Four-legged robot's foot structure and four-legged robot

Abstract

The utility model discloses a foot structure of four -legged robot, including antiskid foot pad, foot pad mounting seat and hard quality connecting ring, the antiskid foot pad is installed on the hard quality connecting ring, one end of foot pad mounting seat is equipped with support part, the hard quality connecting ring can be dismantled and installed on foot pad mounting seat to make antiskid foot pad wrap support part. The utility model discloses a foot structure of four -legged robot can enhance the installation firmness of antiskid foot pad to effectively avoid the antiskid foot pad falling off when four -legged robot high -speed running. In addition, the utility model discloses four -legged robot still, including shank structure and above -mentioned foot structure, and the shank structure includes support rod, and one end of support rod is inserted and is installed in foot pad mounting seat.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to the foot structure of a quadruped robot and 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] The quadruped robot includes a body and four leg components located at the front and rear ends of the body. The leg components include a thigh structure, a lower leg structure, and a foot structure. The foot structure includes a rigid foot pad mounting base and anti-slip foot pads made of soft materials such as rubber. The anti-slip foot pads have a shock-absorbing function. Therefore, by wrapping the foot pad mounting base with anti-slip foot pads, excessive impacts from hard surfaces on the quadruped robot's lower leg structure, thigh structure, and drive components can be buffered, thereby extending the quadruped robot's service life.

[0004] Currently, when existing quadruped robots run at high speeds (over 8 m / s) on the ground, the friction force exerted on the anti-slip footpads by the ground has a large lateral component. This lateral force pulls on the anti-slip footpads, causing excessive deformation and resulting in adhesive failure. Alternatively, the anti-slip footpads may tear due to repeated deformation at the points where screws penetrate, causing them to detach from the footpad mounting base. This leads to the footpad mounting base directly contacting the ground. Since the footpad mounting base is a rigid component, it lacks shock absorption. This direct contact with the ground transmits the enormous impact force to the lower leg structure, thigh structure, and body, causing damage to the quadruped robot. Utility Model Content

[0005] To address the shortcomings and deficiencies in the existing technology, this utility model provides a foot structure for a quadruped robot and a quadruped robot, which can enhance the installation reliability of the anti-slip foot pads to effectively prevent the anti-slip foot pads from falling off when the quadruped robot runs at high speed.

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

[0007] The foot structure of the quadruped robot includes an anti-slip foot pad, a foot pad mounting base, and a rigid connecting ring. The anti-slip foot pad is mounted on the rigid connecting ring. One end of the foot pad mounting base is provided with a support portion. The rigid connecting ring is detachably mounted on the foot pad mounting base so that the anti-slip foot pad wraps around the support portion.

[0008] In the foot structure of the quadruped robot described above, the rigid connecting ring has a through hole, and the foot pad mounting base has a threaded hole. The screw passes through the through hole and locks into the threaded hole to fix the rigid connecting ring on the foot pad mounting base.

[0009] In the foot structure of the quadruped robot described above, the foot pad mounting base is provided with mounting holes, a metal sleeve is embedded in the mounting holes, and the metal sleeve is provided with threaded holes.

[0010] In the foot structure of the quadruped robot described above, the rigid connecting ring is provided with a socket, and the anti-slip foot pad includes a body and a insert plate provided on the body. The body wraps around the support part, and the insert plate is inserted into the socket.

[0011] In the foot structure of the quadruped robot described above, the anti-slip foot pads are integrally injection molded onto the rigid connecting ring using an insert injection molding process.

[0012] In the foot structure of the quadruped robot described above, the rigid connecting ring is provided with a groove surrounding the outside of the insertion hole on the side away from the main body, and a limiting piece is provided at the end of the insert away from the main body, and the limiting piece is embedded in the groove.

[0013] In the foot structure of the quadruped robot described above, the anti-slip foot pads are bonded and fixed to the rigid connecting rings.

[0014] In the foot structure of the quadruped robot described above, a gap is provided between the support part and the anti-slip foot pad to form a shock-absorbing cavity between the support part and the anti-slip foot pad.

