A quadruped robot

Abstract

This utility model discloses a quadruped robot, including a lower leg, a shock-absorbing foot pad, and an integrally formed foot pad mounting base. The foot pad mounting base is installed on the bottom of the lower leg, and the shock-absorbing foot pad is locked onto the foot pad mounting base to form a wrap around the bottom of the foot pad mounting base. The foot pad mounting base has a slot, and the shock-absorbing foot pad has a protrusion that engages with the slot. This utility model utilizes the engagement between the protrusions on the shock-absorbing foot pad and the slot on the foot pad mounting base. When the quadruped robot runs at high speed on the ground, the lateral component of the friction force applied to the shock-absorbing foot pad by the ground is transmitted to each protrusion. The protrusions can abut against the inner wall of the slot to provide lateral support for the shock-absorbing foot pad, preventing excessive lateral deformation and damage, and preventing the shock-absorbing foot pad from detaching due to excessive lateral force, ensuring that the shock-absorbing foot pad is always stably wrapped around the bottom of the foot pad mounting base.

Description

Technical Field

[0001] This utility model belongs to the field of robotics, specifically relating to a quadruped robot. Background Technology

[0002] Quadruped robots are biomimetic robots with four legs that make up their walking legs. They can be applied to agriculture, industry, security patrol, surveying and exploration, public rescue, and medical and epidemic prevention care, so as to replace humans in performing tasks in dangerous or complex environments.

[0003] A quadruped robot consists of a body and four leg components located at the front and rear ends of the body. The leg components include thighs and calves. To prevent the lower part of the calves from slipping on the ground when the robot moves and to improve the grip of the calves, rubber foot pads are usually placed at the bottom of the calves. The rubber foot pads are glued to the bottom of the calves or locked to the bottom of the calves with screws.

[0004] Currently, when existing quadruped robots run at high speeds (about 10 m / s) on the ground, the friction force exerted on the rubber footpads by the ground has a large component in the lateral direction. This can pull the rubber footpads laterally, causing them to deform excessively and break, or cause the rubber footpads to detach from the lower legs, resulting in the lower legs directly contacting the ground and transmitting the huge impact force to the thighs and the body, thus damaging the quadruped robot. Utility Model Content

[0005] The technical problem to be solved by this utility model is to provide a quadruped robot to solve the problem that the rubber foot pads easily detach from the lower legs when the quadruped robot runs at high speed.

[0006] To solve the above-mentioned technical problems, this utility model adopts the following technical solution: a quadruped robot, including a lower leg, a shock-absorbing foot pad, and an integrally formed foot pad mounting base. The foot pad mounting base is installed on the bottom of the lower leg, and the shock-absorbing foot pad is locked onto the foot pad mounting base to form a cover around the bottom of the foot pad mounting base. The foot pad mounting base is provided with at least one insertion slot, and the side of the shock-absorbing foot pad facing the foot pad mounting base is provided with an insertion protrusion that engages with the insertion slot. This technical solution has the following technical effects:

[0007] This invention provides a mounting position for shock-absorbing foot pads by installing a foot pad mounting base at the bottom of the lower leg. The shock-absorbing foot pad can wrap around the bottom of the foot pad mounting base to ensure a large contact surface between the foot pad and the foot pad mounting base, resulting in greater friction and more stable installation. Furthermore, because the foot pad mounting base is a one-piece molded structure, it does not require assembly, thus increasing overall strength. When the quadruped robot runs, the foot pad mounting base will not experience internal wear or noise due to its own assembly issues, simplifying the assembly process of the quadruped robot. Meanwhile, because the protrusions on the shock-absorbing footpads engage with the slots on the footpad mounting bases, the shock-absorbing footpads provide grip when the quadruped robot runs at high speed on the ground. They can also absorb shocks through slight deformation. Furthermore, when the lateral component of the friction force exerted on the shock-absorbing footpads by the ground is transmitted to the protrusions, the protrusions can abut against the inner walls of the slots to provide lateral support for the shock-absorbing footpads. This prevents excessive lateral deformation and damage to the shock-absorbing footpads, and also prevents them from detaching from the shock-absorbing footpads due to excessive lateral force. The shock-absorbing footpads are detached, ensuring they remain stably wrapped around the bottom of the footpad mounting base. This ensures the footpad mounting base maintains contact with the ground through the shock-absorbing footpads when the quadruped robot is running at high speeds. This improves the grip of the lower legs and provides cushioning, preventing excessive impact from being transmitted to the lower legs, thighs, or body, thus extending the quadruped robot's lifespan. This allows the quadruped robot to run at high speeds for extended periods, significantly increasing the high-speed running time compared to existing quadruped robots where the footpads are damaged or detached after a very short running time.

