Buffer assembly, foot structure and robot

Abstract

The utility model provides a buffer assembly, a foot structure and a robot. The buffering assembly comprises a base body, a movement body, a buffering piece and an energy conversion assembly, the movement body is movably assembled on the base body, a buffering space with the size changed along with relative movement of the movement body and the base body is formed between the movement body and the base body, and the buffering piece is assembled in the buffering space so as to stretch out and draw back along with movement of the movement body relative to the base body. The buffering assembly comprises an energy conversion assembly, and a transmission part of the energy conversion assembly can convert potential energy generated by the moving body and the buffering piece into rotating motion, so that the energy conversion part is driven to rotate to obtain an expected energy form. The rotation of the transmission part can consume the potential energy generated in the buffering process and reduce the structural oscillation of the buffering part caused by potential energy release, the rotation of the transmission part can be effectively utilized to obtain available energy, and the structural stability and the energy utilization rate of the buffering assembly and the robot are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to a cushioning assembly, a foot structure, and a robot. Background Art

[0002] For equipment that is subject to high impact during use, the transfer of impact energy can easily affect the stability and reliability of the equipment, so vibration damping components need to be installed to provide buffering protection.

[0003] Taking a bipedal robot as an example, frequent impacts on the robot's feet generate significant impact energy, which is transferred upward, reducing the reliability and stability of the upper structural components and electronic components. Simple vibration-damping pads fail to achieve the desired vibration reduction effect and also waste impact energy. Utility Model Content

[0004] The present disclosure provides a cushioning assembly, a foot structure, and a robot to solve related technical problems.

[0005] According to a first aspect of the present disclosure, there is provided a buffer assembly, comprising a base, a moving body, a buffer member, and an energy conversion assembly;

[0006] The moving body is movably assembled on the base; a buffer space is formed between the moving body and the base, the size of which changes with the relative movement of the moving body and the base, and the buffer member is assembled in the buffer space to expand and contract with the movement of the moving body relative to the base;

[0007] The energy conversion component includes a transmission component and an energy conversion component assembled on the transmission component; the transmission component moves with the moving body and generates a rotational motion that drives the energy conversion component.

[0008] Optionally, the moving body is provided with a first mounting portion, the base is provided with a second mounting portion, and the buffer space is formed between the first mounting portion and the second mounting portion;

[0009] The buffer member includes a spring, one end of the spring is connected to the first mounting portion, and the other end of the spring is connected to the second mounting portion.

[0010] Optionally, the first mounting portion includes a first groove-shaped structure arranged on the side of the moving body facing the base, and the second mounting portion includes a second groove-shaped structure arranged on the side of the base facing the moving body, at least a portion of the buffer is accommodated in the first groove-shaped structure, and at least a portion of the buffer is accommodated in the second groove-shaped structure.

[0011] Optionally, the energy conversion component further includes a first threaded member, and the transmission component includes a second threaded member; the first threaded member is assembled on the base, and the second threaded member is threadedly connected to the first threaded member.

[0012] Optionally, the first threaded member is a screw fixed to the base.

[0013] Optionally, the moving body is provided with an accommodating space; the second threaded member is accommodated in the accommodating space; at least a portion of the lead screw extends to the accommodating space, and the top wall and bottom wall surrounding the accommodating space are respectively provided with through holes for avoiding the lead screw.

[0014] Optionally, the second threaded member is a nut movably assembled on the moving body, and the moving body is provided with a first axial limiting structure that cooperates with the nut.

[0015] Optionally, the moving body is provided with an accommodating space; the nut is accommodated in the accommodating space, and the first axial limiting structure includes a top wall and a bottom wall that enclose the accommodating space.

[0016] Optionally, the first threaded member is a nut fixed to the base.

[0017] Optionally, the second threaded member is a screw movably assembled on the moving body, and the moving body is provided with a second axial limiting structure that cooperates with the screw.

