Robot leg buffering device

Abstract

The utility model relates to the technical field of robots, in particular to a robot leg buffering device which comprises a mounting frame, a leg supporting block, a fixing frame, a fixing block, a supporting frame, a second rotating frame, a second rotating shaft, a second mounting block, a first balance wheel, a second telescopic rod, a second damping spring, a third mounting block and a second balance wheel. A leg supporting block is mounted at the lower end of the mounting frame, two sets of second mounting blocks are symmetrically mounted at the lower ends of the two sides of the leg supporting block, first balance wheels located in the leg supporting block are mounted in the centers of the inner sides of the second mounting blocks, and second telescopic rods are vertically mounted in the centers of the lower surfaces of the second mounting blocks; impact force is reduced through the second damping springs, the first damping springs and other assemblies, balance is maintained by using the first balance wheels and the second balance wheels, meanwhile, the length of the legs is allowed to be adjusted according to the terrain through the design of the telescopic rods, and stability is further enhanced.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a robot leg cushioning device. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Through programming and automatic control, robots can perform tasks such as work or movement. Robots have basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0003] When walking or performing other dynamic actions, ground reaction forces and uneven ground can cause vibrations and impacts, which not only affect the robot's stability but may also damage its internal electronic components. Moreover, the robot needs to maintain balance on various terrains, especially on uneven surfaces, which poses a challenge to its mobility.

[0004] Therefore, in response to the ground reaction force and uneven ground that may cause vibration and impact when walking or performing other dynamic actions, and the fact that the robot needs to maintain balance on various terrains, a robot leg cushioning device can be designed. This device uses components such as a second shock-absorbing spring and a first shock-absorbing spring to reduce impact force. The first and second balance wheels are used to help maintain balance. At the same time, the design of the telescopic rod allows the legs to adjust their length according to the terrain, further enhancing stability. Summary of the Invention

[0005] To overcome the disadvantages of ground reaction forces and uneven ground that can cause vibration and impact when walking or performing other dynamic movements, and the need for robots to maintain balance on various terrains, this application provides a robot leg cushioning device.

[0006] The technical solution is as follows: A robot leg cushioning device includes a mounting frame, a leg support block, a fixed frame, a fixed block, a support frame, a second rotating frame, a second rotating shaft, a second mounting block, a first balance wheel, a second telescopic rod, a second shock-absorbing spring, a third mounting block, and the second balance wheel. A leg support block is mounted at the lower end of the mounting frame. Two sets of second mounting blocks are symmetrically mounted on the lower ends of both sides of the leg support block. A first balance wheel located inside the leg support block is mounted at the center of the inner side of each second mounting block. A second telescopic rod is vertically mounted at the center of the lower surface of the second mounting block. The sliding section of the second telescopic rod is surrounded by... There is a second shock-absorbing spring for maintaining leg balance. The second shock-absorbing spring has a spring damper inside. The bottom end of the second telescopic rod is fixedly connected to a third mounting block. The inner side of each of the two sets of third mounting blocks is provided with a second rotating frame for bending the leg. A fixed frame is provided at the upper end between the two sets of second rotating frames. A second balance wheel is provided at the center of the inner side of the third mounting block, passing through the second rotating frame and the fixed frame. The second balance wheel keeps the leg support block and the fixed frame connected when bending. The lower inner end of the two sets of second rotating frames is clamped and installed with a fixed block. The lower end of the surface of the second rotating frame is provided with a second rotating shaft.

[0007] Furthermore, three sets of anti-collision pads are installed sequentially from top to bottom on the center of the rear surface of the leg support block. A first connecting block is fixedly connected to the bottom of the leg support block. Two sets of first rotating frames are symmetrically installed on both sides of the first connecting block. A first driving module is provided at the center of the rear surface of the first connecting block. A first rotating shaft electrically connected to the first driving module is provided at the connection between the first rotating frame and the first connecting block.

[0008] Furthermore, movable blocks are clamped and installed on the lower inner sides of the two sets of first rotating frames, and connecting rods that are fixedly connected to the first rotating frames are provided on the upper sides of both movable blocks.

