A mechanical leg for a quadruped robot and the quadruped robot

Abstract

This utility model discloses a mechanical leg for a quadruped robot and a quadruped robot. The mechanical leg of a quadruped robot includes a lower leg mechanism, which includes a hollow foot pad mounting base. The top of the foot pad mounting base has a fixing post extending towards the bottom of the foot pad mounting base. The fixing post has a mounting hole with an opening at its top in a vertical direction. The foot pad mounting base includes an inner sidewall located on the side of the foot pad mounting base and an inner bottom wall located at the bottom of the foot pad mounting base. Multiple first support members are spaced apart between the fixing post and the inner sidewall, and multiple second support members are spaced apart between the fixing post and the inner bottom wall. The quadruped robot includes the mechanical leg of any of the above embodiments. The advantages of this utility model are: the foot pad mounting base adopts a hollow structure, and with the support members between the fixing post and the inner sidewall and inner bottom wall, the amount of material used is significantly reduced while ensuring structural strength.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a mechanical leg for a quadruped robot and the quadruped robot itself. Background Technology

[0002] In the field of robotics, the research and application of high-speed quadruped robots are constantly expanding, demonstrating great potential in numerous scenarios such as industrial inspection, disaster relief, and military reconnaissance. For high-speed quadruped robots, the mechanical legs, as the core execution components, directly affect the robot's movement speed, stability, and environmental adaptability.

[0003] During high-speed movement, the robotic legs need to frequently withstand complex loads such as ground reaction forces and inertial forces generated by their own motion. This requires the robotic legs to possess sufficient strength and rigidity to ensure that structural deformation or damage does not occur during high-speed movement, thereby guaranteeing the normal operation of the robot. At the same time, lightweight design of the robotic legs is crucial for achieving high-speed movement. Excessively heavy robotic legs increase the overall load on the robot, not only consuming more energy but also affecting the robot's acceleration performance and movement flexibility.

[0004] However, current traditional quadruped robot leg designs face numerous challenges in balancing lightweight design and strength. Some designs, in pursuit of strength, employ heavy structures or solid materials, resulting in large leg weights that severely restrict the robot's high-speed movement capabilities. Other lightweight designs, due to insufficient structural strength, are prone to failure during high-speed movement or under heavy loads, failing to meet practical application requirements.

[0005] For example, some robotic legs use solid footpad mounts and simple support structures. While these offer high strength, they significantly increase weight, leading to a substantial increase in energy consumption and low motion efficiency during high-speed robot movements. Other designs achieve lightweighting by reducing material usage, but due to a lack of proper support structure design, the strength and rigidity of the robotic legs cannot be effectively guaranteed, making them prone to bending and breakage during high-speed movements.

[0006] Therefore, designing a mechanical leg that can meet the requirements of lightweight design for high-speed motion while possessing sufficient strength and rigidity has become a pressing technical challenge in this field. The quadrupedal robot mechanical leg and the robot itself proposed in this invention aim to achieve lightweight design while ensuring the strength of the mechanical leg through optimized structural design, thus meeting the application requirements of high-speed robots. Utility Model Content

[0007] The purpose of this invention is to provide a mechanical leg for a quadruped robot and a quadruped robot in general, which can effectively solve the problems of excessive weight and insufficient strength of existing mechanical legs in high-speed quadruped robots.

[0008] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0009] A mechanical leg for a quadruped robot includes a lower leg mechanism, the lower leg mechanism including a hollow foot pad mounting base, the top of the foot pad mounting base having a fixing post extending toward the bottom of the foot pad mounting base, the fixing post having a mounting hole opened along its axial direction, the opening of the mounting hole being located at the top of the foot pad mounting base;

[0010] The foot pad mounting base includes an inner sidewall located on the side of the foot pad mounting base and an inner bottom wall located at the bottom of the foot pad mounting base. A plurality of first support members are spaced apart between the fixing post and the inner sidewall, and a plurality of second support members are spaced apart between the fixing post and the inner bottom wall.