[0008] In the aforementioned quadruped robot, the bottom of the foot pad mounting base has a mounting surface, and the shock-absorbing foot pad covers the mounting surface. Multiple insertion slots are provided, spaced apart on the mounting surface. Because the frictional force is greatest at the position where the shock-absorbing foot pad faces the mounting surface when the quadruped robot runs at high speed, placing multiple insertion slots on the mounting surface concentrates all insertion protrusions at the position opposite the mounting surface. All insertion protrusions share the frictional force by abutting against the inner wall of the insertion slots, resulting in better limiting and support for the shock-absorbing foot pad. This prevents the shock-absorbing foot pad from undergoing significant lateral deformation and breaking, and also prevents the shock-absorbing foot pad from detaching from the foot pad mounting base.

[0009] In the aforementioned quadruped robot, the mounting surface arches towards the shock-absorbing foot pad, making the mounting surface an arc shape. This causes the shock-absorbing foot pad, which is wrapped around the mounting surface, to bend into a curved structure, achieving a perfect fit between the shock-absorbing foot pad and the mounting surface. When the quadruped robot runs, its lower legs swing, and the shock-absorbing foot pad swings along with the lower legs. The curved structure of the shock-absorbing foot pad can contact the ground at different positions to reduce shock and increase grip.

[0010] In the aforementioned quadruped robot, the periphery of the shock-absorbing foot pad is fixed to the edge of the arc-shaped surface by multiple locking screws to lock the shock-absorbing foot pad onto the foot pad mounting base. Using locking screws to fix the shock-absorbing foot pad simplifies the locking structure. Furthermore, because the locking screws pass through the edge of the shock-absorbing foot pad and the arc-shaped surface, their high placement prevents them from contacting the ground when the quadruped robot runs, thus avoiding wear on the screws and ensuring the shock-absorbing foot pad is stably locked onto the foot pad mounting base.

[0011] In the aforementioned quadruped robot, the side of the shock-absorbing footpad facing away from the footpad mounting base has multiple anti-slip grooves. These grooves are arranged in a crisscross pattern to form multiple anti-slip protrusions on the shock-absorbing footpad. By increasing the roughness of the shock-absorbing footpad, its grip is enhanced. Furthermore, because the mounting surface is curved, the central axis directions of the multiple insertion protrusions on the curved surface are different. If the shock-absorbing foot pad is directly fastened to the foot pad mounting base in the same direction, the central axis direction of a large number of insertion protrusions will be different from the fastening direction, making it impossible to quickly insert all the insertion protrusions into the insertion slots. Therefore, during installation, the shock-absorbing foot pad needs to be deformed and flipped so that the side with the insertion protrusions is arched, and then fastened to the foot pad mounting base along the central axis direction of the curved surface, so that the insertion protrusion at the center of the shock-absorbing foot pad (the central axis of this part of the insertion protrusions is close to the fastening direction) is inserted into the corresponding insertion slot. Finally, the shock-absorbing foot pad is deformed and flipped so that the two sides of the shock-absorbing foot pad move closer to the mounting surface, and the central axis of the insertion protrusions on both sides is close to the moving direction, so as to realize the quick insertion of the insertion protrusions on both sides of the shock-absorbing foot pad into the insertion slots. When the shock-absorbing foot pad deforms and flips, the anti-slip protrusions on the shock-absorbing foot pad will move closer or further apart. Multiple anti-slip grooves are distributed in a crisscross pattern, which can reserve space for the anti-slip protrusions to move closer together, and prevent the anti-slip protrusions that move closer together from hitting each other and hindering the deformation and flipping of the shock-absorbing foot pad. This makes it easier for assemblers to deform and flip the shock-absorbing foot pad and reduces the assembly difficulty.

[0012] In the aforementioned quadruped robot, the shock-absorbing foot pads are fitted to the curved surface, and multiple through holes are provided at the positions where the shock-absorbing foot pads and the curved surface are located. The through holes can reserve deformation gaps for the deformation of the shock-absorbing foot pads, making it easier for the shock-absorbing foot pads to deform and flip, thus reducing the effort required by the assembler when flipping the shock-absorbing foot pads and lowering the assembly difficulty.

