A shock absorber for a rotary joint and a shock absorbing method thereof

Abstract

The present invention provides a shock absorber for a rotary joint and a shock absorbing method thereof, comprising an active hub and a driven connecting part, wherein the active hub is connected to the driven connecting part by at least one strip leaf spring capable of bending along the circumference of the active hub. When a plurality of strip leaf springs are provided, each strip leaf spring is arranged at equal intervals along the circumference of the active hub. On the one hand, by utilizing the characteristic that the strip leaf spring can elastically deform along the circumference, when the driven connecting part is impacted, the strip leaf spring is deformed to absorb vibration and impact energy. On the other hand, by utilizing the characteristic that the strip leaf spring has greater stiffness, when the active hub rotates forward or reversely and drives the driven connecting part to rotate through the strip leaf spring, the strip leaf spring is deformed less, thereby being able to fully reduce the rotation error of the rotary joint. When a plurality of strip leaf springs are provided, each strip leaf spring is arranged at equal intervals along the circumference of the active hub, further ensuring the uniformity of shock absorption between the active hub and the driven connecting part.

Description

Technical Field

[0001] The present invention relates to the technical field of robot shock absorption, and in particular to a shock absorber for a rotary joint and a shock absorption method thereof. Background Art

[0002] At present, legged robots install servos at the hip joints to drive the thighs, and install servos at the hip joints to drive the calves through belt transmission. The movement posture of the robot relies on the high-precision torque control of the servos. However, there are no vibration damping devices at the joints of the legged robots. The vibration and impact force generated during the movement of the robot increase the movement load of the servos, limiting the application of the legged robots.

[0003] Patent document CN112141236A discloses a wheel-foot robot leg system with a shock-absorbing function, which is provided with a spring shock-absorbing system installed between the wheel-foot mechanism and the calf mechanism. The shock-absorbing system cooperates with the wheel-foot mechanism: on the one hand, the elastic wheel-foot mechanism offsets a small part of the impact force, and on the other hand, the spring shock-absorbing system can greatly weaken the impact force. However, it can only absorb the impact force transmitted along the leg, and cannot effectively absorb the circumferentially rotating joints.

[0004] Patent document CN207364172U discloses a bushing for a shock absorber with circumferential damping. By arranging multiple rubber damping bodies between inner and outer support sleeves, on the one hand, the reliability of the connection between the inner and outer support sleeves through rubber vulcanization is ensured. On the other hand, the rubber damping bodies are relatively independent and do not affect each other when deformed. On the other hand, the gaps between the rubber damping bodies provide deformation space for the rubber damping bodies, further improving the damping effect. However, the rubber damping body has poor rigidity and is easily damaged when impacted at a certain angle. Summary of the invention

[0005] The object of the present invention is to provide a shock absorber for a rotary joint and a shock absorbing method thereof to solve the above-mentioned technical problems. The driven connecting part is directly connected to the driving hub through a strip leaf spring, and the strip leaf spring is used to buffer the impact force acting on the driven connecting part, thereby reducing the dynamic load of the driving hub and the driving steering gear during the rotation process, thereby helping to increase the service life of the steering gear.

[0006] To achieve the above-mentioned purpose, the present invention provides the following solution: a shock absorber for a rotary joint is provided, comprising an active hub and a driven connecting part, wherein the active hub is connected to the driven connecting part via at least one strip leaf spring capable of bending along the circumference of the active hub, and when a plurality of strip leaf springs are provided, each of the strip leaf springs is equally spaced along the circumference of the active hub.

[0007] Preferably, a plurality of fixing blocks are evenly distributed along the circumferential direction on the driven connecting portion, and a limiting clamping groove for accommodating a single strip leaf spring is formed between adjacent fixing blocks.

[0008] Preferably, a limiting leaf spring is arranged between an inner wall of one side of the limiting clamping groove and the strip leaf spring, and the length of the limiting leaf spring is not greater than the length of the strip leaf spring in the limiting clamping groove.

