Leg structure of quadruped robot and quadruped robot

Abstract

The utility model discloses a foot structure and four -legged robot of four -legged robot belong to four -legged robot field, solve the problem that rubber foot pad whole stress is uneven because rubber foot pad is smaller in height direction's stress, and the technical scheme of solving this problem mainly includes foot end piece and the rubber foot pad of through locking piece and foot end piece can dismantle connection, the bottom of foot end piece is equipped with the lock catch, and the top recess of rubber foot pad forms the slot for the lock catch insertion, be equipped with the through -hole of rubber foot pad for locking piece penetrates, and locking piece includes two stop surfaces, and locking piece makes foot end piece and rubber foot pad keep fixed along the through -hole penetration lock catch, and two stop surfaces press on the two sides of rubber foot pad opposite, locking piece and through -hole interference fit to make part rubber foot pad be clamped between the bottom of foot end piece and locking piece. The utility model mainly is used for improving the locking force of locking piece to rubber foot pad.

Description

Technical Field

[0001] This utility model illustrates the foot structure of a quadruped robot and the quadruped robot itself, belonging to the field of quadruped robot technology. Background Technology

[0002] Quadruped robots are biomimetic robots inspired by the movement of animal limbs. They typically consist of four legs and are designed to move across a variety of terrains and environments, including flat ground, uneven terrain, stairs, narrow spaces, and hazardous environments. They can also be used to explore unknown areas, perform dangerous tasks, and conduct rescue operations.

[0003] Traditional quadruped robot feet typically have a layer of rubber as a cushioning material where they contact the ground to reduce vibration and noise. For example, patent CN221068276U discloses a robot foot pad fixing structure, including a foot pad with locking plates and screws on both sides for assisting in clamping the foot pad. The outer side of the foot pad has a pad limiting groove and a pad limiting block. The locking plate has a locking limiting block and a locking limiting groove on the side facing the foot pad. The pad limiting groove matches and interlocks with the locking limiting block, and the pad limiting block matches and interlocks with the locking limiting groove, thus... While footpads can be fixed in the height direction, the thickness and length of the pad limiting block and locking limiting block in the aforementioned patent are limited and cannot be increased. Furthermore, the pad limiting block and locking limiting block are located below the screw connecting the locking plate, resulting in a weak clamping force of the locking plate on the footpad, which makes the footpad prone to loosening. In addition, the small size of the pad limiting block and locking limiting block results in a small contact area between the sole of the foot and the footpad. During walking, the force will be concentrated on the areas on both sides of the pad limiting groove, leading to uneven stress on the footpad and making it more prone to fatigue cracking. Utility Model Content

[0004] The purpose of this invention is to solve the problem of uneven stress on the rubber footpad caused by the small force in the height direction. To this end, a foot structure for a quadruped robot and a quadruped robot are provided. The locking component can lock the rubber footpad from two directions, which can improve the locking force of the locking component on the rubber footpad.

[0005] To solve the above-mentioned technical problems, this utility model adopts the following technical solution:

[0006] The foot structure of the quadruped robot includes a foot end piece and a rubber foot pad detachably connected to the foot end piece via a locking member. The bottom end of the foot end piece is provided with a buckle, and the top end of the rubber foot pad is recessed to form a slot for the buckle to be inserted. The rubber foot pad is provided with a through hole for the locking member to pass through. The locking member includes two stop surfaces. The locking member passes through the buckle along the through hole to keep the foot end piece and the rubber foot pad fixed, and the two stop surfaces apply pressure to the two opposite sides of the rubber foot pad. The locking member is interference-fitted with the through hole so that part of the rubber foot pad is clamped between the bottom end of the foot end piece and the locking member.

[0007] The beneficial effects of using this utility model are:

[0008] The locking component of this invention includes two stop surfaces. After locking, the two stop surfaces press against the two opposite sides of the rubber foot pad. The two stop surfaces clamp the rubber foot pad in the axial direction of the through hole. Additionally, the locking component forms an interference fit with the through hole, providing support. The rubber foot pad, located above the locking component, is clamped between the bottom end of the foot end piece and the locking component. Therefore, the foot end piece and the locking component also clamp the rubber foot pad in the height direction. In other words, the locking component and the foot end piece can clamp the rubber foot pad in two directions, effectively increasing the clamping force of the locking component on the rubber foot pad and contributing to a stable connection between the rubber foot pad and the foot end piece. Qualitative measures reduce the likelihood of the rubber footpad loosening, resulting in better cushioning performance. Furthermore, in addition to the connection between the rubber footpad and the foot end piece via locking components, the top of the rubber footpad also abuts against the bottom of the foot end piece, significantly increasing the contact area between them. During walking, the foot end piece provides effective support to the rubber footpad, ensuring more even distribution of force and improving its cushioning performance. This also prevents fatigue cracking caused by localized stress, thus extending the lifespan of the rubber footpad.