[0013] In the aforementioned quadruped robot, the insertion protrusion has a groove with an opening facing the foot pad mounting base. The groove allows the insertion protrusion to have a certain deformation. When the quadruped robot runs, the insertion protrusion can enhance the shock absorption effect through slight deformation. During installation, the insertion protrusion can also undergo slight deformation, making it easier for the assembler to flip the shock-absorbing foot pad.

[0014] In the aforementioned quadruped robot, the insertion protrusion is cylindrical, and the groove is located at the center of the insertion protrusion, coaxially aligned with it. By making the insertion protrusion cylindrical, the difficulty of inserting the protrusion into the insertion groove is reduced. By placing the groove at the center of the insertion protrusion, the thickness of the insertion protrusion around the groove is made uniform, resulting in the same deformation around the periphery of the insertion protrusion. Therefore, when the insertion protrusion is subjected to force in any direction, it can deform to the same degree.

[0015] In the aforementioned quadruped robot, the opening of the insertion slot is provided with a first guide ramp 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 ramp surrounding the insertion protrusion. Both the first guide ramp of the insertion slot and the second guide ramp of the insertion protrusion can guide the insertion protrusion during installation, so that the insertion protrusion does not need to be precisely aligned with the insertion slot, reducing the assembly difficulty.

[0016] In the aforementioned quadruped robot, the bottom of the lower leg extends into the foot pad mounting base to connect with the foot pad mounting base, thereby enhancing the connection strength between the lower leg and the foot pad mounting base.

[0017] The features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0019] Figure 1 A perspective view of the shock-absorbing foot pad and foot pad mounting base in their assembled state;

[0020] Figure 2 A partial sectional view of the shock-absorbing foot pad and foot pad mounting base in their assembled state;

[0021] Figure 3 A 3D view of the foot pad mounting base;

[0022] Figure 4 Three-dimensional shock-absorbing foot pads Figure 1 ;

[0023] Figure 5 Three-dimensional shock-absorbing foot pads Figure 2 .

[0024] Figure label:

[0025] 100. Foot pad mounting base; 110. Mounting surface; 120. Insertion groove; 121. First guide slope;

[0026] 200. Shock-absorbing foot pad; 210. Insertion protrusion; 211. Groove; 212. Second guide slope; 220. Anti-slip groove; 230. Anti-slip protrusion; 240. Through hole;

[0027] 300. Locking screw. Detailed Implementation

[0028] This invention discloses a quadruped robot, including a lower leg, a shock-absorbing foot pad, and an integrally molded foot pad mounting base. The foot pad mounting base is installed on the bottom of the lower leg, and the shock-absorbing foot pad is locked onto the foot pad mounting base to cover the bottom of the foot pad mounting base. The foot pad mounting base has at least one insertion slot, and the side of the shock-absorbing foot pad facing the foot pad mounting base has an insertion protrusion that engages with the insertion slot. This invention provides a mounting position for the shock-absorbing foot pad by installing the foot pad mounting base on the bottom of the lower leg. By covering the bottom of the foot pad mounting base, the shock-absorbing foot pad ensures a large contact surface between the foot pad and the foot pad mounting base, resulting in greater friction and a more stable installation. Furthermore, because the foot pad mounting base is an integrally molded structure, it eliminates the need for assembly, thus increasing overall strength. When the quadruped robot runs, the foot pad mounting base will not experience internal wear or noise due to its own assembly issues, simplifying the assembly process of the quadruped robot. Meanwhile, because the protrusions on the shock-absorbing footpads engage with the slots on the footpad mounting bases, the shock-absorbing footpads provide grip when the quadruped robot runs at high speed on the ground. They can also absorb shocks through slight deformation. Furthermore, when the lateral component of the friction force exerted on the shock-absorbing footpads by the ground is transmitted to the protrusions, the protrusions can abut against the inner walls of the slots to provide lateral support for the shock-absorbing footpads. This prevents excessive lateral deformation and damage to the shock-absorbing footpads, and also prevents them from detaching from the shock-absorbing footpads due to excessive lateral force. The shock-absorbing footpads are detached, ensuring they remain stably wrapped around the bottom of the footpad mounting base. This ensures the footpad mounting base maintains contact with the ground through the shock-absorbing footpads when the quadruped robot is running at high speeds. This improves the grip of the lower legs and provides cushioning, preventing excessive impact from being transmitted to the lower legs, thighs, or body, thus extending the quadruped robot's lifespan. This allows the quadruped robot to run at high speeds for extended periods, significantly increasing the high-speed running time compared to existing quadruped robots where the footpads are damaged or detached after a very short running time.

