The embodiment of the invention discloses a foot sole structure of a quadruped robot and a foot sole replacement method, and the foot sole structure comprises a foot sole body which is arranged at the bottom of a shank unit through a fixing part; the plantar body is provided with positioning ribs, and the positioning ribs divide the surface of the plantar body into a plurality of plantar working surfaces; the clamping and locking piece is arranged on the shank unit and used for being matched with the positioning rib so as to limit rotation of the plantar working face. According to the foot sole structure of the quadruped robot, the positioning ribs are arranged on the foot sole body to divide the surface of the foot sole body into the plurality of foot sole working faces, so that the foot sole structure adapts to different road surface scenes, and the utilization rate of the foot sole structure is increased. Meanwhile, a clamping and locking piece is arranged on the shank unit, so that the clamping and locking piece is matched with the positioning rib to limit rotation of the plantar working face, replacement of the plantar working face is achieved, and the plantar replacement efficiency of the plantar structure is improved.

    本发明实施例公开了一种四足机器人的足底结构及足底更换方法,包括:足底本体,通过固定部设置在小腿单元的底部;足底本体设置有定位筋,定位筋将足底本体的表面分隔形成多个足底工作面;卡锁件,设置在小腿单元上,用于与定位筋配合,以限制足底工作面转动。本发明提供的四足机器人的足底结构,通过在足底本体上设置定位筋,以将足底本体的表面分隔形成多个足底工作面,从而适应不同的路面场景,提高了足底结构的利用率。同时在小腿单元上设置有卡锁件,使得卡锁件与定位筋配合,以限制足底工作面的转动,从而实现足底工作面的更换,提高了足底结构的足底更换效率。


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    Title :

    Foot sole structure of quadruped robot and foot sole replacing method


    Additional title:

    一种四足机器人的足底结构及足底更换方法


    Contributors:
    WEI LINLIN (author) / HOU HEWEI (author) / HU JUNHUA (author) / WANG XUAN (author) / JIA HONGGUANG (author) / GAO ZIJIE (author) / CAI HANQI (author) / MA FAHAO (author) / WANG YONGSHENG (author) / WANG YAPENG (author)

    Publication date :

    2023-03-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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