[0011] In the mechanical legs of the aforementioned quadruped robot, multiple first support members are radially spaced.

[0012] In the mechanical legs of the aforementioned quadruped robot, each first support member is a vertically arranged plate-like structure.

[0013] In the aforementioned mechanical leg of a quadruped robot, the bottom of the foot pad mounting base has an outwardly convex arc surface structure, the bottom of the foot pad mounting base is provided with a foot pad, the outer surface of the bottom of the foot pad mounting base is provided with a fixing groove, and the foot pad is provided with a fixing boss corresponding to the fixing groove.

[0014] In the mechanical leg of the aforementioned quadruped robot, the second support member is provided between the position of the inner bottom wall corresponding to the fixed groove and the fixed post.

[0015] In the mechanical leg of the aforementioned quadruped robot, the area of ​​the end of the second support member connected to the inner bottom wall is greater than the area of ​​the end of the second support member connected to the fixed column.

[0016] In the mechanical leg of the aforementioned quadruped robot, the cross-sectional area of ​​the second support member gradually decreases from the end connected to the inner bottom wall to the end connected to the fixed column.

[0017] In the mechanical leg of the aforementioned quadruped robot, the axial extension direction of the second support member converges at the vertical center line of the fixed column.

[0018] In the mechanical leg of the aforementioned quadruped robot, the second support member is a hollow structure.

[0019] Quadruped robots, including mechanical legs of any of the above-mentioned schemes.

[0020] Compared with the prior art, the advantages of this utility model are:

[0021] The footpad mounting base adopts a hollow structure, combined with support components between the fixing column and the inner sidewall and bottom wall, significantly reducing material usage while ensuring structural strength. The support components, acting as a "skeleton" connecting the fixing column to the sidewall and bottom of the footpad mounting base, form a stable mechanical support system without the need for solid material filling, significantly reducing the weight of the robotic leg. Multiple support components are installed between the fixing column and the inner sidewall and bottom wall, replacing the traditional solid structure with "distributed support." This design ensures the structural rigidity of the footpad mounting base under load while avoiding redundant material accumulation, achieving the effect of "bearing the maximum load with the least amount of material."

[0022] The first support between the fixed column and the inner wall forms radial support on the side of the foot pad mounting base, resisting lateral impact forces and preventing deformation of the foot pad mounting base side. The second support between the fixed column and the inner bottom wall forms axial support at the bottom, bearing the vertical load during robot movement and preventing bottom collapse or breakage. The two together form a three-dimensional support network, enabling the robotic leg to maintain structural stability under complex stress scenarios.

[0023] Furthermore, multiple first support members are arranged radially at intervals. These radially distributed first support members extend radially to the inner wall from the fixed column, forming a structure similar to "wheel spokes." When the mechanical leg is subjected to lateral forces, the load can be evenly transferred to all parts of the footpad mounting base through the radial support members, avoiding localized stress concentration.

[0024] Furthermore, each of the first support members is a vertically arranged sheet structure. This orientation design maximizes the bending section modulus of the sheet structure, which can effectively resist lateral bending moments when the robot turns at high speed or is subjected to lateral impacts.

[0025] Furthermore, the bottom of the foot pad mounting base has an outwardly convex arc-shaped structure. A foot pad is provided at the bottom of the foot pad mounting base, and a fixing groove is provided on the outer surface of the bottom of the foot pad mounting base. A fixing boss is provided on the foot pad corresponding to the fixing groove. The outwardly convex arc-shaped structure at the bottom of the foot pad mounting base transforms the force point when the robotic leg contacts the ground from the traditional planar "surface contact" to "arc-shaped multi-point contact." When the robot's foot touches the ground during high-speed movement, the arc-shaped structure can decompose the impact force from the ground into multiple directional components, naturally dispersing the load through the curvature of the arc surface and reducing stress concentration at single points. The engaging fit between the fixing groove at the bottom of the foot pad mounting base and the fixing boss of the foot pad allows the horizontal friction force on the foot pad to be directly transmitted to the groove of the foot pad mounting base through the boss during high-speed robot movement, preventing the foot pad from sliding circumferentially or radially relative to the foot pad mounting base.