[0009] Preferably, the locking component includes a first locking block and a second locking block connected by fasteners. The first locking block has a through mounting hole, and the fastener passes through the mounting hole and is fixedly connected to the second locking block. The opposite sides of the first and second locking blocks form the stop surfaces. By employing the aforementioned technical solution, the fasteners enable a detachable connection between the first and second locking blocks, making locking and disassembling the locking component simpler and more convenient. This reduces the difficulty of installing and removing the rubber foot pads, making replacement easier and faster, and improving the replacement efficiency of the rubber foot pads.

[0010] Preferably, both the first and second locking blocks include a limiting part and a connecting part, with at least one connecting part inserted into the latch to achieve docking of the two connecting parts, and the limiting part forming the stop surface on the side facing the connecting part.

[0011] Preferably, the through hole includes mounting grooves formed by recesses on both sides of the rubber footpad and a through hole communicating with the slot. The limiting part is interference-fitted with the mounting groove, the stop surface of the limiting part presses against the mounting groove, and the connecting part is interference-fitted with the through hole. Using the aforementioned technical solution, the interference fit between the limiting part and the mounting groove, and the interference fit between the connecting part and the through hole, ensures that the entire locking component can maintain contact with the rubber footpad. This ensures that the bottom ends of the locking component and the foot end component can clamp a portion of the rubber footpad, effectively increasing the clamping force of the locking component on the rubber footpad, further reducing the possibility of the rubber footpad loosening, and allowing the rubber footpad to provide better cushioning. In addition, the locking component also provides support for the rubber footpad, increasing the support area. During walking, the bottom ends of the locking component and the foot end component effectively disperse the force on the rubber footpad, preventing fatigue cracking due to localized stress, thus effectively improving the service life of the rubber footpad and enhancing its cushioning effect.

[0012] Preferably, the limiting part includes an upper support part parallel to the bottom end face of the foot piece. The outer side of the upper support part is in contact with the groove wall of the mounting groove, and the bottom end face of the foot piece is in contact with the top end face of the rubber foot pad. Part of the rubber foot pad is clamped between the bottom end of the foot piece and the upper support part. Using the aforementioned technical solution, the bottom end of the foot piece and the locking member can maintain a tight fit with the clamped portion of the rubber foot pad, so that the foot piece and the locking member can provide sufficient and effective contact area for the rubber foot pad, providing effective support for the rubber foot pad, preventing the rubber foot pad from cracking due to excessive robot load, and helping to increase the robot's load-bearing capacity.

[0013] Preferably, the limiting part includes a lower support part, which is a downwardly protruding curved structure, and the outer side of the lower support part is in contact with the groove wall of the mounting groove. By adopting the aforementioned technical solution, the lower support part is a downwardly protruding curved structure, and the lower support part is in contact with the groove wall of the mounting groove, which increases the contact area between the limiting part and the rubber foot pad. This helps to improve the support effect of the locking member on the rubber foot pad, making the force on the rubber foot pad more uniform and helping to improve the service life of the rubber foot pad. Furthermore, during the formation of the foot structure, the rubber foot pad is not in contact with the ground at its lowest point; that is, when the foot structure contacts the ground, it is not perpendicular to the ground, but forms an angle with the ground. The lower support part, being a curved structure, can counteract the forces acting on the rubber foot pad from different directions, thereby effectively improving the support effect of the limiting part.

[0014] Preferably, the edge of the stop surface is provided with a support strip extending towards the connecting part, and the through hole has a clearance groove for the support strip to be inserted. Part of the rubber foot pad is filled between the support strip and the connecting part. By adopting the aforementioned technical solution, the area of ​​the outer periphery of the limiting part can be increased by the support strip, thereby increasing the support area between the limiting part and the rubber foot pad, so that the limiting part can provide a better support effect for the rubber foot pad; in addition, the partial filling of the rubber foot pad between the support strip and the connecting part can also form a clamping effect on the rubber foot pad in the height direction, further improving the locking effect of the locking member on the rubber foot pad.

