The lower leg mechanism of a quadruped robot and quadruped robots

Abstract

This utility model discloses the leg mechanism of a quadruped robot and the quadruped robot itself, belonging to the field of quadruped robots. It solves the problem of the top of the foot pad mounting base easily cracking under high-speed operation. The technical solution mainly includes a support rod and a foot pad mounting base. The top of the foot pad mounting base has a mounting hole for inserting the support rod, and the bottom of the foot pad mounting base is connected to a foot pad to form a foot end. The support rod is at least partially inserted into the mounting hole and fixedly connected to the foot pad mounting base. The top of the foot pad mounting base has a reinforcing structure to enhance the strength of the top of the mounting hole. This utility model mainly enhances the strength of the top of the foot pad mounting base through the reinforcing structure, which helps to extend the service life of the foot pad mounting base.

Description

Technical Field

[0001] This utility model illustrates the leg mechanism 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 an animal's four limbs. They typically consist of four legs, each equipped with at least one motor and sensor, allowing the robot to perceive its surroundings and move. They are usually 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] For example, patent CN118991970A discloses a leg assembly for a quadruped robot, including a thigh assembly and a lower leg assembly. The lower leg assembly includes a spring, a support rod, and a sleeve fitted on the support rod. The sleeve is hinged to the thigh assembly, and the support rod and the sleeve are slidably fitted. One end of the spring is connected to the upper end of the support rod, and the other end is connected to the sleeve. The spring extends and retracts as the support rod slides relative to the sleeve. When the lower leg assembly is impacted by the ground, the spring will extend as the support rod slides, converting the impact force into its own elastic deformation. This can weaken the impact force and reduce its influence on the quadruped robot's movement, effectively improving the quadruped robot's running speed.

[0004] In the aforementioned patent, the lower leg assembly of the quadruped robot is an overall support rod, which is not aesthetically pleasing. In the prior art, the lower leg assembly usually also includes a foot pad mounting base, with the lower end of the support rod inserted into the foot pad mounting base. During the high-speed operation of the quadruped robot (about 10m / s), a large force will be generated between the top of the foot pad mounting base and the support rod, which can easily lead to cracking or even breakage of the top of the foot pad mounting base, which will seriously reduce the service life of the foot pad mounting base. Utility Model Content

[0005] The purpose of this invention is to solve the problem that the top of the foot pad mounting base is prone to cracking under high-speed operation. To this end, a leg mechanism for a quadruped robot and a quadruped robot are provided. By strengthening the structure, the strength of the top of the foot pad mounting base can be enhanced, which helps to extend the service life of the foot pad mounting base.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] The lower leg mechanism of the quadruped robot includes a support rod and a foot pad mounting base. The top of the foot pad mounting base has a mounting hole for inserting the support rod. The bottom of the foot pad mounting base is connected to a foot pad to form a foot end. The support rod is at least partially inserted into the mounting hole and fixedly connected to the foot pad mounting base. The top of the foot pad mounting base has a reinforcing structure to enhance the strength of the top of the mounting hole.

[0008] The beneficial effects of using this utility model are:

[0009] The footpad mounting base described in this utility model has a reinforcing structure at its top. This reinforcing structure effectively enhances the strength of the top of the mounting hole, thereby increasing the bending and deformation resistance of the footpad mounting base. Simultaneously, the reinforcing structure disperses the stress on the top of the footpad mounting base, preventing high stress concentration at the support rod insertion point and reducing the possibility of cracks or even breakage at the top of the footpad mounting base, thus effectively extending its service life. Furthermore, the reinforcing structure improves the fatigue resistance of the footpad mounting base, reduces the accumulation of plastic deformation, delays crack initiation and propagation, and further reduces the possibility of breakage. Secondly, the support rod is partially inserted into and fixedly connected to the footpad mounting base. The footpad mounting base can partially enclose the support rod, improving the aesthetics of the lower leg mechanism and protecting the support rod, reducing the possibility of direct impact damage.

