Pi suspension type damping heavy-load quadruped robot

Abstract

The Pi suspension type damping heavy-load quadruped robot comprises a trunk framework, a first supporting frame used for installing a control part is arranged on the trunk framework, a second supporting frame is arranged on the inner side of the first supporting frame, and a damping assembly is arranged between the first supporting frame and the second supporting frame in a clamped mode; the damping assembly comprises a vertically-distributed buffering part and a transversely-distributed bearing part, the bearing part comprises a first bearing part and a second bearing part, the first bearing part is located at the lower end of the buffering part and extends outwards to bear the load at the fulcrum of the first supporting frame, and the second bearing part is located at the upper end of the buffering part to bear the load on the inner side of the fulcrum of the first supporting frame. And the first bearing part, the second bearing part and the buffer part jointly form a pi shape for suspending the first support frame. The control part in the robot can be effectively damped, control lines of the control part are prevented from being broken, components are prevented from being damaged, and it is ensured that the robot can be in a working state for a long time.

Description

Technical Field

[0001] The present invention relates to the technical field of packaging box forming, and particularly to a π-suspended shock-absorbing heavy-duty quadruped robot. Background Art

[0002] The number of feet of existing walking robots is respectively one-foot, two-foot, three-foot, four-foot, six-foot, eight-foot or even more. The vast majority of them are even numbers, because for linear motion, even-numbered feet can generate effective gaits.

[0003] When the number of feet is large, it is suitable for heavy loads and slow movements, while the two-foot or four-foot structures are simple and more flexible. Compared with two-foot robots, quadruped walking robots have strong load-bearing capacity and good stability. They can walk on uneven ground and complex terrains in a static walking mode, and can also achieve high-speed walking in a dynamic walking mode where less than three legs are in the supporting state at any moment during the walking process. They have good application prospects in many fields such as disaster relief, mine clearance, exploration, entertainment, and military, and their research and development work has always been valued by countries around the world.

[0004] When a quadruped robot walks, runs, or jumps, it generates large vibrations. Most of the existing robots are equipped with shock-absorbing mechanisms on the legs, which cannot effectively shock-absorb the control part, resulting in easy breakage of the connection control lines and joints between the control part and the drive motor, and even damage to the components inside the control part, greatly affecting the working state of the robot. Summary of the Invention

[0005] The purpose of the present invention is to provide a π-suspended shock-absorbing heavy-duty quadruped robot, which can effectively shock-absorb the control part inside the robot, avoid the breakage of the control lines of the control part and the damage of components, and ensure that the robot can work for a long time.

[0006] To solve the above technical problems, the present invention adopts the following scheme: A π-suspended shock-absorbing heavy-duty quadruped robot, including a torso skeleton. A first support frame for installing a control part is provided on the torso skeleton. A second support frame is provided inside the first support frame. A shock-absorbing component is clamped between the first support frame and the second support frame. The shock-absorbing component includes a vertically distributed buffer part and a horizontally distributed bearing part. The bearing part includes a first bearing part and a second bearing part. The first bearing part is located at the lower end of the buffer part and extends outward to bear the load at the fulcrum of the first support frame. The second bearing part is located at the upper end of the buffer part to bear the load inside the fulcrum of the first support frame. The first bearing part, the second bearing part, and the buffer part together form a π shape that suspends the first support frame.

[0007] In this solution, the shock-absorbing component is integrally in a π shape to achieve a suspended shock-absorbing effect and adapt to heavy-duty working environments. The shock-absorbing component consists of a vertically distributed buffer part and a horizontally distributed load-bearing part. The vertical buffer part is mainly responsible for absorbing and buffering the impact force in the vertical direction, while the horizontal load-bearing part undertakes the role of supporting the load. In this way, the buffer part is in a natural state and does not deform when the robot is not walking, so that the robot has a better buffer energy consumption effect when walking, avoiding the breakage of the control lines of the upper control part and the damage of components.

[0008] The first load-bearing part is located at the lower end of the buffer part and extends outward. Its main function is to bear the load at the fulcrum of the first support frame. During the movement of the robot, when subjected to external impacts or its own weight, the first load-bearing part can effectively disperse and support the pressure at the fulcrum, preventing the fulcrum from being damaged due to excessive force and ensuring the stability of the first support frame.