[0015] Preferably, one end of the connecting part is provided with a positioning protrusion, and the end of the other connecting part is provided with a positioning groove into which the positioning protrusion extends. Using the aforementioned technical solution, the positioning engagement of the positioning protrusion and the positioning groove makes the alignment of the first locking block and the second locking block simpler and faster, facilitates the connection of fasteners, and helps improve the connection efficiency of the first locking block and the second locking block.

[0016] Preferably, the latch has a locking hole through which the locking member passes, and the locking member and the locking hole are not circularly fitted. By adopting the aforementioned technical solution, relative rotation between the locking member and the latch can be prevented, thereby avoiding the locking member from driving the rubber foot pad relative to the latch through friction. The anti-rotation fit between the locking member and the locking hole can effectively improve the connection stability between the rubber foot pad and the foot end piece, further reducing the possibility of the rubber foot pad loosening, and also helping to improve the service life of the rubber foot pad.

[0017] Preferably, the rubber foot pad is provided with a plurality of transversely arranged buffer holes. By adopting the aforementioned technical solution, the buffer holes can reduce the strength of the rubber foot pad, while also improving the deformation capacity of the rubber foot pad, thereby giving the rubber foot pad better cushioning performance, making the robot walk more smoothly, and also reducing the impact force on the robot.

[0018] Preferably, the buffer hole penetrates the rubber footpad, and an elastic sleeve is installed inside the buffer hole. Using the aforementioned technical solution, the elastic sleeve can enhance the strength of the inner wall of the buffer hole, preventing cracking due to repeated deformation or excessive deformation over a long period, thus significantly improving the service life of the rubber footpad. Furthermore, the elastic sleeve converts the impact force received by the rubber footpad into its own deformation, effectively absorbing the impact force and providing better shock absorption. This reduces the impact force on the foot components, lowers the load on the motor, and also reduces vibration during quadruped robot walking, reducing vibration on various components and helping to extend the quadruped robot's service life. Secondly, the sleeve's absorption of impact force effectively reduces the deformation of the footpad under stress, thereby reducing the vertical movement of the quadruped robot during walking and making its walking more stable.

[0019] This utility model also demonstrates a quadruped robot, including a torso and four leg components rotatably connected to the torso. Each leg component includes a first motor, a second motor, a thigh mechanism, a lower leg mechanism, and a foot structure connected in sequence. The first motor is fixedly connected to the torso, and the foot structure adopts the foot structure of the quadruped robot described in any of the above-mentioned embodiments.

[0020] Other features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings:

[0022] Figure 1 This is a schematic diagram of the foot structure of the quadruped robot of this utility model;

[0023] Figure 2 This is an exploded view of the foot structure of the quadruped robot of this utility model;

[0024] Figure 3 This is a cross-sectional view of the foot structure of the quadruped robot of this utility model;

[0025] Figure 4 This is an exploded view of the locking component in the foot structure of the quadruped robot of this utility model;

[0026] Figure 5 This is a schematic diagram of the rubber foot pads in the foot structure of the quadruped robot of this utility model;

[0027] Figure 6 This is a structural schematic diagram of Embodiment 2 of the present invention.

[0028] Reference numerals: 10. Foot structure; 1. Foot end piece; 11. Lock; 12. Locking hole; 2. Rubber foot pad; 21. Slot; 22. Mounting groove; 221. Clearance groove; 23. Through hole; 24. Buffer hole; 3. Locking element; 31. First locking block; 311. Limiting part; 3111. Upper support part; 3112. Lower support part; 312. Connecting part; 3121. Positioning protrusion; 3122. Positioning groove; 32. Second locking block; 33. Stop surface; 34. Mounting hole; 35. Fastener; 36. Support bar; 4. Torso; 5. Leg assembly; 51. First motor; 52. Second motor; 53. Thigh mechanism; 54. Lower leg mechanism. Detailed Implementation

[0029] The technical solutions of the present utility model will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present utility model.