[0015] In the foot structure of the quadruped robot described above, the foot pad mounting base includes a base and a connecting boss integrally formed on the lower end face of the base. The lower end face of the base has a limiting surface surrounding the outside of the connecting boss. The support part is integrally formed on the end of the connecting boss away from the base. The rigid connecting ring is fitted on the outside of the connecting boss and abuts against the limiting surface.

[0016] In addition, this utility model also provides a quadruped robot, including a lower leg structure and a foot structure as described in any of the above technical solutions. The lower leg structure includes a support rod, one end of which is inserted into the foot pad mounting base.

[0017] By adopting the above technical solution, this utility model has the following advantages:

[0018] 1. The rigid connecting ring in this invention can serve as an intermediate carrier. In this way, when the quadruped robot runs at high speed, the lateral force on the anti-slip footpads can be evenly distributed to the rigid connecting ring, preventing localized stress concentration on the anti-slip footpads. Furthermore, the rigid connecting ring restricts the lateral deformation of the anti-slip footpads, preventing excessive deformation and thus avoiding tearing and detachment due to localized stress concentration or excessive deformation. This enhances the installation reliability of the anti-slip footpads and effectively prevents them from falling off during high-speed running. In addition, the anti-slip footpads wrap around the support portion, preventing lateral impact forces and further reducing the impact on the quadruped robot. Finally, the rigid connecting ring is detachably mounted on the footpad mounting base, facilitating the separate installation of the rigid connecting ring and anti-slip footpads later without needing to replace the footpad mounting base connected to the lower leg structure, thereby reducing product maintenance costs.

[0019] 2. The rigid connecting ring has a through hole, and the footpad mounting base has a threaded hole. Screws pass through the through hole and threaded hole to lock the rigid connecting ring onto the footpad mounting base. This method of detachably mounting the rigid connecting ring onto the footpad mounting base with screws enhances the connection between the rigid connecting ring and the footpad mounting base, further preventing the anti-slip footpad from falling off due to the rigid connecting ring detaching.

[0020] 3. The footpad mounting base has mounting holes, within which a metal sleeve is embedded. The metal sleeve contains threaded holes. This design typically involves using a plastic part for the footpad mounting base to reduce weight. However, directly drilling threads into the plastic part can lead to cracking during high-speed quadruped robot movement due to the limited rigidity of the plastic, causing screws to fall off and the anti-slip footpads to detach. This solution, by embedding a metal sleeve within the mounting hole and providing the aforementioned threaded hole, increases the strength of the threaded hole, preventing cracking and screw loss. Furthermore, the rigidity of the metal sleeve disperses dynamic impact forces, protecting the structure around the mounting hole. Finally, by embedding the metal sleeve within the mounting hole, if the threads are damaged, only the metal sleeve needs to be replaced, rather than the entire footpad mounting base, reducing product maintenance costs.

[0021] 4. The rigid connecting ring has a socket. The anti-slip foot pad includes a main body and a insert plate on the main body. The main body covers the support part, and the insert plate and the socket plate are inserted into each other. With this design, when the two are independently manufactured and then assembled, the initial positioning can be completed by the insertion of the insert plate and the socket plate, which facilitates the subsequent connection. In addition, the engagement of the insert plate and the socket plate can form a lateral constraint, effectively preventing the anti-slip foot pad from sliding laterally under impact, further improving the connection reliability between the anti-slip foot pad and the foot pad mounting base.

[0022] 5. The anti-slip foot pad is integrally injection molded onto the rigid connecting ring using an insert injection molding process. This design eliminates the need for separately processed anti-slip foot pads and their assembly with the rigid connecting ring, improving assembly efficiency. It also enhances the reliability of the connection between the anti-slip foot pad and the rigid connecting ring, resulting in better vibration resistance.