[0009] The second load-bearing part is located at the upper end of the buffer part and bears the load inside the fulcrum of the first support frame. Through cooperation with the first load-bearing part, the second load-bearing part further balances the load distribution on the first support frame. The first load-bearing part, the second load-bearing part, and the buffer part together form a π-shaped structure. This π-shaped structure enables the shock-absorbing component to effectively isolate and buffer between the first support frame and the second support frame like a suspension device. When the robot is subjected to vibration or impact, the buffer part can absorb energy through its own elastic deformation, while the load-bearing part ensures the reasonable distribution of the load on the support frame, thereby achieving a suspended shock-absorbing effect and effectively reducing the impact of vibration on the control lines and other components of the robot control part.

[0010] Optionally, the first support frame includes a first top plate and first side plates. The first side plates are distributed at both ends of the bottom surface of the first top plate. The bottom ends of the first side plates are provided with bases extending outward. The bottom surface of the base is the first load-bearing part, and the bottom surface of the first top plate is the second load-bearing part.

[0011] Optionally, a buffer limiting member for buffering vibration is provided on the base, and the buffer limiting member connects the base, the first load-bearing part to the torso skeleton.

[0012] Optionally, the buffer limiting member includes a pin, an elastic body, and a sleeve. A limiting plate is provided at the top of the pin. The pin passes through the base, the first load-bearing part and is connected to the torso skeleton. The first load-bearing part and the base can slide relative to the pin. The sleeve is slidably sleeved on the pin. A fixing plate is provided at the lower end of the sleeve, and the fixing plate is embedded in the base. The elastic body is arranged between the fixing plate and the limiting plate.

[0013] Optionally, the elastic body is a spring. The spring is located outside the sleeve. The lower end of the spring acts on the top surface of the base, and the upper end of the spring acts on the bottom surface of the limiting plate.

[0014] Optionally, the cross-section of the fixing plate is a regular hexagon or a regular pentagon.

[0015] Optionally, the thickness of the first bearing part is greater than that of the second bearing part.

[0016] Optionally, the second support frame is composed of a second top plate and second side plates to form a gantry frame body with a front opening, and a kidney-shaped hole is provided on the second side plate.

[0017] Optionally, both the buffer part and the bearing part are made of sponge, foam or rubber.

[0018] Optionally, multiple columns are provided below the control part, the lower ends of the columns are connected to the top surface of the first support frame, a transfer board is provided on the columns, a pin connector is provided on the transfer board, the pin connector is electrically connected to the control part, and the driving motor of the robot is connected to the pin connector through a control line, and a pin adapted to the pin connector is provided at the end of the control line.

[0019] The beneficial effects of the present invention are as follows: In the prior art, generally, a buffer part is directly provided below the control part. Under the influence of the upper load, the buffer part has been compressed before it can play its role, and its buffer energy consumption function is greatly weakened.

[0020] In the present invention, the shock absorption assembly is composed of a vertically distributed buffer part and a horizontally distributed bearing part. The vertical buffer part is mainly responsible for absorbing and buffering the impact force in the vertical direction, and the horizontal bearing part bears the role of supporting the load. In this way, the buffer part is in a natural state when the robot is not walking and does not deform, ensuring that it always has a good buffer energy consumption function. Only in this way can the robot have a better buffer energy consumption effect when walking, avoiding the breakage of the control line of the upper control part and the damage of components. The first bearing part, the second bearing part and the buffer part together form a π-shaped structure. The π-shaped structure enables the shock absorption assembly to effectively isolate and buffer between the first support frame and the second support frame like a suspension device. When the robot is subjected to vibration or impact, the buffer part can absorb energy through its own elastic deformation, and the bearing part ensures the reasonable distribution of the load on the support frame, thereby achieving a suspension shock absorption effect and effectively reducing the influence of vibration on the control line and other components of the robot control part. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a three-dimensional structural schematic diagram of the present invention; Figure 2 is a front structural schematic diagram of the present invention; Figure 3 is a structural schematic diagram of the assembly of the first support frame and the torso skeleton; Figure 4 is a structural diagram of the buffer limiting part.

[0022] Reference numerals: 1 - first support frame, 101 - first top plate, 102 - first side plate, 103 - base, 2 - second support frame, 201 - second top plate, 202 - second side plate, 203 - hole, 3 - shock absorption assembly, 301 - buffer part, 302 - second bearing part, 303 - first bearing part, 4 - buffer limit member, 401 - pin, 402 - limit plate, 403 - spring, 404 - sleeve, 405 - fixing plate, 5 - torso skeleton, 6 - battery, 7 - control unit, 8 - column, 9 - adapter plate, 10 - control line, 11 - pin connector, 12 - drive motor. Detailed implementation mode

[0023] The present invention will be further described in detail below in conjunction with embodiments and the accompanying drawings, but the implementation modes of the present invention are not limited thereto.