[0018] Optionally, the energy conversion component includes a fan, and the moving body located outside the fan is provided with an air outlet.

[0019] Optionally, it further includes an air guide structure, wherein the air guide structure forms an air guide channel communicating with the air outlet opening;

[0020] Alternatively, the air guiding structure and the moving body form an air guiding channel connected to the air outlet opening.

[0021] Optionally, the energy conversion component includes a rotor, and the moving body is provided with a stator located outside the rotor; one of the stator and the rotor is a coil connected to an energy storage device, and the other is a magnet.

[0022] Optionally, the buffer assembly further includes an accelerator, an input end of the accelerator is connected to the transmission component, and an output end of the accelerator is connected to the energy conversion component.

[0023] Optionally, the moving body is provided with a receiving space, and the transmission component, the accelerator and the energy conversion component are accommodated in the receiving space.

[0024] According to a second aspect of the present disclosure, a foot structure is provided, wherein the foot component includes a foot frame and any one of the cushioning components described in the first aspect, wherein the cushioning component is assembled to the foot frame.

[0025] According to a third aspect of the present disclosure, a robot is provided, comprising any buffer assembly described in the first aspect; or any foot structure described in the second aspect.

[0026] The technical solution provided by the present disclosure can achieve at least the following beneficial effects:

[0027] The disclosed buffer assembly includes an energy conversion assembly. The transmission component of the energy conversion assembly is capable of converting the potential energy generated by the moving body and the buffer into rotational motion, thereby driving the energy conversion component to rotate and obtain the desired energy form. The rotation of the transmission component not only consumes the potential energy generated during the buffering process, reducing the structural oscillation of the buffer caused by the release of potential energy, but also effectively utilizes the rotation of the transmission component to obtain energy in a usable form, thereby improving the structural stability and energy utilization of the buffer assembly and the robot.

[0028] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and, together with the description, serve to explain the principles of the specification.

[0030] Figure 1 is a schematic diagram of the three-dimensional structure of a buffer assembly in an exemplary embodiment of the present disclosure;

[0031] Figure 2 is a schematic cross-sectional structural diagram of a buffer assembly in an exemplary embodiment of the present disclosure;

[0032] Figure 3 is a schematic diagram of the exploded structure of a buffer assembly in an exemplary embodiment of the present disclosure;

[0033] Figure 4 is a schematic cross-sectional structural diagram of a buffer assembly in another exemplary embodiment of the present disclosure;

[0034] Figure 5 It is a schematic diagram of the exploded structure of a buffer assembly in another exemplary embodiment of the present disclosure.

[0035] Reference numerals:

[0036] Buffer component 1;

[0037] Moving body 11; first mounting portion 111; top wall 112; bottom wall 113; accommodating space 114;

[0038] Base 12; second mounting portion 121; buffer member 13;

[0039] Energy conversion assembly 14 ; first threaded member 141 ; second threaded member 142 ; energy conversion component 143 ; stator 144 ; accelerator 15 . DETAILED DESCRIPTION

[0040] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with this specification. Rather, they are merely examples of apparatus and methods consistent with certain aspects of this specification, as detailed in the appended claims.

[0041] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. Unless otherwise defined, technical or scientific terms used in this specification should have the same ordinary meaning as those understood by persons of ordinary skill in the art to which this disclosure belongs. The terms "first," "second," and similar terms used in this specification and the claims do not denote any order, quantity, or importance, but are simply used to distinguish one component from another. Similarly, terms such as "a" or "an" do not denote a limitation of quantity, but rather indicate the presence of one. "Multiple" or "several" means two or more. Unless otherwise indicated, terms such as "front," "rear," "lower," and / or "upper" are used for convenience only and are not intended to limit the scope of the disclosure to a specific location or spatial orientation. Terms such as "include" or "comprising" mean that the elements or objects listed before "include" or "comprising" include the elements or objects listed after "include" or "comprising" and their equivalents, and do not exclude other elements or objects. Terms such as "connected" or "connected" are not limited to physical or mechanical connections and can include electrical connections, whether direct or indirect.