[0026] Furthermore, the second support member is provided between the inner bottom wall and the fixed groove, and between the fixed post and the fixed post. The second support member is located between the fixed groove and the fixed post, providing axial support directly to the foot pad connection. When the foot pad touches the ground during the robot's high-speed movement, the ground reaction force is transmitted through the path of fixed boss → fixed groove → second support member → fixed post, forming a rigid support chain with "direct load delivery".

[0027] Furthermore, the area of ​​the end of the second support member connected to the inner bottom wall is greater than the area of ​​the end of the second support member connected to the fixed column. The second support member forms a gradually changing cross-section structure with a smaller top and a larger bottom. When the mechanical leg is subjected to ground impact, the load is transferred from the bottom (large cross-section) to the top (small cross-section), which can make the stress distribution more uniform.

[0028] Furthermore, the cross-sectional area of ​​the second support gradually decreases from the end connected to the inner bottom wall to the end connected to the fixed column. This design, where the cross-sectional area gradually decreases from bottom to top, allows the moment of inertia of the second support to change continuously along the axial direction. When the mechanical leg is subjected to ground impact, the load enters the support through the large bottom cross-section and is gradually released as the cross-sectional area decreases, effectively avoiding fatigue failure caused by stress concentration.

[0029] Furthermore, the axial extension directions of the second support member converge at the vertical centerline of the fixed column. The convergence of the second support member's axes at the centerline of the fixed column forms a radial support structure resembling a pyramid. When the mechanical leg bears a vertical load, the axial force of each support member can be directly transmitted along its axis to the center of the fixed column, forming a symmetrical force flow path and preventing bending of the fixed column or tilting of the footpad mounting base due to load eccentricity.

[0030] Furthermore, the second support member is a hollow structure. This reduces material usage while maintaining sufficient strength, resulting in a lower overall weight. The hollow structure also allows for a mass distribution closer to the center of the cross-section, significantly reducing the rotational inertia of the mechanical leg.

[0031] The quadruped robot adopts any of the above-mentioned mechanical legs, which significantly reduces the inertial load during high-speed movement and provides high strength, giving the robot comprehensive advantages in terms of high-speed movement efficiency, adaptability to complex environments, and maintenance cost control. Attached Figure Description

[0032] Figure 1 This is a front view of the mechanical leg in this utility model;

[0033] Figure 2 for Figure 1 Sectional view of AA;

[0034] Figure 3 This is a structural schematic diagram of the mechanical leg from an elevation perspective in this utility model;

[0035] Figure 4 for Figure 3 BB section view;

[0036] Figure 5 This is a schematic diagram of the structure of the quadruped robot of this utility model.

[0037] The attached figures are labeled as follows:

[0038] Foot pad mounting base 100, inner side wall 110, first support member 120, inner bottom wall 130, second support member 140, fixing groove 150, foot pad 200, fixing post 300, mounting hole 310, connecting rod 400. Detailed Implementation

[0039] A mechanical leg for a quadruped robot includes a lower leg mechanism. The lower leg mechanism includes a hollow foot pad mounting base 100. A fixing post 300 extending from the top of the foot pad mounting base towards the bottom of the foot pad mounting base is provided. The fixing post 300 is provided with a mounting hole 310 opened along its axial direction. The opening of the mounting hole 310 is located at the top of the foot pad mounting base 100. The foot pad mounting base 100 includes an inner sidewall 110 located on the side of the foot pad mounting base and an inner bottom wall 130 located at the bottom of the foot pad mounting base. A plurality of first support members 120 are spaced apart between the fixing post 300 and the inner sidewall 110, and a plurality of second support members 140 are spaced apart between the fixing post 300 and the inner bottom wall 130.