[0030] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0031] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0032] Example 1:

[0033] like Figures 1 to 5 As shown in the figure, this embodiment demonstrates the foot structure 10 of a quadruped robot, including a foot end piece 1 and a rubber foot pad 2 detachably connected to the foot end piece 1 via a locking member 3. The bottom end of the foot end piece 1 is provided with a buckle 11, and the top end of the rubber foot pad 2 is recessed to form a slot 21 for the buckle 11 to be inserted. The rubber foot pad 2 is provided with a through hole for the locking member 3 to pass through. The locking member 3 includes two stop surfaces 33. The locking member 3 passes through the buckle 11 along the through hole to keep the foot end piece 1 and the rubber foot pad 2 fixed, and the two stop surfaces 33 press against the two opposite sides of the rubber foot pad 2. The locking member 3 is interference-fitted with the through hole so that part of the rubber foot pad 2 is clamped between the bottom end of the foot end piece 1 and the locking member 3.

[0034] In this embodiment, the locking member 3 includes two stop surfaces 33. After the locking member 3 is locked, the two stop surfaces 33 press against the two opposite sides of the rubber foot pad 2. The two stop surfaces 33 clamp the foot pad in the axial direction of the through hole. In addition, the locking member forms an interference fit with the through hole, and the locking member will support the through hole. The rubber foot pad 2, which is on the upper side of the locking member, will be clamped between the bottom end of the foot end piece 1 and the locking member 3. Therefore, the foot end piece 1 and the locking member 3 will also clamp the rubber foot pad 2 in the height direction. That is, the locking member 3 and the foot end piece 1 can clamp the rubber foot pad 2 in two directions, which can effectively improve the clamping force of the locking member 3 on the rubber foot pad 2 and help to provide a stable connection between the rubber foot pad 2 and the foot end piece 1. Qualitatively, this reduces the possibility of the rubber foot pad 2 loosening, giving it better cushioning performance. In addition to being connected to the foot end piece 1 via the locking member 3, the top of the rubber foot pad 2 also abuts against the bottom of the foot end piece 1, significantly increasing the contact area between them. During walking, the foot end piece 1 provides effective support to the rubber foot pad 2, making the force on it more even and effectively dispersing the force, thus improving its cushioning performance and preventing fatigue cracking due to localized stress, thereby extending its service life.

[0035] like Figure 2 and Figure 3As shown, in this embodiment, the locking component 3 includes a first locking block 31 and a second locking block 32 connected by a fastener 35. The first locking block 31 has a through mounting hole 34. The fastener 35 passes through the mounting hole 34 and is fixedly connected to the second locking block 32, thereby achieving a detachable connection between the first locking block 31 and the second locking block 32. In addition, both the first locking block 31 and the second locking block 32 include a limiting part 311 and a connecting part 312. The first locking block 31 and the second locking block 32 are respectively installed at both ends of the through hole. The two connecting parts 312 are connected through the through hole, and at least one of the connecting parts 312 passes through the locking hole 12 of the latch 11. The connecting part 312 of the second locking block 32 has a threaded hole for threaded connection with the fastener 35. After the two connecting parts 312 are connected... After passing through the mounting hole 34, the fastener 35 is threaded into the threaded hole, thereby connecting the first locking block 31 and the second locking block 32. In addition, the first locking block 31 and the second locking block 32 form the stop surfaces 33 on opposite sides. The fastener 35 brings the first locking block 31 and the second locking block 32 closer to each other. The two stop surfaces 33 of the locking member 3 act on the two opposite sides of the rubber foot pad 2, and compress the two sides of the rubber foot pad 2. In this embodiment, the fastener 35 can realize the detachable connection between the first locking block 31 and the second locking block 32, making the locking and disassembly of the locking member 3 simpler and more convenient. This reduces the difficulty of installing and disassembling the rubber foot pad 2, making the replacement of the rubber foot pad 2 simpler and faster, and helps to improve the replacement efficiency of the rubber foot pad 2.

[0036] It should also be noted that the stop surface 33 is formed on the side of the limiting part 311 facing the connecting part 312. The limiting part 311 has a larger area. Therefore, by setting the stop surface 33 on the limiting part 311, the area of ​​the stop surface 33 can be increased, thereby increasing the area of ​​the rubber foot pad 2 under pressure. This can effectively disperse the pressure of the locking member 3 on the rubber foot pad 2, avoid fatigue cracking of the rubber foot pad 2 due to local stress, and help extend the service life of the rubber foot pad 2.

