Damping device and robot

Abstract

The utility model relates to a damping device and a robot. The damping device comprises a connecting part connected with a walking leg of the robot; the damping part is connected with the connecting part, the damping part comprises a damping material layer, or the damping part comprises an air bag; the damping parts are used for wrapping the ends of the walking legs so as to play a protection role when the ends make contact with the ground. The damping device is simple in structure and convenient to disassemble, when the robot works in an indoor environment, the damping device can be arranged at the end of a walking leg of the robot in a sleeving mode, impact and noise generated when the walking leg collides with the ground are reduced, and when the robot works in an outdoor environment, the damping device can be disassembled, and the robot is convenient to use. According to the damping device and the robot, the adaptability of the robot to different working environments can be improved, and the maintenance difficulty is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field related to robots, in particular to a shock absorbing device and a robot. Background Art

[0002] With the rapid development and continuous breakthroughs in artificial intelligence technology, intelligent robots are gradually becoming effective assistants and companions in people's lives. Legged robots are a type of bionic robot. They use motion control systems to adjust the robot's posture according to gait generation and sensor feedback, allowing the robot to imitate the limb structure and gait of animals to achieve actions such as walking, running or crawling. Legged robots can adapt to different terrain conditions and application scenarios, and are used in military, agricultural, industrial and educational fields. Quadrupedal robots are a type of multi-legged robot. Due to their excellent stability and adaptability, they can be made into animal forms such as robot cats and robot dogs, and are widely used in family and parent-child companionship and other fields.

[0003] Each leg of the robot has a joint and a transmission system, and walking is achieved by controlling the lifting, swinging and landing of each leg. The friction with the ground when walking will cause wear and tear on the robot's legs, and when the legs touch the ground, they will also be affected by the impact of the ground. Therefore, the robot's leg structure needs to have a certain wear and impact resistance. However, structures with good wear and impact resistance are usually harder and will produce greater noise when in contact with the ground. It is difficult to take into account the requirements of wear resistance, impact resistance and noise reduction, which limits the application of robots indoors. Utility Model Content

[0004] Based on this, it is necessary to provide a shock absorbing device and a robot that can reduce noise and vibration to address the problem of excessive noise and vibration when the robot's legs come into contact with the ground.

[0005] In a first aspect, a shock absorbing device is provided, which is used to be installed on a walking leg of a robot, comprising:

[0006] A connecting part connected to the walking legs of the robot;

[0007] The shock absorbing part is connected to the connecting part, and the shock absorbing part includes a shock absorbing material layer, or the shock absorbing part includes a shock absorbing airbag; the shock absorbing part is used to cover the end of the walking leg of the robot to play a protective role when the end contacts the ground.

[0008] In one embodiment, the connecting part includes a first cylindrical structure, both ends of the first cylindrical structure are open, the first cylindrical structure is used to accommodate the walking legs of the robot, and one end of the first cylindrical structure is connected to the shock absorbing part; or, the connecting part includes a second cylindrical structure, the first end of the second cylindrical structure is open and the second end is closed, the second cylindrical structure is used to accommodate the walking legs of the robot, and the shock absorbing part is arranged inside the second end of the second cylindrical structure, or the shock absorbing part is arranged on the outside of the second end of the second cylindrical structure.

[0009] In one embodiment, the shock absorbing part has a receiving cavity for receiving the end of the walking leg, and the receiving cavity has an opening;

[0010] The opening of the shock absorbing part is fixedly connected to one end of the first cylindrical structure, or the opening of the shock absorbing part is connected to the closed end of the second cylindrical structure.

[0011] In one of the embodiments, a fixing piece is further provided on the connecting portion, and the fixing piece is used to fix the connecting portion on the walking leg.

[0012] In one of the embodiments, the connecting portion includes a flying woven layer, at least a portion of the flying woven layer has the elasticity to expand and contract along the radial direction of the walking leg, and the flying woven layer and the walking leg are fixed by elastic deformation.