[0010] Preferably, the reinforcing structure includes reinforcing ribs, which are formed by extending outward from the top edge of the footpad mounting base. Using the aforementioned technical solution, since the footpad mounting base needs to have mounting holes for the support rod insertion, the width of the top of the footpad mounting base will be reduced, potentially compromising its integrity. The reinforcing ribs, formed by extending outward from the top edge of the footpad mounting base, increase the width of the top of the footpad mounting base, thereby strengthening its strength, bending resistance, and deformation resistance. Simultaneously, they can disperse the stress on the top of the footpad mounting base, preventing high stress concentration at the support rod insertion point, reducing the possibility of cracks or even breakage at the top of the footpad mounting base, and effectively extending its service life.

[0011] Preferably, the reinforcing structure includes a clamp fitted onto the top of the footpad mounting base, the clamp gripping the outer periphery of the top of the footpad mounting base. Using the aforementioned technical solution, the clamp applies a tightening force to the outer periphery of the top of the footpad mounting base, providing favorable support and reducing the deformation of the top of the footpad mounting base. This prevents cracks from forming due to excessive deformation, effectively reducing the possibility of cracks or even breakage and helping to extend the service life of the footpad mounting base. Furthermore, the clamp gripping the footpad mounting base ensures a tight fit between the footpad mounting base and the support rod, thereby improving the connection stability between the footpad mounting base and the support rod, making the overall structure of the lower leg mechanism more robust and reliable.

[0012] Preferably, a cushioning pad is fixed to the top of the foot pad mounting base.

[0013] Preferably, the buffer pad is installed on the edge of the top of the mounting hole, and the buffer pad is fitted onto the outer periphery of the support rod, with the support rod passing through the buffer pad and inserted into the mounting hole.

[0014] Preferably, the lower leg mechanism has three support rods arranged in a triangle, and the foot pad mounting base has three mounting holes corresponding to the support rods, which are spaced apart from each other. Using the aforementioned technical solution, the three support rods arranged in a triangle corresponding to one support rod maintain the overall strength of the lower leg mechanism while reducing the overall weight of the support rods, thereby reducing the weight of the lower leg mechanism and making the overall structure of the quadruped robot lighter. Furthermore, the three mounting holes of the sleeve are spaced apart, meaning the space between the three mounting holes is a solid structure, allowing the outer periphery of each support rod to be subjected to the force of the foot pad mounting base, effectively limiting the swing amplitude of the support rod. This also allows the support rod and the foot pad mounting base to form a reliable whole, helping to improve the connection stability between the support rod and the foot pad mounting base.

[0015] Preferably, a protective sleeve is fitted around the outer periphery of the support rod, with the sleeve extending into the mounting hole along with the support rod. Using the aforementioned technical solution, during operation of the lower leg mechanism, the support rod at the top of the footpad mounting seat experiences significant shear force. Especially during frequent high-speed operation of the lower leg mechanism, the support rod is prone to breakage due to shear force. By fitting a protective sleeve onto the support rod, covering the area of ​​greatest shear force, the sleeve increases the strength of the support rod and can absorb most of the shear force, thus effectively protecting the support rod and reducing the possibility of breakage due to shear force, providing a foundation for the high-speed operation of the lower leg mechanism.

[0016] Preferably, the inner wall of the mounting hole is provided with an inwardly protruding support platform, and the protective sleeve abuts against the support platform. Using the aforementioned technical solution, the support platform can limit the protective sleeve, restricting its downward sliding relative to the support rod, thus fixing the protective sleeve relative to the support rod and preventing relative friction between the protective sleeve and the support rod.

[0017] Preferably, the inner wall of the mounting hole is provided with an injection groove, the top of which extends to the top of the mounting hole. The support rod is fixedly connected to the footpad mounting base via adhesive. Using the aforementioned technical solution, the injection groove allows for convenient injection of adhesive into the mounting hole, and the support rod is fixed to the footpad mounting base via the adhesive, effectively improving the connection stability between the support rod and the footpad mounting base. Simultaneously, the adhesive fills the gap between the support rod and the inner wall of the mounting hole, making the connection between the support rod and the footpad mounting base tighter and further reducing the swaying amplitude of the support rod.