[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] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0032] 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.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] Example 1:

[0035] A quadruped robot, such as Figures 1 to 5As shown, the device includes a separate lower leg, a foot pad mounting base 100, and a shock-absorbing foot pad 200. The foot pad mounting base 100 is a one-piece molded structure, installed at the bottom of the lower leg for mounting the shock-absorbing foot pad 200. The bottom of the lower leg extends into the foot pad mounting base 100 to interlock with it, enhancing the connection strength between the lower leg and the foot pad mounting base 100. The shock-absorbing foot pad 200 is located at the bottom of the foot pad mounting base 100 and is locked onto it. The shock-absorbing foot pad 200 wraps around the bottom of the foot pad mounting base 100 so that the foot pad mounting base 100 contacts the ground through the shock-absorbing foot pad 200. The shock-absorbing foot pad 200 is made of rubber, preferably wear-resistant rubber. The footpad mounting base 100 has multiple (two or more) insertion slots 120. The shock-absorbing footpad 200, facing the footpad mounting base 100, has the same number of insertion protrusions 210 as the insertion slots 120. When the shock-absorbing footpad 200 is installed at the bottom of the footpad mounting base 100, the insertion protrusions 210 are inserted one-to-one into each insertion slot 120, so that the insertion protrusions 210 on the shock-absorbing footpad 200 engage with the insertion slots 120 on the footpad mounting base 100. Of course, it is understood that in other embodiments, only one insertion slot and one insertion protrusion may be provided, with the insertion protrusion located at the center of the shock-absorbing footpad.

[0036] To reduce the weight of quadruped robots, high-strength lower legs are typically formed by multiple thin carbon fiber rods with small cross-sections. This invention provides a mounting position for shock-absorbing foot pads 200 by installing a foot pad mounting base 100 at the bottom of the lower leg. The shock-absorbing foot pad 200 can wrap around the bottom of the foot pad mounting base 100, ensuring a large contact surface between the shock-absorbing foot pad 200 and the foot pad mounting base 100. This results in greater friction between the shock-absorbing foot pad 200 and the foot pad mounting base 100, making the installation more stable. Furthermore, because the foot pad mounting base 100 is a one-piece molded structure, it does not require assembly, thus increasing its overall strength. When the quadruped robot runs, the foot pad mounting base 100 will not experience internal wear or noise due to its own assembly issues, simplifying the assembly process of the quadruped robot. Meanwhile, because the insertion protrusions 210 on the shock-absorbing foot pad 200 engage with the insertion slots 120 on the foot pad mounting base 100, the shock-absorbing foot pad 200 can provide grip when the quadruped robot runs at high speed on the ground, and can also absorb shocks through slight deformation. Simultaneously, when the lateral component of the friction force applied to the shock-absorbing foot pad 200 by the ground is transmitted to each insertion protrusion 210, the insertion protrusion 210 can abut against the inner wall of the insertion slot 120 to provide lateral support for the shock-absorbing foot pad 200, preventing excessive lateral deformation and damage, and also preventing damage due to lateral deformation. Excessive force can cause the foot pad to detach from the shock-absorbing foot pad 200, ensuring that the shock-absorbing foot pad 200 remains stably wrapped around the bottom of the foot pad mounting base 100. This ensures that the foot pad mounting base 100 can always maintain contact with the ground through the shock-absorbing foot pad 200 when the quadruped robot is running at high speed. This improves the grip of the lower leg and provides cushioning for the lower leg, preventing excessive impact from being transmitted to the lower leg, thigh, or body and causing damage. This extends the service life of the quadruped robot, allowing it to run at high speed for extended periods. Compared to existing quadruped robots where the foot pad is damaged or detached after a very short running time, this significantly increases the high-speed running time of the quadruped robot.

[0037] In this embodiment, the bottom of the foot pad mounting base 100 is provided with a mounting surface 110, which is used to mount the shock-absorbing foot pad 200. The shock-absorbing foot pad 200 covers the mounting surface 110, and all the insertion slots 120 are distributed at intervals on the mounting surface 110. Because the friction force on the position opposite to the mounting surface 110 is the greatest when the quadruped robot runs at high speed (about 10 m / s), all the insertion slots 120 are arranged on the mounting surface 110. This allows all the insertion protrusions 210 to be concentrated at the position opposite to the mounting surface 110. All the insertion protrusions 210 share the friction force by abutting against the inner sidewall of the insertion slot 120, which provides better limiting and support for the shock-absorbing foot pad 200, avoids large deformation of the shock-absorbing foot pad 200 in the lateral direction and prevents it from breaking, and also prevents the shock-absorbing foot pad 200 from detaching from the foot pad mounting base 100.