[0013] In one of the embodiments, when the connecting portion includes a first cylindrical structure, the outer surface of the shock absorbing portion is covered with an anti-slip layer; when the connecting portion includes a second cylindrical structure and the shock absorbing portion is arranged inside the second end of the second cylindrical structure, the outer surface of the second end of the second cylindrical structure is covered with an anti-slip layer; when the connecting portion includes a second cylindrical structure and the shock absorbing portion is arranged on the outside of the second end of the second cylindrical structure, the outer surface of the shock absorbing portion is covered with an anti-slip layer.

[0014] In one embodiment, the anti-slip layer is made of silicone or rubber.

[0015] In one embodiment, the shock-absorbing material layer is further provided with a plurality of slot structures; and / or the shock-absorbing material layer comprises a porous elastomer, and the material of the porous elastomer is a combination of one or more of highly elastic thermoplastic polyurethane, rubber foam, thermoplastic polyurethane, thermoplastic elastomer and propylene-ethylene-styrene copolymer; and / or the preparation material of the connecting part comprises a combination of one or more of cloth, rubber, silicone and polyurethane.

[0016] In one embodiment, the shock absorbing part and the connecting part are integrally formed; or, the shock absorbing part and the connecting part are integrally formed, and the preparation material of the shock absorbing device includes one or more of silicone, thermoplastic polyurethane, chloroprene rubber and nitrile rubber.

[0017] In a second aspect, a robot is provided, comprising:

[0018] trunk;

[0019] Walking legs, connected to the trunk;

[0020] As described in the first aspect or any one of the embodiments of the first aspect, the shock absorbing device can be detachably fixed to the walking leg of the robot and covers the end of the walking leg to play a protective role when the end contacts the ground.

[0021] The shock absorbing device is connected to the walking legs of the robot through a connecting part; the shock absorbing device can be easily disassembled, the shock absorbing part is connected to the connecting part, the shock absorbing part includes a shock absorbing material layer, or the shock absorbing part includes an air bag; the shock absorbing part is used to cover the end of the walking leg to play a protective role when the end contacts the ground; it can play a buffering role when the robot's walking legs collide with the ground, reduce the mechanical impact, wear or vibration noise generated by the robot, so that the robot can adapt to the working needs of different types of robots. When the robot works in an indoor environment, the shock absorbing device can be mounted on the end of the robot's walking legs to reduce the impact and noise when the walking legs collide with the ground. When the robot works in an outdoor environment, the shock absorbing device can be installed or removed according to actual needs to meet the requirements of the outdoor environment for the strength and wear resistance of the robot. The above shock absorbing device and robot can improve the robot's adaptability to different working environments and reduce the difficulty of maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] FIG1 is a schematic structural diagram of a shock absorbing device in an embodiment of the present application;

[0023] FIG2 is a schematic diagram of the leg structure of a robot in an embodiment of the present application;

[0024] Figure 3 Schematic diagram of the assembly structure of the shock absorbing device and the robot in one embodiment of the present application;

[0025] Figure 4 is a schematic cross-sectional structure diagram of a shock absorbing device in an embodiment of the present application;

[0026] Figure 5 is a schematic cross-sectional structure diagram of a shock absorbing device in an embodiment of the present application;

[0027] Figure 6Schematic diagram of the assembly structure of the shock absorbing device and the robot in one embodiment of the present application;

[0028] Figure 7 Schematic diagram of the assembly structure of the shock absorbing device and the robot in one embodiment of the present application;

[0029] Figure 8 It is a cross-sectional schematic diagram of the assembly structure of the shock absorbing device and the robot in one embodiment of the present application.