[0009] Preferably, one end of the fixing block facing the driving hub is in a conical structure.

[0010] Preferably, the driven connecting portion is in the form of an annular structure sleeved on the outer peripheral wall of the driving hub, and the strip leaf springs and the fixing blocks are arranged at equal intervals along the circumference of the annular structure.

[0011] Preferably, the annular structure and the driving hub together form an annular sealing cavity, and the annular sealing cavity is filled with hydraulic oil that can wrap the strip leaf spring.

[0012] Preferably, each of the strip leaf springs divides the annular sealing chamber into a plurality of sub-chambers each containing the hydraulic oil and the corresponding fixing blocks.

[0013] Preferably, an annular sealing cavity for accommodating the strip leaf spring is formed between the driving hub and the driven connecting portion, and the annular sealing cavity is filled with hydraulic oil that can wrap the strip leaf spring.

[0014] Preferably, a plurality of fixing grooves corresponding to the strip leaf springs are formed on the outer peripheral wall of the driving hub, and one end of the strip leaf spring close to the driving hub is inserted into the fixing groove.

[0015] A shock absorbing method for a shock absorber for a rotary joint is also provided, comprising the following steps:

[0016] S1. Installation of shock absorber: Sleeve the active hub onto the output end of the driving servo of the robot's hip joint, and connect the driven connection part to the robot's leg;

[0017] S2. Shock-absorbing action: When the robot foot is impacted, the driven connection part drives the fixed block, and the fixed block drives the strip leaf spring and the limit leaf spring to deform, absorbing vibration and impact energy. The volume of the space formed by the strip leaf spring and the fixed blocks on both sides of it changes, and the hydraulic oil in the cavity with a smaller volume flows through the gap between the fixed block and the active hub to the cavity with a larger volume, and the hydraulic oil is used to damp the strip leaf spring and the limit leaf spring to avoid oscillation.

[0018] S3, recovery action: after the impact, the strip leaf spring and the limit leaf spring actively return to their original state, releasing energy, and the hydraulic oil flows back along the gap between the fixed block and the active hub, using the hydraulic oil to damp the strip leaf spring and the limit leaf spring to avoid oscillation.

[0019] Compared with the prior art, the present invention has achieved the following technical effects:

[0020] First, the driving hub is connected to the driven connecting part through at least one strip leaf spring that can bend along the circumference of the driving hub. On the one hand, the strip leaf spring is capable of elastic deformation along the circumferential direction. When the driven connecting part is impacted, the strip leaf spring is deformed to absorb vibration and impact energy. On the other hand, the strip leaf spring has a large stiffness. When the driving hub rotates forward or reversely and drives the driven connecting part to rotate through the strip leaf spring, the strip leaf spring is deformed less, thereby being able to fully reduce the rotation error of the rotating joint. When a plurality of strip leaf springs are provided, each strip leaf spring is arranged at equal intervals along the circumference of the driving hub, further ensuring the uniformity of shock absorption between the driving hub and the driven connecting part.

[0021] Second, a plurality of fixing blocks are evenly distributed along the circumference of the driven connecting part, and a limiting clamping groove for accommodating a single strip leaf spring is formed between adjacent fixing blocks. On the one hand, one end of the strip leaf spring close to the driven connecting part is clamped by the adjacent fixing blocks, so that the other end of the strip leaf spring is a free bending end. On the other hand, the fixing blocks increase the fixing surface of the strip leaf spring, thereby preventing the fixed end of the strip leaf spring from being too narrow and easily causing cracks.

[0022] Third, the end of the fixed block facing the active hub is in a conical structure, and a space for accommodating the bending deformation of the strip leaf spring is formed between two adjacent conical structures, thereby preventing the strip leaf spring from contacting the fixed block in advance before fully reducing the impact, thereby ensuring the effectiveness of the deformation of the strip leaf spring.