[0042] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. As used in this specification and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0043] Equipment subject to high impact during use requires vibration damping components for protection, as the transfer of impact energy can easily affect the stability and reliability of the device. For example, bipedal robots, where frequent impacts to the robot's feet generate significant impact energy, transfer this energy upward, reducing the reliability and stability of the upper structural components and electronic components. Simple vibration damping pads fail to achieve the desired vibration reduction effect and waste impact energy.

[0044] The present disclosure provides a cushioning assembly. Figure 1 is a schematic diagram of the three-dimensional structure of a buffer assembly in an exemplary embodiment of the present disclosure. Figure 2 is a schematic cross-sectional view of a buffer assembly in an exemplary embodiment of the present disclosure, as shown in FIG. Figure 1 、 Figure 2 As shown, the buffer assembly 1 includes a base 12, a moving body 11, a buffer member 13, and an energy conversion assembly 14. The moving body 11 is movably assembled to the base 12. A buffer space 16 is formed between the moving body 11 and the base 12, which changes in size with the relative movement of the moving body 11 and the base 12. The buffer member 13 is assembled in the buffer space 16 to expand and contract with the movement of the moving body 11 relative to the base 12. The energy conversion assembly 14 includes a transmission component and an energy conversion component 143 assembled to the transmission component. The transmission component moves with the moving body 11 and generates a rotational motion that drives the energy conversion component 143.

[0045] Because buffer assembly 1 includes energy conversion assembly 14, the transmission components of energy conversion assembly 14 are capable of converting the potential energy generated by moving body 11 and buffer 13 into rotational motion, thereby driving energy conversion component 143 to rotate and obtain the desired energy form. The rotation of this transmission component not only consumes the potential energy generated during the buffering process, reducing the structural oscillation of buffer 13 caused by the release of potential energy, but also effectively utilizes the rotation of the transmission component to obtain usable energy, thereby improving the structural stability and energy utilization of buffer assembly 1, the foot structure, and the robot.

[0046] In some embodiments, the energy conversion assembly 14 may include a first threaded member 141, the transmission component may include a second threaded member 142, the energy conversion component 143 is assembled to the second threaded member 142, the first threaded member 141 is assembled to the base 12, and the second threaded member 142 is threadedly connected to the first threaded member 141. The second threaded member 142 moves with the moving body 11 to drive the second threaded member 142 and the energy conversion component 143 to rotate relative to the first threaded member 141.

[0047] The buffer assembly 1 includes an energy conversion assembly 14. The first threaded member 141 and the second threaded member 142 of the energy conversion assembly 14 can convert the potential energy generated by the moving body 11 and the buffer 13 into the rotational motion of the second threaded member 142 relative to the first threaded member 141, thereby driving the energy conversion component 143 to rotate to obtain the desired energy form. The above-mentioned buffering method helps to improve the buffering reliability. The rotation of the second threaded member 142 not only consumes the potential energy generated during the buffering process and reduces the structural oscillation of the buffer 13 caused by the release of potential energy, but also effectively utilizes the rotation of the second threaded member 142 to obtain energy in a usable form, thereby improving the structural stability and energy utilization rate of the buffer assembly 1 and the robot.

[0048] In other embodiments, the transmission component may be other components that can rotate along with the movement of the moving body, and the present disclosure is not limited thereto.

[0049] In the embodiments of the present disclosure, the relative movement direction of the moving body 11 and the base 12 can be parallel to the direction of gravity, or can be other directions deflected relative to the direction of gravity, or can be parallel to the axial direction of the first threaded member 141. It can be selected according to the specific usage scenario, and the present disclosure does not limit this.