[0037] like Figure 4 As shown, in this embodiment, the end of the connecting part 312 of the second locking block 32 is provided with a positioning protrusion 3121, and the end of the connecting part 312 of the first locking block 31 is provided with a positioning groove 3122 into which the positioning protrusion 3121 extends. The first locking block 31 and the second locking block 32 are both T-shaped. During the assembly process, both connecting parts 312 extend into the through hole of the rubber foot pad 2, and one connecting part 312 passes through the locking hole 12 and docks with the other connecting part 312. When the positioning protrusion 3121 is inserted into the positioning groove 3122, the docking of the two connecting parts 312 can be completed, which facilitates the connection of the fastener 35 and makes the alignment of the first locking block 31 and the second locking block 32 simpler and faster, which helps to improve the connection efficiency of the first locking block 31 and the second locking block 32.

[0038] It is understandable that in other embodiments, in the first locking block 31 and the second locking block 32, one of the connecting parts 312 is columnar and the other connecting part 312 is hole-like. When the first locking block 31 and the second locking block 32 are docked, the docking of the first locking block 31 and the second locking block 32 can be completed by inserting one of the connecting parts 312 into the other connecting part 312.

[0039] like Figure 2 and Figure 5 As shown, in this embodiment, the through hole includes a mounting groove 22 formed by recesses on both sides of the rubber foot pad 2 and a through hole 23 communicating with the slot 21. After the rubber foot pad 2 is connected to the foot end piece 1 by the locking member 3, the limiting part 311 of the locking member 3 is embedded in the mounting groove 22 and is press-fitted with the mounting groove 22. The connecting part 312 of the locking member 3 is inserted into the through hole 23 of the rubber foot pad 2, and the connecting part 312 is also press-fitted with the through hole 23. The limiting part 311 is press-fitted with the mounting groove 22, and the connecting part 312 is press-fitted with the through hole 23, which can ensure that the entire locking member 3 can maintain contact with the rubber foot pad 2, thereby ensuring that the bottom of the locking member 3 and the foot end piece 1 are in contact. The locking element 3 can clamp a portion of the rubber foot pad 2, effectively increasing the clamping force of the locking element 3 on the rubber foot pad 2, further reducing the possibility of the rubber foot pad 2 loosening, and enabling the rubber foot pad 2 to play a better cushioning role. In addition, the locking element 3 can also support the rubber foot pad 2, thereby increasing the support area of ​​the rubber foot pad 2. During walking, the bottom end of the locking element 3 and the foot end part 1 can effectively disperse the force on the rubber foot pad 2, preventing the rubber foot pad 2 from fatigue cracking due to local stress, thereby effectively improving the service life of the rubber foot pad 2 and also improving the cushioning effect of the rubber foot pad 2.

[0040] like Figure 2 and Figure 5As shown, in this embodiment, the outer periphery of the limiting part 311 includes an upper support part 3111 and a lower support part 3112. The upper support part 3111 is straight and parallel to the bottom end face of the foot end piece 1. The lower support part 3112 is a downwardly protruding curved structure. The structure of the mounting groove 22 matches the structure of the limiting part 311, and the limiting part 311 and the mounting groove 22 are in an interference fit, that is, the outer side of the upper support part 3111 fits against the groove wall of the mounting groove 22, and the lower support part 311... The outer surface of 2 also fits against the groove wall of the mounting groove 22; firstly, the upper support part 3111 fits against the groove wall of the mounting groove 22, so that the bottom end of the foot end part 1 and the locking part 3 can keep in close contact with the rubber foot pad 2 of the clamped part, so that the foot end part 1 and the locking part 3 can provide sufficient and effective contact area for the rubber foot pad 2, provide effective support for the rubber foot pad 2, prevent the rubber foot pad 2 from cracking due to excessive robot load, and help improve the robot's load-bearing capacity; in addition, due to the partial rubber foot The pad 2 is held between the foot end piece 1 and the upper support part 3111. The upper support part 3111 is parallel to the bottom surface of the foot end piece 1, which makes the force on this part of the rubber pad 2 more uniform and avoids the possibility of the rubber pad 2 breaking due to uneven force. Secondly, the lower support part 3112 is a downwardly protruding curved structure, and the lower support part 3112 fits against the groove wall of the mounting groove 22, which can increase the contact area between the limiting part 311 and the rubber pad 2, which helps to improve the support effect of the locking part 3 on the rubber pad 2, making the force on the rubber pad 2 more uniform and helping to improve the service life of the rubber pad 2. In addition, during the formation of the foot structure 10, the rubber pad 2 does not contact the ground at its lowest point. That is, when the foot structure 10 contacts the ground, it is not perpendicular to the ground, but forms an angle with the ground. The lower support part 3112 is a curved structure, which can counteract the forces on the rubber pad 2 from different directions, thereby effectively improving the support effect of the limiting part 311.