[0023] 6. The rigid connecting ring also has a groove surrounding the outside of the insertion hole on the side opposite to the main body. A limiting piece protrudes from the end of the insert away from the main body, and the limiting piece is embedded in the groove. With this design, during the injection molding process, by molding the limiting piece in the groove, the limiting piece can cooperate with the bottom wall of the groove to prevent the anti-slip foot pad from detaching downward from the rigid connecting ring, thereby further improving the connection reliability between the anti-slip foot pad and the rigid connecting ring. For example, when the anti-slip foot pad is subjected to the pull of the ground (such as when the anti-slip foot pad is adsorbed by sticky mud when the robot lifts its foot), the limiting piece will be blocked by the bottom wall of the groove to prevent the rigid connecting ring and the anti-slip foot pad from separating axially.

[0024] 7. A gap is provided between the support part and the anti-slip foot pad to form a shock-absorbing cavity. With this design, when the anti-slip foot pad is compressed, the elastic deformation of the anti-slip foot pad itself and the air damping effect formed by the rapid compression of air in the shock-absorbing cavity when the anti-slip foot pad is compressed can significantly improve the cushioning performance of the foot structure in the dynamic movement of the quadruped robot.

[0025] 8. The footpad mounting base includes a base and a connecting boss integrally formed on the lower end face of the base. A limiting surface is formed on the lower end face of the base surrounding the connecting boss. A support portion is integrally formed on the end of the connecting boss facing away from the base. A rigid connecting ring is fitted onto the outside of the connecting boss and abuts against the limiting surface. This design prevents the rigid connecting ring from moving upwards relative to the footpad mounting base by abutting against it, and also disperses the upward impact force on the rigid connecting ring by the limiting surface, avoiding localized stress concentration and breakage.

[0026] 9. A quadruped robot, comprising a lower leg structure and a foot structure as described in any of the above technical solutions, wherein the lower leg structure includes a support rod, one end of which is inserted into a foot pad mounting base. This design, by employing the aforementioned foot structure, enhances the installation reliability of the anti-slip foot pad, effectively preventing it from detaching during high-speed running of the quadruped robot. This ensures the foot structure provides sustained cushioning against impact forces during high-speed running, effectively preventing the support rod from breaking. Furthermore, the foot pad mounting base's enclosure of the support rod also enhances its structural strength, further preventing breakage. Attached Figure Description

[0027] Figure 1 This is an exploded view of the foot structure in Embodiment 1 of this utility model;

[0028] Figure 2 This is a schematic diagram of the rigid connecting ring in Embodiment 1 of this utility model;

[0029] Figure 3 This is a perspective sectional view of the rigid connecting ring in Embodiment 1 of this utility model;

[0030] Figure 4 This is a schematic diagram of the anti-slip foot pad in Embodiment 1 of this utility model;

[0031] Figure 5 This is a three-dimensional sectional view of the anti-slip foot pad in Embodiment 1 of this utility model;

[0032] Figure 6 This is a schematic diagram of the assembly of the anti-slip foot pad and the rigid connecting ring in Embodiment 1 of this utility model;

[0033] Figure 7 This is a three-dimensional sectional view of the anti-slip foot pad and the rigid connecting ring assembled in Embodiment 1 of this utility model;

[0034] Figure 8 This is a schematic diagram of the assembly of the foot structure in Embodiment 1 of this utility model;

[0035] Figure 9 This is a cross-sectional view of the foot structure in Embodiment 1 of this utility model;

[0036] Figure 10 for Figure 9 A magnified view of part A in the diagram;

[0037] Figure 11 This is a schematic diagram of the assembly of the foot structure and the lower leg structure in Embodiment 2 of this utility model.

[0038] Icon labels:

[0039] 001. Vibration damping cavity;

[0040] 100. Anti-slip foot pad; 110. Body; 120. Insert; 130. Limiting plate; 200. Foot pad mounting base; 201. Mounting hole; 210. Support part; 220. Base; 221. Limiting surface; 230. Connecting boss; 240. Assembly hole; 300. Rigid connecting ring; 310. Insertion hole; 311. Conical wall; 320. Groove; 330. Through hole; 400. Screw; 500. Metal sleeve; 600. Support rod. Detailed Implementation

[0041] This utility model provides a foot structure for a quadruped robot, including an anti-slip foot pad, a foot pad mounting base, and a rigid connecting ring. The anti-slip foot pad is mounted on the rigid connecting ring. One end of the foot pad mounting base is provided with a support portion. The rigid connecting ring is detachably mounted on the foot pad mounting base so that the anti-slip foot pad wraps around the support portion.