[0040] The footpad mounting base 100 adopts a hollow structure, which, together with the support components between the fixing column 300 and the inner side wall 110 and inner bottom wall 130, significantly reduces the amount of material used while ensuring structural strength. The support components, acting as the "skeleton" connecting the fixing column 300 to the side walls and bottom of the footpad mounting base 100, form a stable mechanical support system without the need for solid material filling, significantly reducing the self-weight of the mechanical leg. Multiple support components are arranged between the fixing column 300 and the inner side wall 110 and inner bottom wall 130, replacing the traditional solid structure with "distributed support." This design ensures the structural rigidity of the footpad mounting base 100 under stress while avoiding redundant material accumulation, achieving the effect of "bearing the maximum load with the least amount of material."

[0041] The first support member 120 between the fixed column 300 and the inner sidewall 110 forms radial support on the side of the foot pad mounting base 100, resisting lateral impact forces and preventing deformation of the side of the foot pad mounting base 100; the second support member 140 between the fixed column 300 and the inner bottom wall 130 forms axial support at the bottom, bearing the vertical load during robot movement and preventing the bottom from collapsing or breaking. Together, they form a three-dimensional support network, enabling the robotic leg to maintain structural stability under complex stress conditions.

[0042] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0043] 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", and "outer" 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.

[0044] 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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0045] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0046] See Figures 1 to 4 This invention relates to an embodiment of a mechanical leg for a quadruped robot. The mechanical leg includes a lower leg mechanism, which comprises a hollow foot pad mounting base 100 and a foot pad 200. The hollow foot pad mounting base 100 needs to provide a certain load-bearing function and can be made of lightweight materials such as carbon fiber. The shape of the foot pad mounting base 100 can be customized according to design requirements. The foot pad 200 is located at the bottom of the foot pad mounting base 100. The foot pad 200 mainly serves to cushion and increase friction. Therefore, the foot pad 200 can be made of materials such as rubber. The foot pad 200 generally needs to cover the bottom of the foot pad mounting base 100 to adapt to the quadruped robot walking on various terrains, where the foot pad 200 can function effectively.

[0047] A fixing post 300 extending from the top of the footpad mounting base 100 towards the bottom of the footpad mounting base 100 is provided. The fixing post 300 has a mounting hole 310 with an open top in the vertical direction. A connecting rod 400 can be installed in the mounting hole 310 for connection with the robot's body or the previous mechanical leg. The number of mounting holes 310 can be set according to design requirements. In this embodiment, the fixing post 300 has three parallel mounting holes 310. The top of the fixing post 300 is fixedly connected to the top of the footpad mounting base 100, and the fixing post 300 is essentially suspended inside the footpad mounting base 100. During the quadruped robot's running, the force exerted by the ground on the mechanical leg is transmitted through the footpad 200 to the bottom of the footpad mounting base 100, and then from the top of the footpad mounting base 100 to the fixing post 300, and then transmitted upward through the connecting rod connected in the fixing post 300. This force transmission path places high demands on the strength of the foot pad mounting base 100, which is not conducive to the lightweight design of the entire mechanical leg. Furthermore, an excessively heavy mechanical leg will also affect the running speed of the quadruped robot.

[0048] The foot pad mounting base 100 has an inner sidewall 110 on its side, meaning the side of the foot pad mounting base 100 faces the inner wall inside the foot pad mounting base 100; correspondingly, the foot pad mounting base 100 has an inner bottom wall 130 on its bottom, meaning the bottom of the foot pad mounting base 100 faces the inner wall inside the foot pad mounting base 100. To solve the above technical problems, multiple first support members 120 are spaced apart between the fixing column 300 and the inner sidewall 110, and multiple second support members 140 are spaced apart between the fixing column 300 and the inner bottom wall. The spaced arrangement of multiple first support members 120 and second support members 140 replaces the traditional solid foot pad mounting base 100 or large area of ​​filling material, creating a large number of hollow areas inside the robotic leg. This not only reduces the weight of the robotic leg, achieving a lightweight design, but also allows external loads to be transferred to the fixing column 300 through multiple paths, avoiding overload in a single part.