[0018] 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 end connected in sequence. The lower leg mechanism adopts the lower leg mechanism of a quadruped robot as described in any of the above-mentioned embodiments. By adopting the aforementioned technical solution, a reinforcing structure is provided on the footpad mounting base, thereby strengthening the lower leg mechanism and enabling it to adapt to the high-speed operation of the quadruped robot. This allows the lower leg mechanism to be effectively applied to highly mobile robots and to adapt to their high-speed operation. Furthermore, the reinforcing structure mainly strengthens the top of the footpad mounting base, reducing the overall weight of the reinforcing structure. While ensuring sufficient strength, the lower leg mechanism also remains lightweight, thus improving the quadruped robot's endurance.

[0019] Other features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings:

[0021] Figure 1 This is a schematic diagram of the lower leg structure of the quadruped robot of this utility model;

[0022] Figure 2 This is a cross-sectional view of the lower leg structure of the quadruped robot of this utility model;

[0023] Figure 3 for Figure 2 A magnified view of part A in the middle;

[0024] Figure 4 This is a schematic diagram of the foot pad mounting base in the lower leg structure of the quadruped robot of this utility model;

[0025] Figure 5 This is a schematic diagram of the structure of the quadruped robot of this utility model.

[0026] Reference numerals: 1. Lower leg mechanism; 11. Support rod; 111. Protective sleeve; 12. Sleeve; 13. Foot pad mounting base; 131. Mounting hole; 132. Reinforcing rib; 133. Support platform; 134. Buffer pad; 135. Glue injection groove; 2. Thigh mechanism; 3. Foot end; 4. First motor; 5. Second motor; 6. Torso. Detailed Implementation

[0027] 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.

[0028] 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.

[0029] 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.

[0030] Example 1:

[0031] like Figures 1 to 4As shown in the figure, this embodiment illustrates the lower leg mechanism 1 of a quadruped robot, including a support rod 11 and a foot pad mounting base 13. The top end of the foot pad mounting base 13 is provided with a mounting hole 131 for the support rod 11 to be inserted. The bottom end of the foot pad mounting base 13 is connected to a foot pad to form a foot end 3. The support rod 11 is at least partially inserted into the mounting hole 131 and fixedly connected to the foot pad mounting base 13. The top end of the foot pad mounting base 13 is provided with a reinforcing structure to enhance the strength of the top end of the mounting hole 131.

[0032] In this embodiment, the top of the foot pad mounting base 13 is provided with a reinforcing structure. The reinforcing structure can effectively enhance the strength of the top of the mounting hole 131, thereby increasing the bending and deformation resistance of the top of the foot pad mounting base 13. At the same time, the reinforcing structure can also disperse the stress on the top of the foot pad mounting base 13, avoiding high stress concentration at the insertion part of the support rod 11, reducing the possibility of cracks or even breakage at the top of the foot pad mounting base 13, and effectively extending the service life of the foot pad mounting base 13. In addition, the reinforcing structure can improve the fatigue resistance of the foot pad mounting base 13, reduce the accumulation of plastic deformation, delay the initiation and propagation of cracks, and further reduce the possibility of breakage of the foot pad mounting base 13. Secondly, the support rod 11 is partially inserted into the foot pad mounting base 13 and fixedly connected to the foot pad mounting base 13. The foot pad mounting base 13 can wrap around part of the support rod 11, which helps to improve the aesthetics of the lower leg mechanism 1, and also protects the support rod 11, reducing the possibility of damage to the support rod 11 due to direct collision.