[0030] In order to make the above and other objects, features, advantages and embodiments of the present invention more clearly understood, the attached symbols are explained as follows:

[0031] 100: shock absorbing device, 110: shock absorbing part, 120: connecting part, 121: fixing belt, 130: anti-slip layer, 200: walking leg. DETAILED DESCRIPTION

[0032] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0035] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0037] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0038] With the continuous development of robot technology, more and more robots have entered people's lives. Among them, quadruped robots are widely used in family and parent-child companionship and other fields due to their stability and adaptability. However, when a quadruped robot moves in indoor occasions, the soles of its feet hit the ground and make noise, especially when it is on the wooden floor indoors. In order to improve the user experience, how to reduce the noise of the quadruped robot when working indoors has become one of the urgent needs in the development of quadruped robots. In the prior art, the feet of the robot are often made of shock-absorbing materials, but this makes it difficult for the robot to achieve balance in terms of wear resistance, anti-slip, replaceability, shock absorption and other aspects. In response to the above problems, this embodiment provides a shock-absorbing device. By installing the shock-absorbing device, the noise generated by the robot colliding with the ground when walking indoors can be effectively reduced, and the service life of the robot's feet can be increased. Without changing the original foot structure of the robot, the adaptability of the robot can be improved and the maintenance cost can be reduced.

[0039] FIG. 1 is a schematic diagram of the structure of a shock absorbing device 100 in an embodiment of the present application; FIG. 2 is a schematic diagram of the leg structure of a robot in an embodiment of the present application; Figure 3 FIG. 1 is a schematic diagram of the assembly structure of the shock absorbing device 100 and the robot in an embodiment of the present application, referring to FIG. Figure 3 A shock absorbing device 100 provided in one embodiment of the utility model is used to be installed on the walking leg 200 of the robot, including a connecting part 120 connected to the walking leg 200 of the robot, and a shock absorbing part 110 connected to the connecting part 120, wherein the shock absorbing part 120 includes a shock absorbing material layer, or the shock absorbing part 120 includes a shock absorbing airbag, and the shock absorbing part 110 is used to cover the end of the walking leg 200 to protect the end when it contacts the ground; the number of shock absorbing devices 100 can correspond to the number of walking legs 200, and the shock absorbing devices 100 can also be installed on some walking legs 200 according to actual needs.

[0040] The shock-absorbing material layer is made of shock-absorbing material, which refers to a material that can reduce or suppress vibration and noise, such as natural rubber, styrene-butadiene rubber, fluororubber, silicone rubber, polyethylene foam, polyurethane foam, and polystyrene foam. In some embodiments, the area of ​​the shock-absorbing material layer can be equal to the sole area of ​​the walking leg 200, or it can be a part of the sole area, such as one-half. Since the end faces of the walking legs 200 of the robot may have different shapes, the area actually contacting the ground varies according to the shape or walking method. The shock-absorbing material layer can be set at the position where the robot actually contacts the ground when walking, so as to save materials and achieve shock-absorbing effects.

[0041] In one embodiment, a shock absorbing device 100 that can be used for a quadruped robot is provided, wherein the quadruped robot is described by taking the walking leg 200 of a robot dog as an example. As shown in FIG2 , one end of the walking leg 200 of the quadruped robot is used to contact the ground, and the other end has a joint structure, which can be used to connect with the robot trunk or other parts through the joint structure. The connection mode of the joint structure can be a rotation connection to facilitate the swing of the walking leg 200. The end of the walking leg 200 that contacts the ground can be set to different shapes according to the actual use of the robot, such as square, hemispherical, etc. Since the working environment of a quadruped robot may be an outdoor environment or an indoor environment, the outdoor environment is usually rough and the ground is usually uneven, so the requirements for strength and wear resistance are high, but the requirements for noise reduction are low; the indoor environment has a relatively flat and smooth ground, and the requirements for wear resistance are relatively low, but the requirements for noise reduction are high, especially when the robot is used for family companionship and other scenarios, excessive noise will affect others. For robots whose working environment includes both indoor and outdoor environments, if the end of the walking leg 200 is designed as a shock-absorbing structure, the robot's walking leg 200 needs to be replaced when the end is worn. Not only is the maintenance cycle long and inefficient, but the maintenance and replacement costs are also high. Therefore, the shock-absorbing device 100 provided in one embodiment of the present application is detachably mounted on the end of the robot's walking leg 200, for example Figure 3 As shown, the robot can flexibly adapt to different working environments.