[0050] For example, the relative motion direction of the moving body 11 and the base 12 is parallel to the direction of gravity:

[0051] In some embodiments, the moving body 11 is provided with a first mounting portion 111, and the base 12 is provided with a second mounting portion 121. A buffer space 16 is formed between the first mounting portion 111 and the second mounting portion 121. The buffer member 13 includes a spring, one end of which is connected to the first mounting portion 111, and the other end of which is connected to the second mounting portion 121. During the relative movement between the moving body 11 and the base 12, the size of the buffer space 16 changes to achieve the expansion and contraction of the spring. When the spring is compressed, the second threaded member 142 rotates downward relative to the first threaded member 141. When the spring recovers its deformation, the second threaded member 142 rotates upward relative to the first threaded member 141, driving the energy conversion component 143 to rotate and obtain usable energy.

[0052] In other embodiments, the buffer member 13 includes a spring, and the first mounting portion 111 and the second mounting portion 121 define a buffer space 16 that matches the spring structure, with the spring positioned within the buffer space 16. During the relative motion between the moving body 11 and the base 12, the size of the buffer space 16 changes, thereby allowing the spring to expand and contract. When the spring compresses, the second threaded member 142 rotates downward relative to the first threaded member 141. When the spring recovers, the second threaded member 142 rotates upward relative to the first threaded member 141, driving the energy conversion component 143 to rotate and generate usable energy.

[0053] In other embodiments, the buffer member 13 may also be an elastic body with elastic properties such as rubber, silicone, etc., and the present disclosure is not limited to this.

[0054] In the above embodiment, the first mounting portion 111 can be a first groove-shaped structure provided on the side of the moving body 11 facing the base 12, and the second mounting portion 121 can be a second groove-shaped structure provided on the side of the base 12 facing the moving body 11. At least a portion of the buffer 13 is accommodated in the first groove-shaped structure, and at least a portion of the buffer 13 is accommodated in the second groove-shaped structure. The cooperation between the first and second groove-shaped structures and the buffer 13 allows the buffer 13 to be installed and limited on both sides, which helps to improve the retractable reliability of the buffer 13.

[0055] When the buffer 13 is a spring, the width of the first groove structure can match the size difference between the outer and inner rings of the spring to achieve limited assembly of the spring on both sides. The width of the second groove structure can be larger than the outer ring of the spring, and one end of the spring abuts against the bottom surface of the second groove structure to facilitate assembly of the spring.

[0056] In some embodiments, the base 12 is provided with a second groove-shaped structure oriented toward the moving body 11. The width of the second groove-shaped structure can match the outer dimensions of the bottom structure of the moving body 11, and the bottom structure and the second groove-shaped structure are clearance-matched. When the moving body 11 moves relative to the base 12, the bottom structure can expand and contract within and outside the second groove-shaped structure, thereby reducing the size of the buffer assembly 1 and improving the overall aesthetics of the buffer assembly 1.

[0057] In some embodiments, the first threaded member 141 is a lead screw fixed to the base 12. The moving body 11 is provided with a receiving space 114, and the second threaded member 142 is received in the receiving space 114. At least a portion of the lead screw extends into the receiving space 114. The top and bottom walls of the receiving space 114 are respectively provided with through holes for accommodating the lead screw.

[0058] The second threaded member 142 can be a nut that is movably assembled to the moving body 11. The moving body 11 is provided with a first axial retaining structure that engages with the nut. Because the nut is movably assembled to the moving body 11 and axially retained, when the moving body 11 moves downward relative to the base 12, the nut rotates downward relative to the lead screw. When the moving body 11 moves upward relative to the base 12, the nut rotates upward relative to the lead screw.

[0059] Among them, the moving body 11 can be provided with a receiving space 114, and the nut is accommodated in the receiving space 114. The first axial limiting structure includes a top wall 112 and a bottom wall 113 that surround the receiving space 114. When the moving body 11 moves downward relative to the base 12, the top wall 112 pushes the nut to rotate downward relative to the screw. When the moving body 11 moves upward relative to the base 12, the bottom wall 113 pushes the nut to rotate upward relative to the screw. At least a portion of the screw extends to the receiving space 114, and the top wall 112 and the bottom wall 113 that surround the receiving space 114 are respectively provided with through holes for avoiding the screw, so as to avoid structural interference between the moving body 11 and the screw when the moving body 11 moves relative to the base 12, thereby increasing the movement flexibility of the moving body 11.