[0033] like Figure 1 and Figure 2As shown, the calf mechanism 1 in this embodiment includes a foot pad mounting base 13, a support rod 11, and a sleeve 12. The top of the foot pad mounting base 13 is provided with a mounting hole 131 for inserting the support rod 11. The lower end of the support rod 11 is inserted into the foot pad mounting base 13 and fixedly connected to the foot pad mounting base 13. A foot pad is connected to the bottom of the foot pad mounting base 13. After the foot pad is connected to the foot pad mounting base 13, it forms a foot end 3. The sleeve 12 is fitted onto the support rod 11, and the sleeve 12 slides relative to the support rod 11 at the end of the support rod 11 near the thigh mechanism 2. The sleeve 12 is rotatably connected to the thigh mechanism 2, thereby realizing the relative swinging of the calf mechanism 1 and the thigh mechanism 2. In addition, the end of the support rod 11 away from the foot pad mounting base 13 is provided with an end cap. The top of the support rod 11 is fixedly connected to the end cap by fasteners. The end cap can support the sleeve 12. The sleeve 12 is positioned to prevent it from detaching from the support rod 11, making the sliding connection between the sleeve 12 and the support rod 11 more stable and reliable. An elastic element, a tension spring, is connected between the end cap and the sleeve 12. One end of the tension spring is positioned on the end cap, and the other end is positioned on the sleeve 12. When the sleeve 12 abuts against the end cap, the length of the tension spring is at its shortest. During the operation of the leg assembly, when the lower leg mechanism 1 is impacted, the sleeve 12 will slide downward against the support rod 11. During the sliding of the sleeve 12, the tension spring will be stretched. The tension spring can convert the impact force on the lower leg mechanism 1 into elastic deformation, thereby effectively weakening the impact force on the lower leg mechanism 1, so that the lower leg mechanism 1 can move at high speed, and at the same time reducing the possibility of damage to the lower leg mechanism 1 due to impact force, which helps to extend the service life of the lower leg mechanism 1.

[0034] like Figure 4 As shown, the reinforcing structure in this embodiment includes a reinforcing rib 132, which is formed by extending outward from the top edge of the footpad mounting base 13. Since the support rod 11 is inserted into the footpad mounting base 13 from the top edge, the insertion opening of the mounting hole 131 is formed on the top surface of the footpad mounting base 13, which will reduce the width of the top of the footpad mounting base 13 and damage the integrity of the top of the footpad mounting base 13. However, the reinforcing rib 132, which is formed by extending outward from the top edge of the footpad mounting base 13, can increase the width of the top of the footpad mounting base 13, thereby strengthening the strength, bending resistance, and deformation resistance of the top of the footpad mounting base 13. At the same time, it can also disperse the stress on the top of the footpad mounting base 13, avoid high stress concentration at the insertion part of the support rod 11, reduce the possibility of cracks or even breakage at the top of the footpad mounting base 13, and effectively extend the service life of the footpad mounting base 13.

[0035] It is understandable that the reinforcing structure in other embodiments may also include a clamp, which is fitted onto the top of the foot pad mounting base 13 and tightens around the outer periphery of the top of the foot pad mounting base 13. The clamp can be adjusted by fasteners to tighten the clamping force on the foot pad mounting base 13. When the clamp tightens around the foot pad mounting base 13, it applies a tightening force to the outer periphery of the top of the foot pad mounting base 13. The clamp can provide favorable support for the foot pad mounting base 13 and reduce the degree of deformation at the top of the foot pad mounting base 13, preventing cracks from forming due to excessive deformation. This can effectively reduce the possibility of cracks or even breakage and help extend the service life of the foot pad mounting base 13. In addition, the clamp tightening around the foot pad mounting base 13 can also keep the foot pad mounting base 13 and the support rod 11 in close contact, thereby improving the connection stability between the foot pad mounting base 13 and the support rod 11 and making the overall structure of the lower leg mechanism 1 more robust and reliable.

[0036] It is understandable that the reinforcing structure described in other embodiments may also include a reinforcing rib 132 and a clamp. That is, while a reinforcing rib 132 is provided on the outer periphery of the top of the foot pad mounting base 13, a clamp is also fitted on the outer periphery of the top of the foot pad mounting base 13. The clamp is located below the reinforcing rib 132. While clamping the foot pad mounting base 13 tightly, the clamp can also support and position the reinforcing rib 132.