[0042] In this invention, the rigid connecting ring serves as an intermediate carrier. This allows the lateral force on the anti-slip footpads to be evenly distributed onto the rigid connecting ring when the quadruped robot runs at high speed, preventing localized stress concentration. Furthermore, the rigid connecting ring's restriction on the lateral deformation of the anti-slip footpads prevents excessive deformation, thus avoiding tearing and detachment due to localized stress concentration or excessive deformation. This enhances the installation reliability of the anti-slip footpads and effectively prevents them from falling off during high-speed running. Additionally, the anti-slip footpads wrap around the support portion, preventing lateral impact and further reducing the impact on the quadruped robot. Finally, the rigid connecting ring is detachably mounted on the footpad mounting base, facilitating the separate installation of the rigid connecting ring and anti-slip footpads later without needing to replace the footpad mounting base connected to the lower leg structure, thereby reducing product maintenance costs.

[0043] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be understood that the terms "upper," "lower," "left," "right," "longitudinal," "lateral," "inner," "outer," "vertical," "horizontal," "top," and "bottom," etc., which indicate orientation or positional relationship, are based solely on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device / component referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0044] Example 1

[0045] Combination Figures 1 to 10 As shown, the foot structure of the quadruped robot in this embodiment includes an anti-slip foot pad 100, a foot pad mounting base 200, and a rigid connecting ring 300. The anti-slip foot pad is a rubber foot pad with anti-slip protrusions on its outer surface. The rigid connecting ring 300 can be a metal ring or a high-strength plastic ring, preferably a metal ring. The anti-slip foot pad 100 is mounted on the rigid connecting ring 300. One end of the foot pad mounting base 200 has a support portion 210. The rigid connecting ring 300 is detachably mounted on the foot pad mounting base 200 so that the anti-slip foot pad 100 covers the support portion 210.

[0046] In this embodiment, the rigid connecting ring 300 can serve as an intermediate carrier. Thus, when the quadruped robot runs at high speed, the lateral force on the anti-slip footpad 100 can be evenly distributed onto the rigid connecting ring 300, preventing localized stress concentration on the anti-slip footpad 100. Furthermore, the rigid connecting ring 300 restricts the lateral deformation of the anti-slip footpad 100, preventing excessive deformation and thus avoiding tearing and detachment due to localized stress concentration or excessive deformation. This enhances the secure installation of the anti-slip footpad 100. This design effectively prevents the anti-slip footpads 100 from detaching when the quadruped robot runs at high speed. Furthermore, the anti-slip footpads 100 wrap around the support portion 210, preventing lateral impact and further reducing the impact on the quadruped robot. Finally, the rigid connecting ring 300 is detachably mounted on the footpad mounting base 200, allowing for easy separation of the rigid connecting ring 300 and the anti-slip footpads 100 later without replacing the footpad mounting base 200 connected to the lower leg structure, thus reducing product maintenance costs.

[0047] In this embodiment, the rigid connecting ring 300 is provided with a plurality of circumferentially spaced insertion holes 310, which extend along the axial direction of the rigid connecting ring 300. The anti-slip foot pad 100 includes an integrally injection-molded body 110 and inserts 120 disposed on the body 110. The body 110 is generally bowl-shaped and encloses the support portion 210. The plurality of inserts 120 are circumferentially spaced on the top surface of the body 110, and the inserts 120 are inserted into the insertion holes 310. The top surface of the body 110 abuts against the lower end surface of the rigid connecting ring 300. With this design, the cooperation between the inserts 120 and the insertion holes 310 can form a lateral constraint, effectively preventing the anti-slip foot pad 100 from sliding laterally under impact, and further improving the connection reliability between the anti-slip foot pad 100 and the foot pad mounting base 200.