[0042] The shock absorbing device provided in the embodiment of the present application is connected to the walking leg 200 of the robot through the connecting part 120; the shock absorbing device 100 can be easily disassembled, the shock absorbing part 110 is connected to the connecting part 120, and is made of a shock absorbing material. The shock absorbing part 110 includes a shock absorbing material layer, or the shock absorbing part includes a shock absorbing airbag, and the shock absorbing part 110 is used to cover the end of the walking leg 200 to play a protective role when the end contacts the ground; it can play a buffering role when the walking leg 200 of the robot collides with the ground, and reduce the noise generated by mechanical impact, wear or vibration on the robot, etc., wherein the number of shock absorbing devices 100 can be the same as or different from the number of walking legs 200, and the shock absorbing device 100 can be set at the end of the walking leg 200 that generates a larger impact when the robot is working, or the shock absorbing device 100 can be set at the end of each walking leg 200 to meet the working requirements of different types of robots. When the robot works in an indoor environment, the shock absorbing device 100 can be mounted on the end of the walking leg 200 of the robot to reduce the impact and noise when the walking leg 200 collides with the ground. When the robot works in an outdoor environment, the shock absorbing device 100 can protect the end of the walking leg 200 and reduce the wear on the end of the walking leg 200. When the environment has high requirements on strength and wear resistance, the shock absorbing device 100 can also be removed to meet the requirements of different environments for the strength and wear resistance of the robot. The above shock absorbing device 100 and robot can improve the adaptability of the robot to different working environments and reduce the difficulty of maintenance.

[0043] It should be noted that this embodiment has no limitation on the appearance of the shock absorbing device 100 , and the shock absorbing device 100 can be designed into products with different colors, materials, and surface treatments according to actual product requirements to meet the needs of different users.

[0044] Figure 4 is a schematic cross-sectional structure diagram of a shock absorbing device 100 in an embodiment of the present application, Figure 5 FIG. 1 is a schematic cross-sectional view of a shock absorbing device 100 in an embodiment of the present application. Figure 4 As shown, in some embodiments, the connecting portion 120 includes a first cylindrical structure, both ends of the first cylindrical structure are open, the first cylindrical structure is used to accommodate the walking legs of the robot, and one end of the first cylindrical structure is connected to the shock absorbing portion 120; in other embodiments, as Figure 5 As shown, the connecting part 110 includes a second cylinder structure, the first end of the second cylinder structure is open, the second end is closed, the second cylinder structure is used to accommodate the walking legs of the robot, and the shock absorbing part 120 is arranged inside the second end of the second cylinder structure, or the shock absorbing part 120 is arranged outside the second end of the second cylinder structure. By accommodating the walking legs of the robot through the first cylinder structure or the second cylinder structure, the relative displacement of the shock absorbing part 110 and the walking legs 200 can be limited, so that the installation of the shock absorbing device 100 is more stable.

[0045] In some embodiments, the shock absorbing part 110 has a accommodating cavity for accommodating the end of the walking leg, and the accommodating cavity has an opening. The opening of the shock absorbing part 110 is fixedly connected to one end of the first cylinder structure, or the opening of the shock absorbing part 110 is connected to the closed end of the second cylinder structure; the shape of the accommodating cavity can be adapted to the end shape of the robot walking leg 200 to reduce the shaking that occurs when the robot walks.