[0038] In this embodiment, the mounting surface 110 arches towards the shock-absorbing foot pad 200, making the mounting surface 110 an arc-shaped surface. This causes the shock-absorbing foot pad 200, which is wrapped around the mounting surface 110, to bend into a curved structure, achieving a close fit between the shock-absorbing foot pad 200 and the mounting surface 110. When the quadruped robot runs, its lower legs swing, and the shock-absorbing foot pad 200 swings along with the lower legs. The curved structure of the shock-absorbing foot pad 200 can contact the ground at different positions to reduce shock and increase grip, enhancing the quadruped robot's adaptability to different road conditions. Preferably, multiple locking screws 300 are provided on the periphery of the shock-absorbing foot pad 200. The locking screws 300 pass through the edge of the shock-absorbing foot pad 200 and extend into the edge of the arc-shaped surface to lock the shock-absorbing foot pad 200 onto the foot pad mounting base 100. The shock-absorbing foot pad 200 is fixed by a locking screw 300, which simplifies the locking structure. Furthermore, since the locking screw 300 passes through the edge of the shock-absorbing foot pad 200 and the curved surface, the locking screw 300 is positioned relatively high. When the quadruped robot is running, the locking screw 300 will not contact the ground, avoiding wear on the locking screw 300 from the ground. This allows the shock-absorbing foot pad 200 to be stably locked onto the foot pad mounting base 100.

[0039] Currently, in existing technologies, when foot pads are installed to the bottom of the calf using screws, washers are required between the screws and the foot pads to compress the foot pads while preventing excessive concentration of screw tightening force. Without washers, during high-speed running, the lateral friction force exerted by the ground on the foot pads will be directly transmitted to the screws, causing them to pull laterally. Due to the high friction force, this can easily lead to the screws tearing the foot pads. In this embodiment, the cooperation between the insertion protrusion 210 and the insertion slot 120 can distribute the lateral friction force of the shock-absorbing foot pad 200, providing lateral support. A large amount of friction force is not directly transmitted from the shock-absorbing foot pad 200 to the locking screw 300. Therefore, the locking screw 300 can be used to directly lock the shock-absorbing foot pad 200 without the need for washers, ensuring stable locking of the shock-absorbing foot pad 200 and simplifying the assembly structure.

[0040] In this embodiment, the shock-absorbing foot pad 200 has multiple anti-slip grooves 220 on the side facing away from the foot pad mounting base 100. These grooves are crisscrossed to form multiple anti-slip protrusions 230 on the shock-absorbing foot pad 200, increasing its roughness and thus enhancing its grip. Furthermore, because the mounting surface 110 is curved, the central axis directions of the multiple insertion protrusions 210 inserted onto the curved surface are different. If the shock-absorbing foot pad 200 is directly fastened to the foot pad mounting base 100 in the same direction, many of the insertion protrusions 210 will have central axis directions different from the fastening direction, making it impossible to quickly insert all the insertion protrusions 210 into the insertion slots 120. Therefore, during installation, the shock-absorbing foot pad 200 needs to be deformed and flipped so that the side with the insertion protrusions 210 is arched, and then installed along the curved surface... The shock-absorbing foot pad 200 is fastened to the foot pad mounting base 100 along its central axis, so that the insertion protrusion 210 at the center of the shock-absorbing foot pad 200 (the central axis of this insertion protrusion 210 is close to the fastening direction) is inserted into the corresponding insertion groove 120. Finally, the shock-absorbing foot pad 200 is deformed and flipped, and the two sides of the shock-absorbing foot pad 200 move closer to the mounting surface 110. The central axis of the insertion protrusion 210 on both sides is close to the moving direction, so as to realize the quick insertion of the insertion protrusion 210 on both sides of the shock-absorbing foot pad 200 into the insertion groove 120. When the shock-absorbing foot pad 200 deforms and flips, the ends of the anti-slip protrusions 230 on the shock-absorbing foot pad 200 will move closer or further apart. The multiple anti-slip grooves 220 are distributed in a crisscross pattern, which can reserve space for the ends of the anti-slip protrusions 230 to move closer together, and prevent the anti-slip protrusions 230 that move closer together from hitting each other and hindering the deformation and flipping of the shock-absorbing foot pad 200. This makes it easier for the assembly personnel to deform and flip the shock-absorbing foot pad 200 and reduces the assembly difficulty.