[0060] It should be noted that the side walls of the above-mentioned accommodating space 114 can be formed by extending downward from the top wall 112, and the bottom wall 113 can be assembled at the bottom of the side wall by snapping, threading, bonding, welding, etc. after the second threaded member 142, the energy conversion component 143 and other components that need to be assembled in the accommodating space 114 are assembled, so as to improve the assembly convenience of the buffer component 1.

[0061] Alternatively, the first axial limiting structure may be a protrusion formed on the moving body 11, and the nut may be provided with a groove matching the protrusion structure, and the protrusion may be movably received in the groove to form an axial limit without affecting the rotation of the nut. Alternatively, the first axial limiting structure may be a groove formed on the moving body 11, and the nut may be provided with a protrusion matching the groove structure, and the protrusion may be movably received in the groove to form an axial limit without affecting the rotation of the nut. The protrusion or groove formed on the nut may be formed on the outer wall of the nut.

[0062] In other embodiments, the first threaded member 141 may be a nut fixed to the base 12 .

[0063] The second threaded member 142 is a screw that is movably assembled to the moving body 11. The moving body 11 is equipped with a second axial limit structure that cooperates with the screw. Because the screw is movably assembled to the moving body 11 and is axially limited, when the moving body 11 moves downward relative to the base 12, the screw rotates downward relative to the nut. When the moving body 11 moves upward relative to the base 12, the screw rotates upward relative to the nut.

[0064] Similarly, the moving body 11 may be provided with a receiving space 114, in which the lead screw is accommodated. The second axial limiting structure may be a groove formed in the top wall 112 and bottom wall 113 that enclose the receiving space 114. The lead screw is movably assembled in the above-mentioned groove to form an axial limit without affecting the rotation of the lead screw. When the moving body 11 moves downward relative to the base 12, the groove in the top wall 112 pushes the lead screw downward relative to the lead screw rotation. When the moving body 11 moves upward relative to the base 12, the groove in the bottom wall 113 pushes the lead screw upward relative to the lead screw rotation.

[0065] Alternatively, the second axial limiting structure may be a protrusion formed on the moving body 11, the lead screw being provided with a groove matching the protrusion structure, the protrusion being movably received in the groove to form an axial limit without affecting the rotation of the lead screw. Alternatively, the second axial limiting structure may be a groove formed on the moving body 11, the lead screw being provided with a protrusion matching the groove structure, the protrusion being movably received in the groove to form an axial limit without affecting the rotation of the lead screw. The protrusion or groove formed on the lead screw may be formed on the outer side wall of the lead screw.

[0066] In the above embodiment, if Figure 3 As shown, the energy conversion component 143 includes a fan. The moving body 11 located outside the fan is provided with an air outlet. The second threaded member 142 drives the fan to rotate, thereby converting the fan's kinetic energy into wind energy, which is used to dissipate heat from heat-generating components and other equipment such as robots using the buffer assembly 1. For example, if the first threaded member 141 is a screw and the second threaded member 142 is a nut, when the moving body 11 moves downward relative to the base 12, the nut rotates downward relative to the screw, and the fan rotates accordingly. When the moving body 11 moves upward relative to the base 12, the nut rotates upward relative to the screw, and the fan continues to rotate accordingly.

[0067] Furthermore, the buffer assembly 1 may also include an air guide structure, which forms an air channel connected to the air outlet. Alternatively, the air guide structure and the moving body 11 may enclose an air channel connected to the air outlet. The air channel can direct wind energy to heat-generating components of the robot or other equipment for dissipation, effectively utilizing the buffering potential energy generated by the buffer member 13.