[0041] like Figure 4 and Figure 5 As shown, in this embodiment, the edge of the stop surface 33 is provided with a support strip 36 extending towards the connecting part 312. The through hole has a relief groove 221 for the support strip 36 to be inserted. Part of the rubber foot pad 2 is filled between the support strip 36 and the connecting part 312. It should be noted that in this embodiment, the support body is formed by the outer edge of the lower support part 3112 extending towards the connecting part 312. The support strip 36 can increase the area of ​​the outer periphery of the limiting part 311, thereby increasing the support area of ​​the limiting part 311 and the rubber foot pad 2, so that the limiting part 311 can provide a better support effect for the rubber foot pad 2. In addition, part of the rubber foot pad 2 is filled between the support strip 36 and the connecting part 312. The support strip 36 and the connecting part 312 can also clamp the rubber foot pad 2 in the height direction, further improving the locking effect of the locking member 3 on the rubber foot pad 2.

[0042] like Figure 2 As shown, in this embodiment, the locking hole 12 of the latch 11 is a non-circular hole, and the connecting part 312 of the locking member 3 is also a non-circular structure. The cross-section of the locking hole 12 matches the cross-section of the connecting part 312. After the connecting part 312 of the locking member 3 passes through the locking hole 12, the connecting part 312 and the locking hole 12 are in a non-circular fit. That is, the locking member 3 and the latch 11 are in a non-rotational fit. After the rubber foot pad 2 and the foot end piece 1 are connected by the locking member 3, the fit between the locking member 3 and the latch 11 can prevent the locking member 3 and the latch 11 from rotating relative to each other. This prevents the locking member 3 from driving the rubber foot pad 2 to rotate relative to the latch 11 through friction. The non-rotational fit between the locking member 3 and the locking hole 12 can effectively improve the connection stability between the rubber foot pad 2 and the foot end piece 1, further reduce the possibility of the rubber foot pad 2 becoming loose, and also help to improve the service life of the rubber foot pad 2.

[0043] like Figure 5 As shown, in this embodiment, the foot pad is provided with a plurality of horizontally arranged buffer holes 24. The length direction of the buffer holes 24 is parallel to the insertion direction of the locking member 3. The buffer holes 24 can reduce the strength of the rubber foot pad 2, and at the same time improve the deformation ability of the rubber foot pad 2, thereby making the rubber foot pad 2 have better cushioning performance, making the robot walk more smoothly, and also reducing the impact force on the robot.

[0044] It should be noted that in this embodiment, part of the buffer hole 24 completely penetrates the rubber foot pad 2, and an elastic sleeve is installed inside this part of the buffer hole 24. The other part is a blind hole that does not completely penetrate the rubber foot pad 2. The elastic sleeve can enhance the strength of the inner wall of the buffer hole 24, preventing the inner wall of the buffer hole 24 from cracking due to long-term repeated deformation or excessive deformation, which can significantly improve the service life of the rubber foot pad 2. In addition, the buffer hole 24 that does not penetrate can also improve the strength of the rubber foot pad 2, preventing the foot pad from cracking due to excessive deformation. Secondly, the outer surface of the rubber foot pad 2 in this embodiment has an arc-shaped structure. During the walking process, the deformation of the rubber foot pad 2 can also increase the contact area between the foot pad and the ground, which can improve the grip of the rubber foot pad 2 when the robot load increases. In addition, friction texture is also provided on the outer surface of the rubber foot pad 2, which can further improve the friction between the rubber foot pad 2 and the ground, thereby improving the grip performance of the rubber foot pad 2.

[0045] In addition, the elastic sleeve described in this embodiment also converts the impact force received by the rubber foot pad 2 into its own deformation. The elastic sleeve can effectively absorb the impact force and has a better shock absorption effect, thereby reducing the impact force received by the foot end piece 1, reducing the load on the motor, and also reducing the vibration when the quadruped robot walks, reducing the vibration received by various parts of the quadruped robot, which helps to extend the service life of the quadruped robot. Secondly, under the action of the elastic sleeve absorbing the impact force, the deformation degree of the rubber foot pad 2 after being subjected to force can be effectively reduced, thereby reducing the rise and fall amplitude during the quadruped robot's walking process, making the quadruped robot walk more smoothly.