[0049] The first support member 120 is positioned between the fixed column 300 and the inner sidewall 110 to resist lateral forces and prevent deformation of the side of the foot pad mounting base 100. The second support frame is positioned between the fixed column 300 and the inner bottom wall to resist vertical forces and prevent bottom collapse. Together, they enable the robotic leg to withstand impact forces several times its own weight during high-speed movement. The essence of using multiple support members at intervals is to achieve a balance between lightweight and high strength: utilizing the support members as a "skeleton" to bear the load, and replacing redundant materials with hollow areas, both meets the lightweight requirements of high-speed robots and ensures strength and stability through distributed support.

[0050] Furthermore, such as Figure 4As shown, the first support members 120 are radially spaced, meaning they connect radially to the inner wall 110 with the fixed column 300 as the center, forming a structure similar to "wheel spokes." When the robotic leg is subjected to lateral forces (such as centrifugal force when the robot turns or lateral impact from uneven ground), the load can be evenly transmitted to all parts of the foot pad mounting base 100 through the radial support members, avoiding local stress concentration. For example, when subjected to an impact force in a certain direction, the radial support members can decompose the force into components in multiple directions, which are then distributed and transmitted through different support members, improving the uniformity of stress distribution on the side of the foot pad mounting base 100. In addition, the radially distributed support members, the fixed column 300, and the inner wall 110 form multiple triangular support units (triangles have high stability), enhancing the overall rigidity of the side structure. Even if one support member is damaged, other support members can still share the load, preventing structural failure and improving the reliability of the robotic leg.

[0051] The first support member 120 structure with a "radial interval distribution" significantly improves the torsional strength, stress dispersion ability and dynamic stability of the mechanical leg without increasing the amount of material used. At the same time, it further optimizes the lightweight effect, providing key support for the reliability of high-speed quadruped robots in complex motion scenarios.

[0052] Furthermore, each first support member 120 is a vertically arranged sheet-like structure. This orientation design maximizes the bending section modulus of the sheet-like structure, effectively resisting lateral bending moments when the robot turns at high speed or experiences lateral impacts. To meet the lateral stability requirements of high-speed quadruped robots in complex motion scenarios, the precise matching of structural orientation with the load direction significantly improves the anti-tilt and anti-torsion capabilities of the robotic legs without increasing weight. Moreover, the vertical sheet-like support members, the fixed column 300, and the inner wall 110 form a "vertical-horizontal" rigid frame, similar to a load-bearing wall in a building, resisting the vertical shear force and horizontal thrust of the robotic legs. In the event of sudden impacts such as a robot slipping and falling, this structure maintains the side shape of the footpad mounting base 100, reducing the risk of structural failure.

[0053] Based on the above embodiments, the bottom of the foot pad mounting base 100 is a convex arc surface structure. When the foot pad 200 is close to the bottom of the foot pad mounting base 100, the contact point of the mechanical leg when it touches the ground changes naturally with the undulation of the ground. When the robot walks on a flat road, the center of the arc bottom touches the ground first, and then extends to both sides to form a gradual contact of "point → line → surface", avoiding the impact vibration caused by "instantaneous surface contact" at the bottom of the flat surface.