[0068] In other embodiments, Figure 4 、 Figure 5As shown, the energy conversion component 143 can be a rotor, and the moving body 11 is provided with a stator 144 located on the periphery of the rotor. One of the stator 144 and the rotor is a coil connected to the energy storage device, and the other is a magnet. Taking the first threaded member 141 as a screw and the second threaded member 142 as a nut as an example, when the moving body 11 moves downward relative to the base 12, the nut rotates downward relative to the screw, and the rotor rotates accordingly to cut the magnetic flux lines and form an electric current in the coil. When the moving body 11 moves upward relative to the base 12, the nut rotates upward relative to the screw, and the rotor continues to rotate accordingly to cut the magnetic flux lines and form an electric current in the coil. The connection between the above-mentioned coil and the energy storage device can realize the storage and utilization of electrical energy, so as to improve the endurance of robots or other equipment.

[0069] In the above embodiment, the buffer assembly 1 may further include an accelerator 15, the input end of the accelerator 15 being connected to the transmission component, and the output end of the accelerator 15 being connected to the energy conversion component 143. The accelerator 15 can amplify the rotational speed of the transmission component, so that the rotation can be effectively converted into usable energy, thereby improving energy utilization.

[0070] In some embodiments, the moving body 11 may be provided with a receiving space 114, and the second threaded member 142, the accelerator 15 and the energy conversion component 143 are accommodated in the receiving space 114 to avoid being exposed to the outside of the buffer component 1, reducing structural interference and improving the structural aesthetics of the buffer component 1.

[0071] The present disclosure further provides a foot structure, which includes a foot frame and the above-mentioned cushioning component 1, wherein the cushioning component 1 is assembled to the foot frame.

[0072] The present disclosure further provides a robot, which includes the above-mentioned buffer assembly 1 or the above-mentioned foot structure.

[0073] Because buffer assembly 1 includes energy conversion assembly 14, the transmission components of energy conversion assembly 14 are capable of converting the potential energy generated by moving body 11 and buffer 13 into rotational motion, thereby driving energy conversion component 143 to rotate and obtain the desired energy form. The rotation of this transmission component not only consumes the potential energy generated during the buffering process, reducing the structural oscillation of buffer 13 caused by the release of potential energy, but also effectively utilizes the rotation of the transmission component to obtain usable energy, thereby improving the structural stability and energy utilization of buffer assembly 1, the foot structure, and the robot.

[0074] It should be noted that the robot can be a biped robot, a quadruped robot, a humanoid robot, a smart home robot, or a robotic arm. The buffer assembly 1 can be applied to joints, feet, and other structures of the robot that are subject to impact and vibration.

[0075] Taking a bipedal robot as an example, where the energy conversion assembly includes the aforementioned first threaded member 141 and the transmission component is the aforementioned second threaded member 142, the motion body 11 can be assembled to the foot frame, and the base 12 can be a guide base. When the robot's foot structure steps on the ground, the guide base touches the ground, the foot frame sinks relative to the guide base, the buffer 13 compresses, and the second threaded member 142 rotates downward relative to the first threaded member 141, driving the energy conversion component 143 to rotate. When the robot's foot structure lifts, the guide base lifts from the ground, the buffer 13 recovers its deformation, the foot frame rises relative to the guide base, and the second threaded member 142 rotates upward relative to the first threaded member 141, driving the energy conversion component to rotate.

[0076] In other embodiments, the above-mentioned buffer component 1 can also be applied to bicycles, electric bicycles, scooters, cars, various toys and other devices that can walk, jump or have other forms of movement, so as to achieve buffering of movement impact, improve structural stability and energy utilization efficiency.

[0077] The above description is merely a preferred embodiment of the present disclosure and does not constitute any form of limitation to the present disclosure. Although the present disclosure has been disclosed as a preferred embodiment as above, it is not intended to limit the present disclosure. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of the technical content disclosed above without departing from the scope of the technical solution of the present disclosure. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present disclosure without departing from the content of the technical solution of the present disclosure are still within the scope of the technical solution of the present disclosure.