[0024] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "longitudinal", "lateral", "horizontal", "inner", "outer", "front", "rear", "top", "bottom", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0025] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "provided with", "installed", "connected", "connected to" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. Embodiment

[0026] A π-suspended shock-absorbing heavy-load quadruped robot comprises a trunk skeleton 5, on which a first support frame 1 for mounting a control unit 7 is provided, a second support frame 2 is provided inside the first support frame 1, a shock-absorbing assembly 3 is sandwiched between the first support frame 1 and the second support frame 2, the shock-absorbing assembly 3 comprises a vertically distributed buffer portion 301 and a laterally distributed bearing portion, the bearing portion comprises a first bearing portion 303 and a second bearing portion 302, the first bearing portion 303 is located at the lower end of the buffer portion 301 and extends outward to bear the load at the fulcrum of the first support frame 1, the second bearing portion 302 is located at the upper end of the buffer portion 301 to bear the load inside the fulcrum of the first support frame 1, the first bearing portion 303, the second bearing portion 302 and the buffer portion 301 together constitute a π shape for suspending the first support frame 1.

[0027] In this embodiment, Figure 2 As shown, a control unit 7 is installed on the top of the first support frame 1, and a control line 10 is connected to a drive motor 12. The drive motor 12 drives the robot to move. The distribution, model and working principle of the drive motor 12 are all existing technologies.

[0028] like Figure 1 As shown, the shock absorbing assembly 3 is π-shaped as a whole, which is used to achieve a suspended shock absorbing effect and adapt to heavy-load working environments. The shock absorbing assembly 3 is composed of a vertically distributed buffer part 301 and a laterally distributed load-bearing part. The vertical buffer part 301 is mainly responsible for absorbing and buffering the impact force in the vertical direction, and the laterally load-bearing part is responsible for supporting the load. In this way, the buffer part 301 is in a natural state when the robot is not walking and does not deform. In this way, the robot has a better buffering energy dissipation effect when walking, avoiding the breakage of the control line 10 of the upper control part 7 and the damage of components.

[0029] like Figure 3 As shown, the first bearing portion 303 is located at the lower end of the buffer portion 301 and extends outward. Its main function is to bear the load at the fulcrum of the first support frame 1. During the movement of the robot, when it is subjected to external impact or its own weight, the first bearing portion 303 can effectively disperse and support the pressure at the fulcrum to prevent the fulcrum from being damaged due to excessive force, thereby ensuring the stability of the first support frame 1.

[0030] The second bearing part 302 is located at the upper end of the buffer part 301 and bears the load inside the fulcrum of the first support frame 1. Through cooperation with the first bearing part 303, the second bearing part 302 further balances the load distribution on the first support frame 1. The first bearing part 303, the second bearing part 302 and the buffer part 301 together form a π-shaped structure. The first bearing part 303, the second bearing part 302 and the buffer part 301 belong to an integral whole. The π-shaped structure enables the shock absorption assembly 3 to effectively isolate and buffer between the first support frame 1 and the second support frame 2 like a suspension device. When the robot is subjected to vibration or impact, the buffer part 301 can absorb energy through its own elastic deformation and resist the reaction force from the ground and forces in other directions, while the bearing part ensures the reasonable distribution of the load on the support frame, thereby achieving the suspension shock absorption effect and effectively reducing the influence of vibration on the control line 10 of the robot control part 7 and other components.

[0031] The unique π-shaped shock absorption assembly 3 structure can absorb and buffer vibrations and impact forces from different directions in all directions, greatly improving the running stability of the robot under complex terrain and heavy load conditions, reducing component wear and failures caused by vibration, and extending the service life of the robot. Through the reasonable layout and coordinated work of the first bearing part 303 and the second bearing part 302, the shock absorption assembly 3 can effectively disperse and support the load, enabling the robot to bear a large weight and meet the requirements of heavy load work.

