination direction of the foot nail 143 on the front foot 1 is opposite to the inclination direction of the foot nail 143 on the rear foot 2. Among them, the foot nail 143 on the front foot 1 is inclined forward relative to the sole seat 141, and the foot nail 143 on the rear foot 2 is inclined backward relative to the sole seat 141. The rear foot 2 is used for gripping the ground, and the front foot 1 is used for braking, so as to provide better gripping and braking effects when the quadruped robot runs at high speed. On the contrary, the front foot 1 can also grip the ground to propel forward, and the rear foot 2 grips the ground to brake.

[0060] In addition to the above-mentioned preferred embodiments, the present invention also has other implementation modes. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection requested by the present invention.

Claims

1. A foot structure of a quadruped robot, comprising a foot seat and a rubber foot pad laid at the bottom of the foot seat, characterized in that: The sole seat is provided with a plurality of foot spikes, and the rubber foot pad is provided with a deformation portion for enhancing the deformation ability of the rubber foot pad. When the quadruped robot is running, the rubber foot pad is deformed by the reaction force of the ground so that the foot spikes penetrate the rubber foot pad to enhance the grip of the sole structure.

2. The foot structure of a quadruped robot according to claim 1, characterized in that: The rubber foot pad is provided with a plurality of the deformation parts, and the deformation parts are grooves or pits arranged on the side of the rubber foot pad facing the sole seat; or, the rubber foot pad is provided with a plurality of the deformation parts, and the deformation parts are cavities arranged inside the rubber foot pad.

3. The foot structure of a quadruped robot according to claim 2, characterized in that: The setting position of each of the deformation parts corresponds to at least one foot nail.

4. The foot structure of a quadruped robot according to claim 1, characterized in that: A plurality of deformation parts are provided on the side of the rubber foot pad facing the sole seat. The deformation part is a groove extending from the front side to the rear side of the rubber foot pad. A plurality of foot spikes are provided along the setting direction of the groove. The tip parts of the foot spikes extend into the groove.

5. The foot structure of a quadruped robot according to claim 1, characterized in that: The side of the rubber foot pad facing away from the sole seat is provided with an anti-slip pattern opposite to the position of the foot spike, and the tip of the foot spike penetrates the concave area of ​​the anti-slip pattern to extend out of the rubber foot pad when the rubber foot pad is deformed.

6. The foot structure of a quadruped robot according to claim 1, characterized in that: The lower surface of the sole seat is arc-shaped, and the thickness of the rubber foot pad gradually increases from back to front.

7. A foot structure of a quadruped robot according to any one of claims 1 to 6, characterized in that: The foot base includes a base and a socket, the socket is arranged on the base for connecting with the leg assembly of the quadruped robot, the base is provided with a plurality of through holes for assembling the foot spikes, and the rubber foot pad is attached to the bottom surface of the base.

8. A foot structure of a quadruped robot according to any one of claims 1 to 6, characterized in that: The foot base includes a socket, a first base plate and a second base plate. The socket is arranged on the first base plate for connecting to the leg assembly of the quadruped robot. The first base plate and the second base plate are detachably connected. The foot nails are pressed between the first base plate and the second base plate. The rubber foot pad is attached to the bottom surface of the second base plate.

9. The foot structure of a quadruped robot according to claim 1, characterized in that: The foot spike array is arranged between the rubber foot pad and the sole seat.

10. A quadruped robot, characterized in that: The invention comprises a leg assembly, wherein the leg assembly comprises a thigh part and a calf part hinged to the thigh part, the calf part comprises a support member, a hinge member and a foot structure of the quadruped robot disclosed in any one of claims 1 to 9, the hinge member is hinged to the thigh part, and the support member is supported between the hinge member and the foot structure.

11. The quadruped robot according to claim 10, characterized in that: The foot spikes on the foot structure are arranged obliquely relative to the foot seat. The quadruped robot includes four groups of leg components, two groups of leg components are the front feet of the quadruped robot, and the other two groups of leg components are the rear feet of the quadruped robot. The inclination direction of the foot spikes on the front feet is opposite to the inclination direction of the foot spikes on the rear feet.

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