[0046] In some embodiments, a fixing piece may also be provided on the connecting portion 120, and the fixing piece is used to fix the connecting portion 120 on the walking leg 200. The walking leg 200 can pass through the opening of the first cylindrical structure or the second cylindrical structure so that the shock absorbing device 100 is mounted on the walking leg 200 and fixed by the fixing piece. The number and position of the fixing piece can be set according to actual needs. For example, the number can be one or more. The fixing piece can be set at the other end of the first cylindrical structure or the second cylindrical structure, or at the middle of the first cylindrical structure or the second cylindrical structure, etc., and this application does not limit this.

[0047] The shock absorbing part 110 and the connecting part 120 can be made of the same or different materials and processes according to actual needs, and the connection between the two can be made by bonding, insert injection molding or fly weaving. The shape can be similar to the shape of the robot walking leg 200 to make the fixation more reliable. For example, in FIG. Figure 3 In the illustrated embodiment, the end of the robot's leg that contacts the ground is hemispherical, and thus the shock absorbing portion 110 may be in the shape of a hemispherical shell, so as to better fit the shape of the robot's walking leg 200. In other embodiments, the shock absorbing portion 110 may also be set to other shapes according to the different shape structures of the robot's legs, such as a rectangular shell or an irregular shell.

[0048] The connecting part 120 can be made of elastic materials, such as various types of rubber, silicone materials, etc. The connecting part made of elastic materials can be fixed by using its own deformation, making the structure and manufacturing process of the shock absorbing device simpler. It can also be made of inelastic materials, such as cloth or plastic. Figure 3 As shown, the sleeve of the connecting part 120 extends along the shock absorbing part 110 toward the joint direction of the robot leg, and a fixing belt 121 extends from the edge. The fixing parts can be set on the fixing belt 121, for example, they can be set at both ends or the middle of the fixing belt 121, or the fixing belt 121 can be wrapped around the walking leg 200 of the robot and fixed by winding or tying. Among them, the fixing parts can be buttons, Velcro, self-adhesive tape, ropes or rubber belts. In other embodiments, the shock absorbing part 110 can also be fixed to the walking leg 200 by bonding or other methods.

[0049] like Figure 4As shown, in some embodiments, the shock absorbing part 110 and the connecting part 120 can be made of different materials, and the two can be connected at the opening of the shock absorbing part 110 by bonding or sewing, etc. The shock absorbing part 110 can be directly formed by the shock absorbing material layer. In this case, the shock absorbing part 110 can be made of a shock absorbing material with an anti-slip function, so that the shock absorbing part 110 can play a role in shock absorption and noise reduction while also having an anti-slip function. Figure 5 As shown, in some embodiments, the connecting portion 120 can be sleeved on the end of the walking leg 200, and the shock absorbing portion 110 is accommodated or attached to the inner side of the connecting portion 120. At this time, if the material of the connecting portion 120 has low anti-slip performance, an anti-slip layer 130 can be provided on the side of the connecting portion 120 that contacts the ground to improve the anti-slip performance.

[0050] In some embodiments, the connection portion 120 includes a flying woven layer, at least part of which has elasticity that can be stretched in the radial direction of the walking leg, and the flying woven layer is fixed to the walking leg by elastic deformation. In one embodiment, the connection portion 120 may include a flying woven layer formed along the opening edge of the shell, the flying woven layer has elasticity that can be stretched in the radial direction of the walking leg 200, and the flying woven layer is fixed to the walking leg 200 by elastic deformation. Flying weaving is also called bottomless weaving, and its weaving process is controlled by a computer. High-strength fiber materials are woven in multiple lines to form a seamless fabric structure. Fabrics can be manufactured without the need for bottom support. The flying woven layer can adjust the elasticity and support of different areas according to actual needs, and it is relatively light. When the connection portion 120 includes a flying woven layer, the flying woven layer can be connected to the shock absorbing portion 110 by sewing, bonding or hot pressing, or the strength of the connection can be improved by combining the above-mentioned connection methods. The flying fabric layer can be a tubular structure so that it can be easily put on the walking leg 200. When the walking leg 200 is a multi-section structure, the flying fabric layer can have the elasticity to expand and contract in the radial direction of a section of the walking leg 200 that contacts the ground. For example, when the walking leg 200 has a thigh and a calf, the flying fabric layer can expand and contract in the radial direction of the calf.