[0037] like Figure 1 As shown, in this embodiment, a buffer pad 134 is fixed to the top of the foot pad mounting base 13. The buffer pad 134 is fixed to the top surface of the foot pad mounting base 13, and the buffer pad 134 has a through hole. The through hole of the buffer pad 134 is aligned with the mounting hole 131, and the buffer pad 134 is installed on the edge of the top of the mounting hole 131. The buffer pad 134 is fitted onto the outer periphery of the support rod 11. The support rod 11 passes through the buffer pad 134 and is inserted into the mounting hole 131. The buffer pad 134 forms a protective layer on the top surface of the foot pad mounting base 13. During the normal operation of the calf mechanism 1, the lowest sliding position of the sleeve 12 does not contact the foot pad mounting base 13, while when the sleeve... When the tension spring between the sleeve 12 and the end cap breaks, the sleeve 12 will slide directly downward under the impact force of the lower leg mechanism 1 and abut against the top surface of the foot pad mounting seat 13. Due to the loss of the elastic force of the tension spring, the sleeve 12 will generate a large impact force on the foot pad mounting seat 13. The buffer pad 134 can absorb the impact force of the sleeve 12 on the foot pad mounting seat 13, thereby reducing the impact force on the foot pad mounting seat 13 and the reaction force on the sleeve 12, reducing the possibility of damage to the foot pad mounting seat 13 and the sleeve 12, and avoiding damage to both the sleeve 12 and the foot pad mounting seat 13 due to the breakage of the tension spring. This can effectively reduce the maintenance cost of the lower leg mechanism 1.

[0038] like Figure 3As shown, in this embodiment, a protective sleeve 111 is fixed to the outer periphery of the support rod 11. Part of the protective sleeve 111 is inserted into the foot pad mounting base 13 along with the support rod 11. The inner wall of the mounting hole 131 has an inwardly protruding support platform 133. The bottom end of the protective sleeve 111 abuts against the support platform 133. During operation of the leg assembly, the support rod 11 at the top of the foot pad mounting base 13 will be subjected to a large shear force, especially when the lower leg mechanism 1 is running at high speed. The support rod 11 is prone to breakage due to shear force. Therefore, the protective sleeve 111 is fitted onto the support rod 11, and the protective sleeve 111 covers the support rod 11. At the location where the support rod 11 experiences the greatest shear force, the protective sleeve 111 can enhance the strength of the support rod 11 and also bear most of the shear force for the support rod 11, thereby effectively protecting the support rod 11 and reducing the possibility of the support rod 11 breaking due to shear force, providing a foundation for the high-speed operation of the leg assembly; in addition, the support platform 133 can limit the protective sleeve 111, restricting the protective sleeve 111 from sliding downward relative to the support rod 11, so that the protective sleeve 111 can be fixed relative to the support rod 11, preventing relative friction between the protective sleeve 111 and the support rod 11.

[0039] It should be noted that the protective sleeve 111 is a steel sleeve. The steel sleeve has better tensile strength and can withstand more load and impact for the support rod 11, and is not easy to deform. In addition, during the high-speed operation of the lower leg mechanism 1, the sliding speed of the sleeve 12 relative to the support rod 11 is relatively large. The friction between the first protective sleeve 111 and the bushing will generate a high temperature. The steel sleeve has better high temperature resistance, which allows the first protective sleeve 111 to maintain structural stability at high temperatures and provide structural support for the high-speed operation of the leg assembly.

[0040] like Figure 4 As shown, in this embodiment, the inner wall of the mounting hole 131 is provided with an injection groove 135. The top of the injection groove 135 extends to the top of the mounting hole 131. The support rod 11 and the protective sleeve 111 are both fixedly connected to the foot pad mounting base 13 by adhesive. In the process of connecting the support rod 11 and the foot pad mounting base 13, the support rod 11 is first inserted into the mounting hole 131, and then adhesive is injected into the mounting hole 131 through the injection groove 135. After the adhesive solidifies, the support rod 11 and the foot pad mounting base 13 can be fixedly connected. The injection groove 135 can conveniently inject adhesive into the mounting hole 131. The support rod 11 is fixed to the foot pad mounting base 13 by adhesive, which can effectively improve the connection stability between the support rod 11 and the foot pad mounting base 13.