[0023] Fourth, the driven connecting part is an annular structure sleeved on the outer peripheral wall of the driving hub, and the strip leaf springs and fixed blocks are arranged at equal intervals along the circumference of the annular structure, thereby ensuring that no matter how much impact the driven connecting part receives along its circumference, it can be evenly damped, thereby ensuring the effectiveness of the circumferential damping of the entire shock absorber.

[0024] Fifth, the annular structure and the active hub together form an annular sealing chamber, and the annular sealing chamber is filled with hydraulic oil that can wrap the strip leaf spring. When the strip leaf spring is bent and deformed, the hydraulic oil flows in the annular sealing chamber after being pushed by the deformation of the strip leaf spring, thereby producing a damping effect on the bending deformation of the strip leaf spring and reducing the oscillation of the strip leaf spring.

[0025] Sixth, each strip leaf spring divides the annular sealing cavity into several sub-cavities respectively containing hydraulic oil and corresponding fixed blocks. Then the volume of the space formed by the strip leaf spring and the fixed blocks on both sides thereof changes, and the hydraulic oil in the cavity with a smaller volume flows through the gap between the fixed block and the active hub to the cavity with a larger volume, and the hydraulic oil is used to damp the strip leaf spring and the limit leaf spring to avoid oscillation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0027] Figure 1 It is a front view half-section diagram of the present invention;

[0028] Figure 2 For the present invention Figure 1 Sectional view of AA in the middle;

[0029] Among them, 1-fastening connecting plate, 2-blocking plate, 3-fixing block, 4-sealing ring, 5-driving hub, 6-strip leaf spring, 7-connecting pin, 8-limiting leaf spring, 9-gap, 10-fixing groove, 11-connecting ear, 12-annular sealing cavity. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The object of the present invention is to provide a shock absorber for a rotary joint and a shock absorbing method thereof to solve the above-mentioned technical problems. The driven connecting part is directly connected to the driving hub through a strip leaf spring, and the strip leaf spring is used to buffer the impact force acting on the driven connecting part, thereby reducing the dynamic load of the driving hub and the driving steering gear during the rotation process, thereby helping to increase the service life of the steering gear.

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] Please refer to Figure 1-2As shown, this embodiment provides a shock absorber for a rotary joint, and particularly relates to a rotary shock absorbing effect of a foot-type robot at a hip joint, comprising an active hub 5 and a driven connecting part, wherein when applied to the hip joint of the robot, the active hub 5 and the driven connecting part are respectively fixed to the fixed part and the movable part of the hip joint of the robot, preferably a driving servo is fixed to the hip joint of the robot, the active hub 5 is sleeved on the driving end of the driving servo, and the driven connecting part is fixed to the position of the leg corresponding to the hip joint, or the active hub 5 and the driven connecting part are applied to other mechanisms similar to rotary joints; the active hub 5 is connected to the driven connecting part by at least one strip leaf spring 6 that can bend circumferentially along the active hub 5, and the strip leaf spring 6 is elastically deformable along the circumferential direction. When the connection part is impacted, the strip leaf spring 6 is deformed to absorb vibration and impact energy. By utilizing the large stiffness of the strip leaf spring 6, when the active hub 5 rotates forward or reversely and drives the driven connection part to rotate through the strip leaf spring 6, the strip leaf spring 6 is deformed less, thereby being able to fully reduce the rotation error of the rotational joint. Preferably, when the rotational joint is always subjected to impact force in a certain direction, in order to reduce the use of materials, a single strip leaf spring 6 can be used, and the extension direction of the strip leaf spring 6 is perpendicular to the direction of the impact force. In order to ensure the shock absorption effect, multiple strip leaf springs 6 can be used. When multiple strip leaf springs 6 are provided, each strip leaf spring 6 is arranged at equal intervals along the circumference of the active hub 5, further ensuring the uniformity of shock absorption between the active hub 5 and the driven connection part.