[0051] In some embodiments, Figure 5 As shown, in the case where the connecting part includes a first cylinder structure, the outer surface of the shock-absorbing part is covered with an anti-slip layer; in the case where the connecting part includes a second cylinder structure and the shock-absorbing part is arranged inside the second end of the second cylinder structure, the outer surface of the second end of the second cylinder structure is covered with an anti-slip layer; in the case where the connecting part includes a second cylinder structure and the shock-absorbing part is arranged on the outside of the second end of the second cylinder structure, the outer surface of the shock-absorbing part is covered with an anti-slip layer to improve the anti-slip performance.

[0052] The anti-slip layer 130 can be made of silicone or rubber, or other existing materials, as long as it can achieve the function of slipping on the sole of the foot. Taking silicone material as an example, the anti-slip layer is in the form of a silicone layer or an array of silicone convex points, and the size, thickness or shape of the silicone convex points of the anti-slip layer 130 can be set according to actual needs.

[0053] In some embodiments, the material layer used to make the shock-absorbing material layer may be a porous elastomer, which can absorb a large amount of vibration energy when subjected to external force, and make the shock-absorbing part 110 absorb and dissipate more energy, thereby playing a role in shock absorption and noise absorption. Among them, the material of the porous elastomer may include one or more of ETPU (high elastic thermoplastic polyurethane), rubber foam, TPU (Thermoplastic Polyurethane, thermoplastic polyurethane), TPE (thermoplastic elastomer) and SEBS (propylene-ethylene-styrene copolymer). These materials have excellent elasticity and flexibility, and have certain shock absorption and sound absorption properties. They can efficiently absorb and disperse impact energy, effectively reduce the impact vibration and noise level generated by the end of the walking leg 200 of the robot contacting the ground when walking, and reduce the noise impact on the surrounding environment. Of course, the specific material selection can meet the actual needs and is not limited here.

[0054] In some embodiments, when the shock absorbing part 110 includes a shock absorbing airbag, the shock absorbing airbag may include an air chamber for accommodating gas, and the air chamber may be made of an elastic material, such as nylon or polyester fiber. The air chamber is a sealed structure and is filled with gas, so that elastic deformation can be generated when subjected to force. The filling medium may also be other liquids, etc., which can be selected according to actual needs. The shock absorbing airbag may be arranged on the inside or outside of the shock absorbing part 110, at a position corresponding to the end of the walking leg 200. During walking, the shock absorbing airbag is compressed under force, thereby absorbing and dispersing the impact force from the ground, and at the same time, it can provide additional support to improve the walking stability of the robot.

[0055] In some embodiments, the material of the connection part 120 may include one or more of cloth, rubber, silicone and PU (Polyurethane). Of course, the specific material selection can be any material as long as it meets the actual needs, and is not limited here. The shape of the connection part 120 can be adapted to the shape of the walking leg 200 to improve the reliability of fixation and prevent it from falling off. The connection part 120 can be made of the same or different materials as the shock absorbing part 110, and can be combined with the shock absorbing part 110 by different processes according to the actual materials used, and fixed to the walking leg 200 by different fixing methods.

[0056] For example, when the connection part 120 is made of cloth, it can be connected to the shock absorbing part 110 by sewing, gluing or weaving, and can be fixed to the walking leg 200 by Velcro, rope or clamping device. When the connection part 120 is made of elastic material, it can be formed by mold, and the shock absorbing device 100 can be fixed on the walking leg 200 of the robot by the elastic deformation of the connection part 120, that is, when the shock absorbing device 100 is installed, the connection part 120 is stretched so that the walking leg 200 can pass through the opening of the connection part 120, so that the shock absorbing device 100 can be sleeved on the walking leg 200. After the installation is completed, the connection part 120 shrinks under the action of its own elastic force to achieve the fixation of the shock absorbing device 100.