[0032] Further, the first support frame 1 includes a first top plate 101 and first side plates 102. The first side plates 102 are distributed at both ends of the bottom surface of the first top plate 101. The bottom ends of the first side plates 102 are provided with bases 103 extending outward. The bottom surface of the base 103 is the first bearing part 303, and the bottom surface of the first top plate 101 is the second bearing part 302.

[0033] Specifically, as Figure 2 shown, the first support frame 1 is composed of a first top plate 101, first side plates 102 and a base 103. The first side plates 102 are distributed at both ends of the bottom surface of the first top plate 101, forming a main structure similar to a "door" shape. This design not only ensures the structural strength but also provides sufficient space for the installation of internal components such as the shock absorption assembly 3. The bottom ends of the first side plates 102 extend outward to form the base 103, which not only increases the area of the support frame and improves stability but also combines the bottom surface of the base 103 with the first bearing part 303 of the shock absorption assembly 3, realizing the organic integration of the bearing and shock absorption functions.

[0034] The first bearing part 303 directly contacts the supporting surface of the trunk skeleton 5 and bears the load at the fulcrum of the first support frame 1. During the movement of the robot, when encountering uneven ground or being impacted by external force, the bottom surface of the base 103 can evenly distribute the load to the shock absorbing assembly 3, and at the same time, the shock absorbing assembly 3 is used to reduce the impact on the support frame and the robot as a whole. The second bearing part 302 directly contacts the bottom surface of the first top plate 101 and bears the load on the inner side of the fulcrum of the first support frame 1. When the robot is subjected to external load, the first bearing part 303 (bottom surface of the base 103) first bears the force and transmits the force to the buffer part 301 of the shock absorbing assembly 3. The buffer part 301 undergoes elastic deformation in the vertical direction, absorbs and distributes energy to the buffer part 301, and reduces the direct transmission of force. At the same time, the second bearing part 302 (bottom surface of the first top plate 101) is also subjected to the force, and cooperates with the first bearing part 303 through the buffer part 301 to keep the entire support frame balanced when subjected to force. This force transmission and buffering mechanism effectively achieves a suspended shock-absorbing effect and improves the stability and shock-absorbing performance of the robot.

[0035] Furthermore, a buffering limiter 4 for buffering vibration is provided on the base 103 , and the buffering limiter 4 connects the base 103 , the first bearing part 303 and the trunk frame 5 .

[0036] Furthermore, the buffer limit member 4 includes a pin 401, an elastomer, and a sleeve 404. A limit plate 402 is provided on the top of the pin 401. The pin 401 passes through the base 103 and the first bearing part 303 and is connected to the trunk frame 5. The first bearing part 303 and the base 103 can slide relative to the pin 401. The sleeve 404 is slidably mounted on the pin 401. A fixing plate 405 is provided at the lower end of the sleeve 404. The fixing plate 405 is embedded in the base 103. The elastomer is arranged between the fixing plate 405 and the limit plate 402.

[0037] Furthermore, the elastic body is a spring 403 , which is located outside the sleeve 404 , with the lower end of the spring 403 acting on the top surface of the base 103 , and the upper end of the spring 403 acting on the bottom surface of the limiting plate 402 .

[0038] Furthermore, the cross section of the fixing plate 405 is a regular hexagon or a regular pentagon.

[0039] Specifically, Figure 3As shown, the buffer limiting member 4 connects the base 103, the first bearing portion 303 and the torso skeleton 5 to form an organic whole. It not only undertakes the task of connecting various components, but more importantly, it further plays a role in buffering vibration and limiting during the operation of the robot. When the robot is subjected to vibration or impact, the buffer limiting member 4 can absorb and disperse energy, reduce the impact on other components of the robot, and at the same time limit the excessive displacement of the base 103 and the first bearing portion 303 relative to the torso skeleton 5, ensuring the stability and safety of the robot.