[0048] In addition, the rigid connecting ring 300 has a groove 320 on the side away from the body 110. The groove 320 surrounds the outside of the insertion hole 310. In order to ensure the structural strength of the rigid connecting ring 300, in this embodiment, the rigid connecting ring 300 has a plurality of circumferentially spaced grooves 320 on the side away from the body 110. The number of grooves 320 is the same as the number of insertion holes 310 and corresponds one-to-one. The grooves 320 communicate with the corresponding insertion holes 310. The end of the insert 120 away from the body 110 is provided with a laterally extending limiting piece 13. 0. The limiting piece 130 is embedded in the groove 320, thereby preventing the anti-slip pad 100 from detaching downward from the rigid connecting ring 300 through the cooperation between the limiting piece 130 and the bottom wall of the groove 320, so as to further improve the connection reliability between the anti-slip pad 100 and the rigid connecting ring 300. For example, when the anti-slip pad 100 is subjected to the pull of the ground (such as when the anti-slip pad is adsorbed by sticky soil when the robot lifts its foot), the limiting piece 130 will be blocked by the bottom wall of the groove 320 to prevent the rigid connecting ring 300 from separating from the anti-slip pad 100 in the axial direction.

[0049] It is understood that in other embodiments of this utility model, the rigid connecting ring may have only one groove on the side opposite to the body, and the groove surrounds the outside of all the sockets, which can reduce the processing difficulty of the rigid connecting ring and reduce the manufacturing cost.

[0050] In this embodiment, the anti-slip foot pad 100 is integrally injection molded onto the rigid connecting ring 300 using an insert injection molding process. During processing, the pre-fabricated rigid connecting ring 300 is first inserted into a mold. The mold has a cavity for molding the anti-slip foot pad 100, which is connected to the insertion hole 310. During the injection molding process, molten rubber flows sequentially into the mold cavity, insertion hole 310, and groove 320 to fill the mold cavity, insertion hole 310, and groove 320. After injection molding, a body 110, an insert 120 inserted into the insertion hole 310, and a limiting piece 130 embedded in the groove 320 are formed. This also achieves the connection between the anti-slip foot pad 100 and the rigid connecting ring 300. This eliminates the need for the assembly process of the anti-slip foot pad 100 after independent molding, improving assembly efficiency and enhancing the connection reliability between the anti-slip foot pad 100 and the rigid connecting ring 300, resulting in better vibration resistance.

[0051] like Figure 3 and Figure 4 As shown, in order to enhance the connection reliability between the insert 120 and the body 110, in this embodiment, the wall of the insertion hole 310 near the end of the body 110 is set as a tapered wall 311. The inner radial direction of the tapered wall 311 gradually increases towards the body 110. This allows the connection between the insert 120 and the body 110 to form a tapered boss that matches the tapered wall 311 during injection molding, thereby increasing the connection reliability between the insert 120 and the body 110.

[0052] It is understood that the anti-slip foot pad and the rigid connecting ring in this embodiment can also be processed and formed independently. Then, the anti-slip foot pad and the rigid connecting ring are fixed by adhesive, screw or snap-fit. Since the anti-slip foot pad has inserts and the rigid connecting ring has holes that fit into the inserts, the initial positioning can be completed by the insertion of the inserts into the holes, so as to facilitate the subsequent connection and reduce the assembly difficulty of the anti-slip foot pad and the rigid connecting ring.

[0053] In this embodiment, the rigid connecting ring 300 is further provided with a through hole 330, and the foot pad mounting base 200 is provided with a threaded hole. The screw 400 passes through the through hole 330 and locks into the threaded hole to fix the rigid connecting ring 300 onto the foot pad mounting base 200. The method of detachably mounting the rigid connecting ring 300 onto the foot pad mounting base 200 using the screw 400 enhances the connection reliability between the rigid connecting ring 300 and the foot pad mounting base 200, further preventing the problem of the anti-slip foot pad 100 falling off due to the rigid connecting ring 300 detaching. Preferably, after the screw 400 is assembled, the head of the screw 400 does not protrude beyond the outer surface of the rigid connecting ring 300.