Claims

1. A buffer assembly, characterized in that: It includes a base, a moving body, a buffer and an energy conversion component; The moving body is movably assembled on the base; a buffer space is formed between the moving body and the base, the size of which changes with the relative movement of the moving body and the base, and the buffer member is assembled in the buffer space to expand and contract with the movement of the moving body relative to the base; The energy conversion component includes a transmission component and an energy conversion component assembled on the transmission component; the transmission component moves with the moving body and generates a rotational motion that drives the energy conversion component.

2. The buffer assembly according to claim 1, characterized in that The moving body is provided with a first mounting portion, the base is provided with a second mounting portion, and the buffer space is formed between the first mounting portion and the second mounting portion; The buffer member includes a spring, one end of the spring is connected to the first mounting portion, and the other end of the spring is connected to the second mounting portion.

3. The buffer assembly according to claim 2, characterized in that The first mounting portion includes a first groove-shaped structure arranged on the side of the moving body facing the base, and the second mounting portion includes a second groove-shaped structure arranged on the side of the base facing the moving body. At least a portion of the buffer is accommodated in the first groove-shaped structure, and at least a portion of the buffer is accommodated in the second groove-shaped structure.

4. The buffer assembly according to claim 1, characterized in that The energy conversion component further includes a first threaded member, and the transmission component includes a second threaded member; the first threaded member is assembled on the base, and the second threaded member is threadedly connected to the first threaded member.

5. The buffer assembly according to claim 4, characterized in that: The first threaded member is a lead screw fixed to the base.

6. The buffer assembly according to claim 5, characterized in that The moving body is provided with a receiving space; the second threaded member is accommodated in the receiving space; at least a portion of the lead screw extends to the receiving space, and the top wall and bottom wall surrounding the receiving space are respectively provided with through holes for avoiding the lead screw.

7. The buffer assembly according to claim 4, characterized in that The second threaded member is a nut movably assembled on the moving body, and the moving body is provided with a first axial limiting structure matched with the nut.

8. The buffer assembly according to claim 7, characterized in that The moving body is provided with an accommodating space; the nut is accommodated in the accommodating space, and the first axial limiting structure includes a top wall and a bottom wall surrounding the accommodating space.

9. The buffer assembly according to claim 4, characterized in that The first threaded member is a nut fixed to the base.

10. The buffer assembly according to claim 4, characterized in that The second threaded member is a screw that is movably assembled on the moving body, and the moving body is provided with a second axial limiting structure that cooperates with the screw.

11. The buffer assembly according to claim 1, characterized in that The energy conversion component includes a fan, and the moving body located outside the fan is provided with an air outlet.

12. The buffer assembly according to claim 11, characterized in that It also includes an air guide structure, wherein the air guide structure forms an air guide channel communicating with the air outlet opening; Alternatively, the air guiding structure and the moving body form an air guiding channel connected to the air outlet opening.

13. The buffer assembly according to claim 1, characterized in that The energy conversion component includes a rotor, and the moving body is provided with a stator located outside the rotor; one of the stator and the rotor is a coil connected to an energy storage device, and the other is a magnetic steel.

14. The buffer assembly according to claim 1, wherein It also includes an accelerator, wherein the input end of the accelerator is connected to the transmission component, and the output end of the accelerator is connected to the energy conversion component.

15. The buffer assembly according to claim 14, characterized in that The moving body is provided with a receiving space, and the transmission component, the accelerator and the energy conversion component are accommodated in the receiving space.

16. A foot structure, characterized in that It comprises a foot frame and a cushioning component according to any one of claims 1 to 15, wherein the cushioning component is assembled to the foot frame.

17. A robot, characterized in that: Comprising the cushioning component according to any one of claims 1 to 15; or, the foot structure according to claim 16.

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