[0034] like Figure 1-2 As shown, a plurality of fixing blocks 3 are evenly distributed along the circumferential direction on the driven connecting part, and a limiting clamping groove for accommodating a single strip leaf spring 6 is formed between adjacent fixing blocks 3. One end of the strip leaf spring 6 is clamped in the limiting clamping groove, and the other end extends out of the limiting clamping groove and is fixed on the active hub 5. On the one hand, the strip leaf spring 6 is clamped close to one end of the driven connecting part by the adjacent fixing block 3, so that the other end of the strip leaf spring 6 is a free bending end. On the other hand, the fixing surface of the strip leaf spring 6 is increased by the fixing block 3 to avoid the fixed end of the strip leaf spring 6 being too narrow and easy to cause cracking. Preferably, the fixing block 3 is a hollow structure to reduce the deadweight of the shock absorber.

[0035] As a preferred embodiment of the present invention, Figure 1-2As shown, in order to adapt to the bidirectional transmission joint structure or the unidirectional transmission joint structure, the bending of the strip leaf spring 6 can be bidirectional transmission, that is, only a single strip leaf spring 6 is arranged in the limit clamping groove, so the strip leaf spring 6 can be bent arbitrarily in both directions, or a plurality of limit leaf springs 8 shorter than the strip leaf spring 6 are symmetrically arranged between the inner walls of both sides of the limit clamping groove and the strip leaf spring 6 to form an equal-strength beam structure. Then, when the active hub rotates forward or reversely and drives the driven connection part to rotate through the strip leaf spring, the stiffness of both sides is significantly improved. It can withstand greater vibration and impact when rotating; the bending of the strip leaf spring 6 can also be one-way transmission, that is, a limiting leaf spring 8 is arranged between the inner wall of one side of the limiting clamping groove and the strip leaf spring 6, and the length of the limiting leaf spring 8 is also shorter than that of the strip leaf spring 6, so that the bending strength of the strip leaf spring 6 on both sides is different. The preferred limiting leaf spring is arranged on the front side of the strip leaf spring along the positive rotation direction of the active hub, so when the driven connection part reverses and presses the strip leaf spring, the strip leaf spring is supported by the limiting leaf spring and can withstand greater vibration and impact. The preferred limiting leaf spring 8 is flush with the end of the strip leaf spring 6 close to the driven connection part, thereby ensuring the consistency of the overall stiffness of the strip leaf spring 6 at the position close to the driven connection part. The limiting leaf spring 8 is tightly fixed on the strip leaf spring 6 through the connecting pin 7, or the limiting leaf spring 8 is integrally formed with the strip leaf spring 6, and the overall structure is formed in which one end close to the driven connection part is wider than the end close to the active hub 5.

[0036] like Figure 1-2 As shown, the fixed block 3 has an extension portion extending toward the active hub 5, a step-like structure is formed between the extension portion and the fixed block 3, and a space for accommodating the bending deformation of the strip leaf spring 6 is formed between the extension portions of two adjacent fixed blocks 3. Preferably, the fixed block 3 has a conical structure at one end facing the active hub 5, and a space for accommodating the bending deformation of the strip leaf spring 6 is formed between two adjacent conical structures, thereby preventing the strip leaf spring 6 from contacting the fixed block 3 in advance when the impact is not fully reduced, thereby ensuring the effectiveness of the deformation of the strip leaf spring 6.

[0037] like Figure 1-2 As shown, when the shock absorber is always subjected to a unidirectional impact force or an impact force within a certain angle, the driven connection part can be a fan-shaped structure, and each strip leaf spring 6 and the fixed block 3 are arranged at equal intervals along the circumference of the fan-shaped structure, which can not only reduce the application of materials, but also ensure the overall shock absorption effect; if the impact force on the shock absorber is not unique along the circumferential direction, then preferably, the driven connection part is an annular structure sleeved on the outer peripheral wall of the active hub 5, and each strip leaf spring 6 and the fixed block 3 are arranged at equal intervals along the circumference of the annular structure, thereby ensuring that no matter how much impact the driven connection part receives along its circumference at any angle, it can be guaranteed to be evenly damped, thereby ensuring the effectiveness of the circumferential damping of the entire shock absorber.