[0054] To reduce the weight of the foot structure, the foot pad mounting base 200 in this embodiment is made of plastic. The foot pad mounting base 200 has a mounting hole 201, within which a metal sleeve 500 is embedded. The metal sleeve 500 has a threaded hole. If the threaded hole were directly drilled into the plastic part, due to the limited rigidity of the plastic, the threaded hole could crack during high-speed running of the quadruped robot, causing the screw to fall off and the anti-slip foot pad to detach. However, by embedding the metal sleeve 500 within the mounting hole 201 and having the aforementioned threaded hole within the metal sleeve 500, the strength of the threaded hole is increased, preventing cracking and screw detachment. Furthermore, the rigidity of the metal sleeve 500 disperses dynamic impact forces, protecting the structure surrounding the mounting hole 201. Finally, by embedding the metal sleeve 500 within the mounting hole 201, if the threads are damaged, only the metal sleeve 500 needs to be replaced, rather than the entire foot pad mounting base 200, reducing product maintenance costs.

[0055] In this embodiment, the perforation 330 is preferably located between the two grooves 320, which can prevent the screw from penetrating the insert 120, thereby preventing the anti-slip pad 100 from being subjected to the locking force of the screw, thus preventing the insert 120 from being torn due to local stress concentration, and thus ensuring the structural integrity of the insert 120.

[0056] like Figure 1 , Figure 9 and Figure 10As shown, the footpad mounting base 200 in this embodiment includes a base 220 and a connecting boss 230 integrally formed on the lower end face of the base 220. A limiting surface 221 is formed on the lower end face of the base 220 surrounding the connecting boss 230. A support portion 210 is integrally formed on the end of the connecting boss 230 opposite to the base 220. A rigid connecting ring 300 is fitted onto the outside of the connecting boss 230 and locked onto the connecting boss 230 by screws 400. The rigid connecting ring 300 abuts against the limiting surface 221. This design prevents the rigid connecting ring 300 from moving upwards relative to the footpad mounting base 200 by the limiting surface 221 abutting against it, and also disperses the upward impact force on the rigid connecting ring 300 by the limiting surface 221, avoiding localized stress concentration and breakage of the rigid connecting ring 300.

[0057] To improve the aesthetic appearance of the foot structure, the outer surface of the rigid connecting ring 300 in this embodiment is flush with the lower outer peripheral surface of the base 220.

[0058] In this embodiment, a gap is provided between the support portion 210 and the anti-slip foot pad 100, that is, a gap is provided between the support portion 210 and the body 110, so that a shock-absorbing cavity 001 is formed between the support portion 210 and the anti-slip foot pad 100. With this design, when the anti-slip foot pad 100 is compressed, the elastic deformation of the anti-slip foot pad 100 itself and the air damping effect formed by the rapid compression of air in the shock-absorbing cavity 001 when the anti-slip foot pad 100 is compressed can significantly improve the cushioning performance of the foot structure in the dynamic movement of the quadruped robot.

[0059] It is understood that in other embodiments of this utility model, the inner side of the rigid connecting ring is provided with an internal thread, while the foot pad mounting base is provided with an external thread. The rigid connecting ring is detachably mounted on the foot pad mounting base by screwing the internal thread and the external thread together.

[0060] It is understood that in other embodiments of this utility model, the rigid connecting ring and the foot pad mounting base can also be detachably connected by snap-fit.

[0061] Example 2

[0062] like Figure 11As shown, this embodiment provides a quadruped robot, including a lower leg structure and a foot structure as described in Embodiment 1. The lower leg structure includes multiple support rods 600, and the foot pad mounting base 200 has multiple mounting holes 240, that is, the base 220 has multiple mounting holes 240. One end of the support rod 600 is inserted into the mounting hole 240 and filled with adhesive to fix it, so that the foot pad mounting base 200 at least partially covers the support rod 600. By adopting the foot structure described in Embodiment 1, the installation reliability of the anti-slip foot pad 100 can be enhanced, making it less likely to fall off, thereby effectively avoiding the quadruped robot's... When a person runs at high speed, the anti-slip foot pad 100 detaches, thus ensuring the foot structure's long-lasting cushioning against impact during high-speed running and effectively preventing the support rod 600 from breaking. In addition, with the shock-absorbing cavity 001 provided, the installation reliability of the anti-slip foot pad 100 can be enhanced to ensure the long-lasting existence of the shock-absorbing cavity 001, thereby strengthening the foot structure's cushioning durability against the support rod 600 and preventing its breakage. Finally, the foot pad mounting base 200, by wrapping the support rod 600, can also enhance the structural strength of the support rod 600, further preventing its breakage.