[0057] In some embodiments, the shock absorbing part 110 and the connecting part 120 are integrally formed. When the two are integrally formed, the materials of the shock absorbing part 110 and the connecting part 120 can be the same. In this case, the preparation material of the shock absorbing device 100 can include one or more of silicone, TPU, chloroprene rubber and NBR (Nitrile Butadiene Rubber). Of course, the specific material selection can be as long as it meets the actual needs, and is not limited here.

[0058] In some embodiments, the walking leg may be a combination of a calf and a foot end (the end of the walking leg). In some embodiments, the connecting part may also be arranged at the foot end of the walking leg. The connecting part may be connected to the robot in any form such as bonding or snapping. Accordingly, at this time, the connecting part and the shock absorbing part are jointly arranged at the foot end, which can still play a protective role when the walking leg contacts the ground.

[0059] Figure 6 is a schematic diagram of the assembly structure of the shock absorbing device 100 and the robot in one embodiment of the present application, Figure 7 is a schematic diagram of the assembly structure of the shock absorbing device 100 and the robot in one embodiment of the present application, Figure 8 The cross-sectional view of the assembly structure of the shock absorbing device 100 and the robot in one embodiment of the present application. The shape and size of the connecting part can be set according to actual needs. When the fixing part is installed on the fixing belt, the length of the fixing belt can be shorter as long as it can meet the matching requirements of the fixing part. Figures 6 to 8 As shown, the length of the fixing belt is lengthened so that it can be wrapped around the walking leg and fixed by tying a knot or the like.

[0060] The shock absorbing part and the connecting part described in the embodiments of the present application can be combined in various ways. For example, the shock absorbing part can be in the shape of a hemispherical shell, and the connecting part is woven upward along the hemispherical shell to form a cylindrical shell-like structure; or the connecting part is integrally formed with fabric to form a accommodating cavity with an opening at one end, and the shock absorbing part is made of ETPU material and accommodated in the connecting part at a position corresponding to the end of the walking leg of the robot, and an anti-slip layer is provided on the outside of the connecting part at a position corresponding to the shock absorbing part; or the shock absorbing part and the connecting part are an integrated structure, and the shock absorbing part is a hemispherical shell structure, which is connected to the connecting part by bonding or insert injection molding. In addition to the various combinations described above, there can be other combinations as long as the requirements of noise reduction and easy disassembly and assembly are met, which will not be repeated here.

[0061] In some cases, the shock absorbing part may be provided with a plurality of hole and slot structures. The hole and slot structures may be in various forms, such as strip, ring, etc., which are not limited here. The hole and slot structures play the role of reducing weight and further buffering.

[0062] Based on the same inventive concept, the embodiment of the present application also provides a robot including the above-mentioned shock absorbing device 100. The implementation scheme for solving the problem provided by the robot is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more robot embodiments provided below can refer to the above-mentioned limitations on the shock absorbing device 100, which will not be repeated here.

[0063] A robot provided in an embodiment of the present application includes: a torso, walking legs movably connected to the torso; and a shock absorbing device as proposed in the above embodiments, which can be detachably fixed to the walking legs of the robot and covers the ends of the walking legs to provide protection when the walking legs are in contact with the ground.

[0064] In some embodiments, the number of shock absorbing devices 100 corresponds to the number of walking legs 200 .

[0065] In some embodiments, the robot may be a multi-legged robot, such as a humanoid robot or a quadruped robot.

[0066] In some embodiments, the robot is a robot dog.