[0041] The shock-absorbing foot pad 200 has multiple through holes 240 at the position opposite to the arc-shaped surface, and the through holes 240 penetrate the shock-absorbing foot pad 200. The through holes 240 can reserve deformation gaps for the deformation of the shock-absorbing foot pad 200, which facilitates the deformation and flipping of the shock-absorbing foot pad 200, making it easier for the assembly personnel to flip the shock-absorbing foot pad 200 and reducing the assembly difficulty.

[0042] Preferably, the insertion protrusion 210 is provided with a groove 211, the opening of which faces the foot pad mounting base 100. The groove 211 allows the insertion protrusion 210 to have a certain deformation. When the quadruped robot runs, the insertion protrusion 210 can enhance the shock absorption effect through slight deformation. During installation, the insertion protrusion 210 can also undergo slight deformation, making it easier for the assembler to flip the shock-absorbing foot pad 200.

[0043] To reduce the difficulty of connecting the protrusion 210 to the slot 120, the protrusion 210 in this embodiment is cylindrical, and the groove 211 is located at the center of the protrusion 210, so as to be coaxial with the protrusion 210. By placing the groove 211 at the center of the protrusion 210, the thickness of the protrusion 210 around the groove 211 is made uniform, thereby making the deformation around the protrusion 210 the same. When the protrusion 210 is subjected to force in any direction, the protrusion 210 can deform to the same degree.

[0044] In this embodiment, the opening of the insertion groove 120 is provided with a first guide slope 121 surrounding the insertion groove 120, and the end of the insertion protrusion 210 away from the shock-absorbing foot pad 200 is provided with a second guide slope 212 surrounding the insertion protrusion 210. Both the first guide slope 121 of the insertion groove 120 and the second guide slope 212 of the insertion protrusion 210 can guide the insertion protrusion 210 during installation, so that the insertion protrusion 210 does not need to be precisely aligned with the insertion groove 120, reducing the assembly difficulty. Of course, it is understood that in other embodiments, the first guide slope surrounding the insertion groove may only be provided at the opening of the insertion groove, or the second guide slope 212 surrounding the insertion protrusion may only be provided at the end of the insertion protrusion away from the shock-absorbing foot pad.

[0045] The above description is merely a preferred embodiment of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions falling within the scope of this utility model's concept are protected. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should also be considered within the protection scope of this utility model.

Claims

1. A quadruped robot comprising a lower leg, characterized by: It also includes a shock-absorbing foot pad and an integrally molded foot pad mounting base. The foot pad mounting base is installed on the bottom of the calf, and the shock-absorbing foot pad is locked onto the foot pad mounting base to form a wrap around the bottom of the foot pad mounting base. The foot pad mounting base is provided with at least one insertion slot, and the side of the shock-absorbing foot pad facing the foot pad mounting base is provided with an insertion protrusion that engages with the insertion slot.

2. The quadruped robot of claim 1, wherein: The bottom of the foot pad mounting base is provided with a mounting surface, the shock-absorbing foot pad covers the mounting surface, and there are multiple insertion slots, which are distributed at intervals on the mounting surface.

3. The quadruped robot of claim 2, wherein: The mounting surface arches towards the shock-absorbing foot pad, making the mounting surface an arc-shaped surface.

4. The quadruped robot of claim 3, wherein: The periphery of the shock-absorbing foot pad is fixed to the edge of the arc-shaped surface by multiple locking screws to lock the shock-absorbing foot pad onto the foot pad mounting base.

5. A quadruped robot according to claim 3, characterized in that: The shock-absorbing foot pad has multiple anti-slip grooves on the side opposite to the foot pad mounting base. These grooves are arranged in a crisscross pattern to form multiple anti-slip protrusions on the shock-absorbing foot pad.

6. A quadruped robot according to claim 3, characterized in that: The shock-absorbing foot pad fits into the arc-shaped surface, and multiple through holes are provided at the position opposite to the arc-shaped surface on the shock-absorbing foot pad.

7. A quadruped robot according to claim 1, characterized in that: The insertion protrusion has a groove with an opening facing the foot pad mounting seat.

8. A quadruped robot according to claim 7, characterized in that: The insertion protrusion is cylindrical, and the groove is located at the center of the insertion protrusion so as to be coaxial with the insertion protrusion.

9. A quadruped robot according to claim 1, characterized in that: 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.

10. A quadruped robot according to claim 1, characterized in that: The bottom of the lower leg extends into the foot pad mounting seat to be inserted into the foot pad mounting seat.

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