[0063] It should be noted that the longer the foot pad mounting base 200 wraps around the support rod 600, the heavier the leg structure will be. In order to balance lightweight design and enhance the structural strength of the support rod 600, designers can reasonably adjust the length of the foot pad mounting base 200 wrapping around the support rod 600.

[0064] Existing anti-slip foot pads, which are attached to the foot pad mounting base by adhesive or screws, are prone to falling off, resulting in a shorter running distance at high speeds. In this embodiment, the anti-slip foot pads of the quadruped robot are more securely installed and less likely to fall off, thereby ensuring that the foot structure provides long-term cushioning for the support rod, enabling the quadruped robot to achieve high-speed running over longer distances.

[0065] In addition to the preferred embodiments described above, there are other embodiments of this utility model. Those skilled in the art can make various changes and modifications based on this utility model. As long as they do not depart from the spirit of this utility model, they should all fall within the scope defined in the claims of this utility model.

Claims

1. The foot structure of a quadruped robot, characterized in that, The device includes an anti-slip foot pad, a foot pad mounting base, and a rigid connecting ring. The anti-slip foot pad is mounted on the rigid connecting ring. One end of the foot pad mounting base is provided with a support portion. The rigid connecting ring is detachably mounted on the foot pad mounting base so that the anti-slip foot pad covers the support portion.

2. The foot structure of the quadruped robot as described in claim 1, characterized in that, The rigid connecting ring has a through hole, and the foot pad mounting base has a threaded hole. The screw passes through the through hole and the threaded hole to lock the rigid connecting ring on the foot pad mounting base.

3. The foot structure of the quadruped robot as described in claim 2, characterized in that, The foot pad mounting base is provided with a mounting hole, and a metal sleeve is embedded in the mounting hole. The metal sleeve is provided with a threaded hole.

4. The foot structure of the quadruped robot as described in claim 1, characterized in that, The rigid connecting ring is provided with a socket, and the anti-slip foot pad includes a body and a insert on the body. The body wraps around the support part, and the insert is inserted into the socket.

5. The foot structure of the quadruped robot as described in claim 4, characterized in that, The anti-slip foot pad is integrally injection molded onto the rigid connecting ring using an insert injection molding process.

6. The foot structure of the quadruped robot as described in claim 5, characterized in that, The rigid connecting ring is provided with a groove surrounding the outside of the insertion hole on the side opposite to the main body, and a limiting piece is provided at the end of the insert away from the main body, and the limiting piece is embedded in the groove.

7. The foot structure of the quadruped robot as described in claim 4, characterized in that, The anti-slip foot pad is bonded and fixed to the rigid connecting ring.

8. The foot structure of the quadruped robot as described in claim 1, characterized in that, A gap is provided between the support part and the anti-slip foot pad to form a shock-absorbing cavity between the support part and the anti-slip foot pad.

9. The foot structure of the quadruped robot as described in claim 1, characterized in that, The foot pad mounting base includes a base and a connecting boss integrally formed on the lower end face of the base. The lower end face of the base has a limiting surface surrounding the outside of the connecting boss. The support part is integrally formed on the end of the connecting boss away from the base. The rigid connecting ring is fitted on the outside of the connecting boss and abuts against the limiting surface.

10. A quadruped robot, characterized in that, The invention includes a calf structure and a foot structure as described in any one of claims 1 to 9, wherein the calf structure includes a support rod, one end of which is inserted into the foot pad mounting base.

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