[0067] In some embodiments, the robot further includes a drive assembly and a shell, wherein the drive assembly is used to drive the walking legs 200 to rotate, and a corresponding drive assembly is provided between each walking leg 200 and the trunk, and the number of drive assemblies corresponds to the number of walking legs 200. The walking legs 200 may include thighs, calves, and joints connected between the thighs and the trunk, and between the thighs and the calves, and the drive assembly may form a part of the joint. The robot may also include a circuit assembly, which is used to transmit electrical energy and electrical signals to control the movement of the drive assembly, and the shell is used to cover the circuit assembly and the drive assembly, etc., which plays a protective role and can give the robot a different appearance.

[0068] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0069] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A shock absorbing device, used for installation on the walking legs of a robot, characterized in that: include: A connecting part connected to the walking legs of the robot; A shock absorbing part is connected to the connecting part, and the shock absorbing part includes a shock absorbing material layer, or the shock absorbing part includes a shock absorbing airbag; the shock absorbing part is used to cover the end of the walking leg to play a protective role when the end contacts the ground.

2. The shock absorbing device according to claim 1, characterized in that: The connecting part comprises a first cylindrical structure, both ends of the first cylindrical structure are open, the first cylindrical structure is used to accommodate the walking legs of the robot, and one end of the first cylindrical structure is connected to the shock absorbing part; or, The connecting part includes a second cylindrical structure, the first end of the second cylindrical structure is open and the other end is closed, the second cylindrical structure is used to accommodate the walking legs of the robot, and the shock absorbing part is arranged inside the second end of the second cylindrical structure, or the shock absorbing part is arranged outside the second end of the second cylindrical structure.

3. The shock absorbing device according to claim 2, characterized in that: The shock absorbing part has a receiving cavity for receiving the end of the walking leg, and the receiving cavity has an opening; The opening of the shock absorbing part is fixedly connected to one end of the first cylindrical structure, or the opening of the shock absorbing part is connected to the closed end of the second cylindrical structure.

4. The shock absorbing device according to claim 1, characterized in that: The connecting part is also provided with a fixing piece, and the fixing piece is used to fix the connecting part on the walking leg.

5. The shock absorbing device according to claim 1, characterized in that: The connecting portion includes a flying woven layer, at least a portion of the flying woven layer has elasticity that allows it to expand and contract along the radial direction of the walking leg, and the flying woven layer and the walking leg are fixed to each other through elastic deformation.

6. The shock absorbing device according to claim 2, characterized in that: In the case where the connecting portion includes a first cylindrical structure, the outer surface of the shock absorbing portion is covered with an anti-slip layer; In the case where the connecting portion includes a second cylindrical structure and the shock absorbing portion is arranged inside the second end of the second cylindrical structure, the outer surface of the second end of the second cylindrical structure is covered with an anti-slip layer; The connecting portion includes a second cylinder structure and the shock absorbing portion is arranged on the outer side of the second end of the second cylinder structure, and the outer surface of the shock absorbing portion is covered with an anti-slip layer.

7. The shock absorbing device according to claim 6, characterized in that: The anti-slip layer is made of silica gel or rubber.

8. The shock absorbing device according to claim 1, characterized in that: The shock-absorbing material layer is also provided with a plurality of slot structures; and / or, The shock-absorbing material layer comprises a porous elastomer, and the material of the porous elastomer is one of high-elasticity thermoplastic polyurethane, rubber foam, thermoplastic polyurethane, thermoplastic elastomer and propylene-ethylene-styrene copolymer; and / or, The connection part is made of a material selected from the group consisting of cloth, rubber, silicone and polyurethane.

9. The shock absorbing device according to claim 1, characterized in that: The shock absorbing part and the connecting part are integrally formed; or, The shock absorbing part and the connecting part are integrally formed, and the preparation material of the shock absorbing device includes one of silica gel, thermoplastic polyurethane, chloroprene rubber and nitrile rubber.

10. A robot, characterized in that: include: trunk; A walking leg movably connected to the trunk; The shock absorbing device as described in any one of claims 1 to 9 is detachably fixed to the walking leg of the robot, covering the end of the walking leg, and is used to protect the end when it contacts the ground.

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