[0040] As Figure 4 shown, the buffer limiting member 4 is mainly composed of components such as a pin 401, an elastomer, and a sleeve 404. A limiting plate 402 is provided at the top of the pin 401. The pin 401 passes through the base 103, the first bearing portion 303 and is connected to the torso skeleton 5. The base 103 and the first bearing portion 303 can slide relative to the pin 401, thus providing space for buffering vibration. When the robot is subjected to an external force, the base 103 and the first bearing portion 303 can slide up and down to a certain extent on the pin 401, and the energy is absorbed through the deformation of the elastomer. The limiting plate 402 plays a role in limiting the sliding range, preventing the base 103 and the first bearing portion 303 from sliding excessively and disengaging from the pin 401, ensuring the stability of the structure. The elastomer is a spring 403 and is located outside the sleeve 404. The lower end of the spring 403 acts on the top surface of the base 103, and the upper end acts on the bottom surface of the limiting plate 402. When the first bearing portion 303 receives the reaction force from the ground, the force is transmitted to the base 103, driving the sleeve 404 to move upward and compress the spring 403. The elastic deformation of the spring 403 absorbs part of the energy, thus playing a role in buffering vibration. When the external force disappears, the elastic restoring force of the spring 403 will make the base 103 and the first bearing portion 303 return to their original positions. The fixing plate 405 is embedded in the base 103, increasing the connection strength between the sleeve 404 and the base 103, making the entire buffer limiting member 4 more firm and reliable. The cross-section of the fixing plate 405 is a regular hexagon or a regular pentagon, and the polygon can effectively prevent the sleeve 404 from rotating relative to the base 103.

[0041] Furthermore, the thickness of the first bearing portion 303 is greater than the thickness of the second bearing portion 302.

[0042] Specifically, as Figure 2As shown in the figure, the first bearing part 303 is the direct part where the robot contacts the outside world and plays a key role in shock absorption and buffering. A thicker first bearing part 303 can increase its buffering stroke. When the robot is subjected to vibration or impact, the thicker first bearing part 303 can undergo greater elastic deformation in the vertical direction, thereby absorbing more energy and reducing the impact of vibration on other components of the robot. Just like the spring 403 in the suspension system of a car, a thicker spring 403 can provide a larger buffering space and better absorb the bumps on the road surface. The second bearing part 302 mainly realizes the buffering function through the coordinated work with the shock absorption component 3, and it does not directly bear a large impact force itself. Its main buffering effect is achieved through the force transmission between the first bearing part 303 and the shock absorption component 3. Therefore, the thickness requirement for the second bearing part 302 is relatively low, and it does not need to have a large buffering stroke and deformation ability like the first bearing part 303. Further, the second support frame 2 is composed of a second top plate 201 and second side plates 202 to form a gantry frame body with a front opening, and a kidney-shaped hole 203 is opened on the second side plate 202.

[0043] Specifically, there are three second side plates 202, one on the left side, one on the right side, and one on the rear side. The bottom surface of the second top plate 201 is connected to the top ends of the second side plates 202. The second top plate 201, the second side plates 202, and the torso skeleton 5 together form a gantry frame body with a front opening. The opening is for facilitating the installation of the battery 6 inside the second support frame 2. A plurality of kidney-shaped holes 203 are opened on the second side plates 202, and these holes 203 mainly play a role in dissipating heat from the battery 6.

[0044] Further, the buffer part 301 and the bearing part are both made of sponge or foam or rubber.

[0045] In this embodiment, in order to cooperate with the heat dissipated from the holes 203 on the second side plates 202, the buffer part 301 and the bearing part are both selected as sponges with a number of holes 203.

[0046] Further, a plurality of columns 8 are provided below the control part 7. The lower ends of the columns 8 are connected to the top surface of the first support frame 1. A transfer board 9 is provided on the columns 8, and a pin connector 11 is provided on the transfer board 9. The pin connector 11 is electrically connected to the control part 7. The drive motor 12 of the robot is connected to the pin connector 11 through a control line 10, and the end of the control line 10 is provided with a pin adapted to the pin connector 11.

[0047] Specifically, as Figure 2As shown, a plurality of columns 8 are arranged below the control unit 7, and the lower ends of the columns 8 are connected to the top surface of the first support frame 1, providing a stable support structure for the control unit 7. The space between the columns 8 also facilitates the arrangement of the control line 10 and the installation of other components. An adapter plate 9 is provided on the column 8, and a pin connector 11 is provided on the adapter plate 9. The pin connector 11 is electrically connected to the control unit 7. The adapter plate 9 acts as a bridge, which centralizes and transfers the electrical signals of the control unit 7 through the pin connector 11, so that the control signals can be transmitted more orderly. The pin connector 11 is standardized and pluggable, which facilitates the connection and disassembly between the control unit 7 and other components. The pin and the pin connector 11 are existing products and can be purchased directly on the market. At the same time, compared with the prior art, the control line 10 is directly connected to the drive motor 12 and the control unit 7 by welding. When the robot is walking, since the core wire inside the control line 10 is extremely thin, the welding point is easily caused to fall off due to vibration, thereby causing the robot to stop. This solution adopts the cooperation of the pin connector 11 and the pin, which reduces the risk of the robot stopping due to the disconnection of the line connection point.