[0038] like Figure 1-2As shown, when the driven connecting part is an annular structure, the annular structure and the active hub 5 together form an annular sealing chamber 12, and the annular sealing chamber 12 is filled with hydraulic oil that can wrap the strip leaf spring 6, or other lubricating oils similar to hydraulic oils with a certain viscosity are used. When the strip leaf spring 6 is bent and deformed, the hydraulic oil flows in the annular sealing chamber 12 after being pushed by the deformation of the strip leaf spring 6, thereby producing a damping effect on the bending deformation of the strip leaf spring 6, thereby reducing the oscillation of the strip leaf spring 6.

[0039] like Figure 1-2 As shown, each strip leaf spring 6 divides the annular sealing chamber 12 into a plurality of sub-chambers respectively containing hydraulic oil and corresponding fixed blocks 3, wherein the edge of the portion of the strip leaf spring 6 extending out of the limit clamping groove and not connected to the active hub 5 is close to the inner wall of the annular sealing chamber 12, and in the same sub-chamber, a containing chamber that can be enlarged or reduced as the strip leaf spring 6 is deformed is formed between the fixed block 3 and the strip leaf springs 6 on both sides, and the fixed block 3 surrounds the outer side of the outer peripheral wall of the active hub 5, and forms a gap 9 between the two containing chambers and the active hub 5 for the hydraulic oil to flow, while increasing the limiting effect of the limit leaf spring 8. During the shock absorbing process of the entire shock absorber, the strip leaf spring 6 only bends and deforms in the same direction or returns to its original shape, so that the containing chambers on both sides of the fixed block 3 are deformed or restored to their original shape after bending or restoring. During the recovery process, one volume can become larger and the other volume can become smaller. The hydraulic oil in the accommodating chamber with a smaller volume flows into the accommodating chamber with a larger volume along the above-mentioned gap 9, generating damping and reducing the oscillation of the strip leaf spring 6; preferably, the gap between the two fixed blocks 3 for placing the strip leaf spring 6 can be optimized to achieve the purpose of unidirectional deformation of the strip leaf spring 6, such as changing the position of the fulcrum on both sides when the strip leaf spring 6 is bent, so that the force arms on both sides when the strip leaf spring 6 is bent are of different lengths, then according to the lever theorem, the strip leaf spring 6 is more likely to bend toward the side with a larger force arm; avoiding the simultaneous enlargement or reduction of the accommodating chambers on both sides of the same fixed block 3, resulting in uneven flow of the hydraulic oil, which can easily cause the phenomenon that no damping is generated or the hydraulic oil is squeezed out of the shock absorber.

[0040] Further, such as Figure 1-2 As shown, the distance between the same side of each strip leaf spring 6 and the corresponding extension part or conical structure is the same, so as to ensure that the changes of the accommodating cavities on both sides of the same fixed block 3 are as equal as possible, and avoid the phenomenon that the hydraulic oil pressure is too high or the accommodating cavity cannot be filled in time due to different change volumes; preferably, the interval between the strip leaf spring 6 and the side wall of the extension part or the side wall of the conical structure along the circumferential direction is the same to ensure the distribution of the hydraulic oil.