[0054] The outer surface of the bottom of the foot pad mounting base is provided with a fixing groove 150, and the foot pad 200 is provided with a fixing boss corresponding to the fixing groove 150. The cross-section of the fixing groove 150 can be polygonal, elliptical, or circular. In this embodiment, the cross-section of the fixing groove 150 is circular, which can avoid stress concentration points. The tight fit between the fixing boss and the groove forms a mechanical limit. When the robot moves at high speed (e.g., speed ≥ 10 m / s), the horizontal friction force (e.g., ground adhesion force during sudden stop or turning) on ​​the foot pad 200 is directly transmitted to the groove of the foot pad mounting base 100 through the boss, preventing the foot pad 200 from sliding circumferentially or radially relative to the foot pad mounting base 100.

[0055] Furthermore, if the fixed groove 150 area lacks support, it is prone to inward deformation under long-term high-frequency impact, leading to the failure of the foot pad 200 connection. In this embodiment, the second support member 140 is provided between the inner bottom wall 130 and the fixed groove 150, and between the second support member 140 and the fixed column 300, directly providing axial support to the connection part of the foot pad 200 (i.e., the fixed groove 150). When the foot pad 200 touches the ground during the robot's high-speed movement, the ground reaction force is transmitted through the path of fixed boss → fixed groove 150 → second support member 140 → fixed column 300, forming a rigid support chain with "direct load delivery". This design can reduce the local stress in the fixed groove 150 area and avoid groove deformation or cracking caused by long-term impact. By setting the second support member 140 between the fixed groove 150 and the fixed column 300, a direct load transmission path from the bottom to the top of the mechanical leg is constructed, which not only strengthens the structural strength of the foot pad 200 connection area, but also optimizes the stress distribution at the bottom of the curved surface, achieving a dual improvement in rigidity and stability without significantly increasing the weight. This design is particularly suitable for high-speed robots operating in high-frequency impact scenarios in complex terrain, ensuring connection reliability and motion performance through precise structural support.

[0056] In this embodiment, the area of ​​the end of the second support member 140 connected to the inner bottom wall 130 is greater than the area of ​​the end of the second support member 140 connected to the fixed column 300. The area of ​​the bottom of the second support member 140 (connected to the inner bottom wall 130) is larger than the area of ​​the top (connected to the fixed column 300), forming a gradually changing cross-section structure with a smaller top and a larger bottom. When the mechanical leg is subjected to ground impact, the load is transferred from the bottom (large cross-section) to the top (small cross-section), which makes the stress distribution more uniform and reduces the maximum stress concentration inside the support member. Especially at the connection between the support member and the inner bottom wall 130 (a high-stress area in traditional design), the stress amplitude is greatly reduced, effectively avoiding fatigue fracture.

[0057] Furthermore, the cross-sectional area of ​​the second support member 140 gradually decreases from the end connecting to the inner bottom wall 130 to the end connecting to the fixed column 300. For example, if the cross-section of the second support member 140 is circular, then the entire second support member 140 is a frustum shape. This design, with the cross-sectional area gradually decreasing from bottom to top, allows the moment of inertia of the second support member 140 to change continuously along the axial direction, thus matching the mechanical characteristics of the load gradually decreasing from bottom to top. When the mechanical leg is subjected to ground impact, the load enters the support member through the large bottom cross-section and is gradually released as the cross-sectional area decreases. This allows the stress gradient inside the support member to be controlled within 10% (compared to 30% for traditional constant cross-section supports), effectively avoiding fatigue failure caused by stress concentration. The large bottom cross-section of the gradually changing cross-section support member can improve buckling stiffness (resisting axial compressive deformation), while the small top cross-section can reduce rotational inertia (reducing kinetic inertial forces). When the robot lands at high speed, the axial buckling critical load of this structure is increased by 25% compared with the constant cross-section support. At the same time, due to the weight reduction, the swing energy consumption of the mechanical leg is reduced by 12%, achieving the dual advantages of "strong support + low energy consumption".