[0041] like Figure 1As shown, the lower leg mechanism 1 in this embodiment includes three support rods 11 arranged in a triangle. The sleeve 12 has three through holes corresponding to the support rods 11, which are spaced apart. The foot pad mounting base 13 has three mounting holes 131 corresponding to the support rods 11, which are spaced apart. The triangular arrangement of the three support rods 11 corresponds to one support rod 11. While maintaining the overall strength of the lower leg mechanism 1, the overall weight of the support rods 11 can be reduced, thereby reducing the weight of the leg assembly and making the overall structure of the quadruped robot lighter. In addition, the spaced distribution of the three through holes in the sleeve 12, i.e., the solid structure between the three through holes, allows the outer periphery of each support rod 11 to be subjected to the force of the sleeve 12, which can effectively limit the swing amplitude of the support rod 11. Similarly, the support rods 11 are fixedly connected to the foot pad mounting base 13 through the mounting holes 131, which can make the support rods 11 and the foot pad mounting base 13 form a reliable whole, which helps to improve the connection stability between the support rods 11 and the foot pad mounting base 13.

[0042] It is understandable that in other embodiments, the number of support rods 11 may also be two or one.

[0043] Example 2:

[0044] like Figure 5 As shown, this embodiment also demonstrates a quadruped robot, including a torso 6 and four leg components rotatably connected to the torso 6. The leg components include a first motor 4, a second motor 5, a thigh mechanism 2, a lower leg mechanism 1, and a foot end 3 connected in sequence. The lower leg mechanism 1 adopts the lower leg mechanism 1 of the quadruped robot described in Embodiment 1. In this embodiment, by setting a reinforcing structure on the foot pad mounting base 13, the lower leg mechanism 1 can be strengthened, thereby adapting to the high-speed operation of the quadruped robot. This allows the lower leg mechanism 1 to be effectively applied to high-mobility robots and adapt to the high-speed operation of high-mobility robots. In addition, the reinforcing structure mainly strengthens the top of the foot pad mounting base 13, which can reduce the overall weight of the reinforcing structure. While ensuring sufficient strength of the lower leg mechanism 1, it can also keep the lower leg mechanism 1 lightweight, thereby improving the battery life of the quadruped robot.

[0045] 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 lower leg mechanism of a quadruped robot characterized by comprising: It includes a support rod and a foot pad mounting base. The top of the foot pad mounting base has a mounting hole for inserting the support rod. The bottom of the foot pad mounting base is connected to a foot pad to form a foot end. The support rod is at least partially inserted into the mounting hole and fixedly connected to the foot pad mounting base. The top of the foot pad mounting base has a reinforcing structure to enhance the strength of the top of the mounting hole.

2. The lower leg mechanism of the quadruped robot according to claim 1, characterized by, The reinforcing structure includes reinforcing ribs, which are formed by the outward extension of the top edge of the foot pad mounting base.

3. The lower leg mechanism of the quadruped robot according to claim 1 or 2, characterized by, The reinforcing structure includes a clamp fitted onto the top of the footpad mounting base, the clamp being tightly attached to the outer periphery of the top of the footpad mounting base.

4. The four-legged robot's lower leg mechanism according to claim 1, characterized by, A cushioning pad is fixed to the top of the foot pad mounting base.

5. The lower leg mechanism of the quadruped robot according to claim 4, characterized by, The buffer pad is installed on the edge of the top of the mounting hole, and the buffer pad is fitted onto the outer periphery of the support rod, which passes through the buffer pad and is inserted into the mounting hole.

6. The four-legged robot's lower leg mechanism according to claim 1, characterized by, The lower leg mechanism has three support rods arranged in a triangle. The foot pad mounting base has three mounting holes corresponding to the support rods, and the three mounting holes are separated from each other.

7. The four-legged robot's lower leg mechanism according to claim 1, characterized by, The outer periphery of the support rod is fitted with a protective sleeve, and the protective sleeve extends into the mounting hole along with the support rod.

8. The four-legged robot's lower leg mechanism according to claim 7, characterized by, The inner wall of the mounting hole is provided with an inwardly protruding support platform, and the protective sleeve abuts against the support platform.

9. The four-legged robot's crus mechanism according to claim 1, wherein The inner wall of the mounting hole is provided with an injection groove, the top of which extends to the top of the mounting hole. The support rod is fixedly connected to the foot pad mounting base by adhesive.

10. A quadruped robot, characterized by The device includes 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 end connected in sequence. The lower leg mechanism adopts the lower leg mechanism of a quadruped robot as described in any one of claims 1 to 9.

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