[0041] As another preferred embodiment of the present invention, Figure 1-2As shown, the active hub 5 and the driven connecting part are connected only by the strip leaf spring 6. Furthermore, an annular sealing chamber 12 for accommodating the strip leaf spring 6 is formed between the active hub 5 and the driven connecting part. The annular sealing chamber 12 is filled with hydraulic oil that can wrap the strip leaf spring 6. When the strip leaf spring 6 bends and deforms to achieve the shock absorbing effect of the shock absorber, the flow of the hydraulic oil around the strip leaf spring 6 forms a damping effect on the bending of the strip leaf spring 6, thereby reducing the oscillation of the strip leaf spring 6. Preferably, a narrow gap is formed between the part of the strip leaf spring 6 that is not connected to the active hub 5 and the driven connecting part and the inner wall of the annular sealing chamber 12 to reduce the flow path of the hydraulic oil, so that the hydraulic oil has a sufficient damping effect on the strip leaf spring 6.

[0042] like Figure 1-2 As shown, in order to facilitate the installation of the strip leaf spring 6, a plurality of fixing grooves 10 corresponding to each strip leaf spring 6 are opened on the outer peripheral wall of the active hub 5, and the end of the strip leaf spring 6 close to the active hub 5 is plugged into the fixing groove 10, and there is no need to use bolts or welding and other connection methods. The plug-in method also avoids the connection point between the strip leaf spring 6 and the active hub 5 being too small, which may cause the strip leaf spring 6 to easily break during the bending deformation process. The depth of the fixing groove 10 is preferably matched with the deformation degree of the strip leaf spring 6 to avoid the end of the strip leaf spring 6 from easily falling out of the fixing groove 10 when the deformation degree is too large, resulting in the overall shock absorption failure of the shock absorber.

[0043] like Figure 1-2 As shown, the driven connecting sleeve can be set to a detachable structure to facilitate the assembly and connection of various structures. The driven connecting sleeve includes a fastening connecting disk 1 and a baffle 2, both of which are annular structures. The circumferential cross-section of the fastening connecting disk 1 is an L-shaped structure. The baffle 2 is detachable and sealingly connected to the end wall of the L-shaped structure, and forms an annular groove structure with the L-shaped structure opening toward the driving hub 5. An annular flange extends radially outward on the outer peripheral wall of the driving hub 5. The annular flange is sealingly inserted in the annular groove structure and forms an annular sealing cavity 12 with the annular groove structure. Preferably, a sealing ring 4 is installed between the fastening connecting disk 1 and the baffle 2, a sealing ring 4 is also installed between the fastening connecting disk 1 and the driving hub 5, a sealing ring 4 is also installed between the fastening connecting disk 1 and the driving hub 5, and a sealing ring 4 is also installed between the baffle 2 and the fastening connecting disk 1, and between the baffle 2 and the driving hub 5. Preferably, a plurality of connecting ears 11 are provided on the outer circumference of the fastening connecting disk 1.

[0044] A shock absorbing method for a shock absorber for a rotating joint is also provided, taking the installation of the shock absorber on a legged robot as an example, comprising the following steps:

[0045] S1. Installation of shock absorber: The active hub 5 is sleeved on the output end of the driving servo of the robot's hip joint, and the driven connection part is connected to the robot's leg; preferably, when the driven connection part is formed by connecting the fastening connection disk 1 and the baffle 2, the fastening connection disk 1 is fixed at the root position of the leg through the connecting ear 11, and the robot's leg is connected to the driving servo of the robot's hip joint through the shock absorber, thereby reducing the impact on the leg and the driving servo during the robot's outdoor running, and extending the service life of the robot;

[0046] S2. Shock-absorbing action: When the robot foot is impacted, the driven connection part drives the fixed block 3, and the fixed block 3 drives the strip leaf spring 6 and the limit leaf spring 8 to deform, absorbing vibration and impact energy. The volume of the space formed by the strip leaf spring 6 and the fixed blocks 3 on both sides thereof changes, so that the pressure in the volume space changes, the pressure in the cavity with a smaller volume increases, and the pressure in the cavity with a larger volume decreases. The hydraulic oil in the cavity with a smaller volume flows through the gap 9 between the fixed block 3 and the active hub 5 to the cavity with a larger volume, and the flow of the hydraulic oil is used to damp the strip leaf spring 6 and the limit leaf spring 8 to avoid oscillation.