[0046] Example 2:

[0047] like Figure 6 As shown, this embodiment illustrates a quadruped robot, including a torso 4 and four leg components 5 rotatably connected to the torso 4. Each leg component 5 includes a first motor 51, a second motor 52, a thigh mechanism 53, a lower leg mechanism 54, and a foot structure 10 connected in sequence. The first motor 51 is fixedly connected to the torso 4, and the foot structure 10 adopts the foot structure 10 of the quadruped robot described in Embodiment 1.

[0048] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the content described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. A foot structure for a quadruped robot, comprising a foot end piece and rubber foot pads detachably connected to the foot end piece via a locking member, characterized in that, The bottom end of the foot piece is provided with a buckle, and the top end of the rubber foot pad is recessed to form a slot for the buckle to be inserted. The rubber foot pad is provided with a through hole for the locking member to pass through. The locking member includes two stop surfaces. The locking member passes through the buckle along the through hole to keep the foot piece and the rubber foot pad fixed. The two stop surfaces apply pressure to the two opposite sides of the rubber foot pad. The locking member is interference-fitted with the through hole to clamp part of the rubber foot pad between the bottom end of the foot piece and the locking member.

2. The foot structure of the quadruped robot according to claim 1, characterized in that, The locking component includes a first locking block and a second locking block connected by fasteners. The first locking block has a through mounting hole, and the fastener passes through the mounting hole and is fixedly connected to the second locking block. The opposite sides of the first locking block and the second locking block form the stop surface.

3. The foot structure of the quadruped robot according to claim 2, characterized in that, Both the first and second locking blocks include a limiting part and a connecting part. At least one of the connecting parts is inserted into the latch to achieve the docking of the two connecting parts. The limiting part forms the stop surface on the side facing the connecting part.

4. The foot structure of the quadruped robot according to claim 3, characterized in that, The through hole includes a mounting groove formed by the recesses on both sides of the rubber foot pad and a through hole communicating with the slot. The limiting part is interference-fitted with the mounting groove, the stop surface of the limiting part is pressed against the mounting groove, and the connecting part is interference-fitted with the through hole.

5. The foot structure of the quadruped robot according to claim 4, characterized in that, The limiting part includes an upper support part parallel to the bottom end face of the foot piece. The outer side of the upper support part is in contact with the groove wall of the mounting groove. The bottom end face of the foot piece is in contact with the top end face of the rubber foot pad. Part of the rubber foot pad is clamped between the bottom end of the foot piece and the upper support part.

6. The foot structure of the quadruped robot according to claim 4, characterized in that, The limiting part includes a lower support part, which is a downwardly protruding curved structure, and the outer side of the lower support part is in contact with the groove wall of the mounting groove.

7. The foot structure of the quadruped robot according to claim 3, characterized in that, The edge of the stop surface is provided with a support strip extending toward the connecting part, the through hole has a relief groove for the support strip to be inserted, and part of the rubber foot pad is filled between the support strip and the connecting part.

8. The foot structure of the quadruped robot according to claim 3, characterized in that, One of the connecting parts has a positioning protrusion at one end, and the other connecting part has a positioning groove at one end into which the positioning protrusion extends.

9. The foot structure of the quadruped robot according to claim 1, characterized in that, The latch has a lock hole through which the locking element passes, and the locking element is not circularly fitted with the lock hole.

10. The foot structure of the quadruped robot according to claim 1, characterized in that, The rubber foot pad is provided with several horizontally arranged buffer holes.

11. The foot structure of the quadruped robot according to claim 10, characterized in that, The buffer hole penetrates the rubber foot pad, and an elastic sleeve is installed inside the buffer hole.

12. A quadruped robot, comprising a torso and four leg assemblies rotatably connected to the torso, each leg assembly comprising a first motor, a second motor, a thigh mechanism, a lower leg mechanism, and a foot structure connected in sequence, wherein the first motor is fixedly connected to the torso, characterized in that, The foot structure adopts the foot structure of a quadruped robot as described in any one of claims 1 to 11.

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