[0058] Based on the above embodiments, the axial extension direction of the second support member 140 converges to the vertical centerline of the fixed column 300, forming a radial support structure similar to a "pyramid". When the mechanical leg is subjected to vertical loads (such as its own weight or ground impact), the axial force of each support member can be directly transmitted to the center of the fixed column 300 along the axis, forming a symmetrical force flow path, avoiding bending of the fixed column 300 or tilting of the foot pad mounting seat 100 caused by load eccentricity. If the mechanical leg is subjected to radial impact (such as a side collision), the axis of the support member converging at the center can decompose the radial force into multiple components along the axis of the support member, and the radial displacement is offset by the mutual constraint of the support members, which is especially suitable for scenarios where obstacles are avoided during high-speed movement.

[0059] In addition, the second support member 140 can also be designed as a hollow structure, which can reduce the amount of material used while maintaining the support strength. Furthermore, the mass distribution of the hollow structure is closer to the center of the cross section, which can significantly reduce the rotational inertia of the mechanical leg.

[0060] The entire mechanical leg can be made of lightweight yet high-strength materials such as carbon fiber. The foot pad mounting base 100, fixing column 300, first support 120 and second support 140 can be integrally formed by 3D printing or other methods, thereby improving the strength of the entire mechanical leg while taking into account the lightweight design.

[0061] like Figure 5As shown, this embodiment also discloses a quadruped robot that adopts the mechanical legs described in any of the above solutions. By using hollow foot pad mounting base 100, support members and fixing columns 300, the mechanical legs not only reduce the overall weight, but also have high strength. This gives the robot comprehensive advantages in terms of high-speed movement efficiency, adaptability to complex environments and maintenance cost control. The inertial load during high-speed movement of the quadruped robot is greatly reduced, and the lightweight design also reduces the energy consumption of the mechanical leg swing and extends the battery life of the quadruped robot.

[0062] The above description is only a specific embodiment of the present utility model, but the technical features of the present utility model are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present utility model are covered by the patent scope of the present utility model.

Claims

1. A mechanical leg of a quadruped robot comprising a shank mechanism, characterized by, The lower leg mechanism includes a hollow foot pad mounting base, the top of which is provided with a fixing post extending toward the bottom of the foot pad mounting base, and the fixing post has a mounting hole with an opening at the top in the vertical direction. The foot pad mounting base includes an inner sidewall located on the side of the foot pad mounting base and an inner bottom wall located at the bottom of the foot pad mounting base. A plurality of first support members are spaced apart between the fixing post and the inner sidewall, and a plurality of second support members are spaced apart between the fixing post and the inner bottom wall.

2. The mechanical leg of a quadruped robot according to claim 1, characterized in that: Multiple first support members are arranged radially at intervals.

3. The mechanical leg of a quadruped robot according to claim 2, wherein: Each of the first support components is a vertically arranged sheet structure.

4. The mechanical leg of a quadruped robot as described in claim 1, characterized in that: The bottom of the foot pad mounting base has an outwardly convex arc surface structure. The bottom of the foot pad mounting base is provided with a foot pad. The outer surface of the bottom of the foot pad mounting base is provided with a fixing groove. The foot pad is provided with a fixing boss corresponding to the fixing groove.

5. The mechanical leg of a quadruped robot as described in claim 4, characterized in that: The second support member is provided between the inner bottom wall and the fixed groove and the fixed column.

6. The mechanical leg of a quadruped robot as described in claim 5, characterized in that: The area of ​​the second support member connected to the inner bottom wall is greater than the area of ​​the second support member connected to the fixed column.

7. The mechanical leg of a quadruped robot as described in claim 6, characterized in that: The cross-sectional area of ​​the second support gradually decreases from the end connected to the inner bottom wall to the end connected to the fixed column.

8. The mechanical leg of a quadruped robot as described in claim 1 or 5, characterized in that: The axis of the second support member extends in a direction that converges to the vertical centerline of the fixed column.

9. The mechanical leg of a quadruped robot as described in claim 1, characterized in that: The second support member is a hollow structure.

10. A quadruped robot, characterized in that, The mechanical leg includes any one of claims 1 to 9.

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