[0047] S3, recovery action: after the impact is over, the strip leaf spring 6 and the limit leaf spring 8 actively recover to their original state, from the state of bending and deformation when impacted to the previous straight state, thereby releasing energy, and the cavities that previously decreased or increased in volume are restored to their initial state, and the hydraulic oil flows back along the gap 9 between the fixed block 3 and the active hub 5, and the flow of hydraulic oil is used to damp the strip leaf spring 6 and the limit leaf spring 8 to avoid oscillation.

[0048] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any reference numerals in the claims should not be regarded as limiting the claims involved.

[0049] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A shock absorber for a rotary joint, characterized in that: The driving hub comprises a driving hub and a driven connecting portion, wherein the driving hub is connected to the driven connecting portion through at least one strip leaf spring capable of bending along the circumference of the driving hub, and when a plurality of strip leaf springs are provided, the strip leaf springs are arranged at equal intervals along the circumference of the driving hub; A plurality of fixing blocks are evenly distributed along the circumferential direction on the driven connecting portion, and a limiting clamping groove for accommodating a single strip-shaped leaf spring is formed between adjacent fixing blocks; A limiting leaf spring is arranged between an inner wall of one side of the limiting clamping groove and the strip leaf spring, and the length of the limiting leaf spring is not greater than the length of the strip leaf spring located in the limiting clamping groove; The end portions of the limiting leaf spring and the strip leaf spring close to the driven connecting portion are flush, and the limiting leaf spring is tightly fixed to the strip leaf spring through a connecting pin, and the two form a structure in which one end close to the driven connecting portion is wider than the other end close to the driving hub; One end of the fixing block facing the driving hub is in a conical structure; The driven connecting part is an annular structure sleeved on the outer peripheral wall of the driving hub, and the strip leaf springs and the fixing blocks are arranged at equal intervals along the circumference of the annular structure; The annular structure and the driving hub together form an annular sealing cavity, and the annular sealing cavity is filled with hydraulic oil that can wrap the strip leaf spring.

2. The shock absorber for a rotary joint according to claim 1, characterized in that: Each of the strip leaf springs divides the annular sealing chamber into a plurality of sub-chambers each containing the hydraulic oil and the corresponding fixing blocks.

3. The shock absorber for a rotary joint according to claim 1, characterized in that: An annular sealing cavity for accommodating the strip leaf spring is formed between the driving hub and the driven connecting portion, and the annular sealing cavity is filled with hydraulic oil that can wrap the strip leaf spring.

4. The shock absorber for a rotary joint according to claim 1, characterized in that: A plurality of fixing grooves corresponding to the strip leaf springs are respectively formed on the outer peripheral wall of the driving hub, and one end of the strip leaf spring close to the driving hub is inserted into the fixing groove.

5. A shock absorbing method using the shock absorber for a rotary joint according to any one of claims 1 to 4, comprising the following steps: S1. Installation of shock absorber: Sleeve the active hub onto the output end of the driving servo of the robot's hip joint, and connect the driven connection part to the robot's leg; S2. Shock-absorbing action: When the robot foot is impacted, the driven connection part drives the fixed block, and the fixed block drives the strip leaf spring and the limit leaf spring to deform, absorbing vibration and impact energy. The volume of the space formed by the strip leaf spring and the fixed blocks on both sides of it changes, and the hydraulic oil in the cavity with a smaller volume flows through the gap between the fixed block and the active hub to the cavity with a larger volume, and the hydraulic oil is used to damp the strip leaf spring and the limit leaf spring to avoid oscillation. S3, recovery action: after the impact, the strip leaf spring and the limit leaf spring actively return to their original state, releasing energy, and the hydraulic oil flows back along the gap between the fixed block and the active hub, using the hydraulic oil to damp the strip leaf spring and the limit leaf spring to avoid oscillation.

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