[0048] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. According to the technical essence of the present invention, within the spirit and principles of the present invention, any simple modification, equivalent replacement and improvement made to the above embodiment still falls within the protection scope of the technical solution of the present invention.

Claims

1. π Suspended Shock Absorbing Heavy Load Quadruped Robot, comprising a torso skeleton (5), a first support frame (1) for mounting a control unit (7) is provided on the torso skeleton (5), and a second support frame (2) is provided inside the first support frame (1), characterized in that, A shock-absorbing component (3) is clamped between the first support frame (1) and the second support frame (2). The shock-absorbing component (3) includes a vertically distributed buffer part (301) and a horizontally distributed load-bearing part. The load-bearing part includes a first load-bearing part (303) and a second load-bearing part (302). The first load-bearing part (303) is located at the lower end of the buffer part (301) and extends outward to bear the load at the fulcrum of the first support frame (1). The second load-bearing part (302) is located at the upper end of the buffer part (301) to bear the load inside the fulcrum of the first support frame (1). The first load-bearing part (303), the second load-bearing part (302) and the buffer part (301) together form a π shape that suspends the first support frame (1).

2. The π-suspended shock-absorbing heavy-duty quadruped robot according to claim 1, wherein The first support frame (1) includes a first top plate (101) and first side plates (102). The first side plates (102) are distributed at both ends of the bottom surface of the first top plate (101). A base (103) extending outward is provided at the bottom end of the first side plates (102). The bottom surface of the base (103) is the first load-bearing part (303), and the bottom surface of the first top plate (101) is the second load-bearing part (302).

3. The π-suspended shock-absorbing heavy-duty quadruped robot according to claim 2, wherein, A buffer limiting member (4) for buffering vibration is provided on the base (103). The buffer limiting member (4) connects the base (103), the first load-bearing part (303) and the torso skeleton (5).

4. The π-suspended shock-absorbing heavy-duty quadruped robot according to claim 3, characterized in that, The buffer limiting member (4) includes a pin (401), an elastic body and a sleeve (404). A limiting plate (402) is provided at the top of the pin (401). The pin (401) passes through the base (103), the first load-bearing part (303) and is connected to the torso skeleton (5). The first load-bearing part (303) and the base (103) can slide relative to the pin (401). The sleeve (404) is slidably sleeved on the pin (401). A fixing plate (405) is provided at the lower end of the sleeve (404). The fixing plate (405) is embedded in the base (103). The elastic body is arranged between the fixing plate (405) and the limiting plate (402).

5. The π-suspended shock-absorbing heavy-duty quadruped robot according to claim 4, wherein, The elastic body is a spring (403). The spring (403) is located outside the sleeve (404). The lower end of the spring (403) acts on the top surface of the base (103), and the upper end of the spring (403) acts on the bottom surface of the limiting plate (402).

6. The π-suspended shock-absorbing heavy-duty quadruped robot according to claim 4, characterized in that, The cross section of the fixing plate (405) is a regular hexagon or a regular pentagon.

7. The π-suspended shock-absorbing heavy-duty quadruped robot according to claim 1, characterized in that, The thickness of the first load-bearing part (303) is greater than the thickness of the second load-bearing part (302).

8. The π-suspended shock-absorbing heavy-duty quadruped robot according to claim 1, wherein The second support frame (2) is composed of a second top plate (201) and second side plates (202) to form a gantry frame body with a front opening. A kidney-shaped hole (203) is provided on the second side plates (202).

9. The π-suspended shock-absorbing heavy-duty quadruped robot according to claim 1, characterized in that, Both the buffer part (301) and the load-bearing part are made of sponge, foam or rubber.

10. The π floating shock-absorbing heavy-duty quadruped robot according to claim 1, characterized in that, Below the control unit (7), there are multiple columns (8). The lower ends of the columns (8) are connected to the top surface of the first support frame (1). A transfer board (9) is provided on the column (8), and a pin connector (11) is provided on the transfer board (9). The pin connector (11) is electrically connected to the control unit (7). The drive motor (12) of the robot is connected to the pin connector (11) through a control line (10). The end of the control line (10) is provided with a pin adapted to the pin connector (11).

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