[0009] Furthermore, multiple sets of connecting pipes are installed sequentially from left to right on the lower surface of the movable block, and a second connecting block is provided at the lower end of the connecting pipe for fixed connection with the fixed frame.

[0010] Furthermore, a second drive module electrically connected to the second rotating shaft is provided at the center of the rear surface of the fixed block, and a support frame is provided at the lower end of the fixed block.

[0011] Furthermore, a support plate is fixedly connected to the center of the lower surface of the support frame, a second rotating wheel is installed at the connection between the fixed block and the support frame, the lower surface of the support plate is covered with an anti-slip pad, and multiple sets of honeycomb foot pads are opened on the lower surface of the anti-slip pad.

[0012] Furthermore, four sets of first mounting blocks are symmetrically installed on both sides of the movable block and the second connecting block, and a first telescopic rod is provided between the upper and lower sets of symmetrical first mounting blocks.

[0013] Furthermore, multiple sets of first shock-absorbing springs are installed around the outer side of the sliding part of the first telescopic rod. The first shock-absorbing springs are equipped with spring dampers inside. A first rotating wheel is rotatably connected at the connection between the mounting bracket and the leg support block.

[0014] The beneficial effects are achieved through the design of the first and second balancing wheels and shock-absorbing springs, which effectively improve the robot's stability when walking on various terrains. The second and first rotating frames allow for natural leg bending, increasing the range of motion of the joints and enabling the robot to move more flexibly in complex environments. Anti-slip pads and honeycomb footpads reduce wear caused by direct contact between the robot and the ground, while internal spring dampers help disperse mechanical stress, protecting the internal structure from damage and extending the overall lifespan of the device. The shock absorption system not only improves comfort and safety but also helps optimize energy consumption. By effectively managing kinetic and potential energy conversion, the robot's operational efficiency is improved, which is especially important for long-term operation. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall three-dimensional structure of this application;

[0016] Figure 2 This is a schematic diagram of the three-dimensional structure of the anti-collision pad in this application;

[0017] Figure 3 This is a schematic diagram of the three-dimensional structure of the honeycomb foot pad in this application;

[0018] Figure 4 This is a three-dimensional structural diagram of the connecting pipe in this application;

[0019] Figure 5 This is a three-dimensional structural diagram of the second telescopic rod of this application.

[0020] Explanation of reference numerals in the attached drawings: 1. Mounting frame; 2. First rotating wheel; 3. Leg support block; 4. First connecting block; 5. Movable block; 6. Second connecting block; 7. Fixed frame; 8. Fixed block; 9. Support frame; 10. Support plate; 11. Anti-collision pad; 12. First drive module; 13. First rotating frame; 14. First rotating shaft; 15. Second rotating frame; 16. Second rotating shaft; 17. Second drive module; 18. Anti-slip pad; 19. Honeycomb foot pad; 20. Second rotating wheel; 21. First mounting block; 22. First telescopic rod; 23. First shock-absorbing spring; 24. Connecting pipe; 25. Connecting rod; 26. Second mounting block; 27. First balance wheel; 28. Second telescopic rod; 29. ​​Second shock-absorbing spring; 30. Third mounting block; 31. Second balance wheel. Detailed Implementation

[0021] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] Among the currently discovered feasible technologies, the following are described:

[0023] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Through programming and automatic control, it performs tasks such as work and movement. It possesses basic characteristics such as perception, decision-making, and execution, and can assist or even replace humans in completing dangerous, heavy, and complex tasks, thereby improving work efficiency and quality, serving human life, and expanding or extending the scope of human activities and capabilities. With the development of technology, the application fields of robots are becoming increasingly widespread, encompassing everything from industrial manufacturing to healthcare and various service scenarios in daily life. However, while realizing these wide-ranging applications, robots face a series of challenges. In particular, when walking or performing other dynamic actions, it is especially important to effectively cope with ground reaction forces and vibrations and impacts caused by uneven ground. These problems not only affect the stability of the robot but may also damage its internal electronic components, limiting its operational capabilities in complex environments.

[0024] When a robot walks or performs dynamic actions on uneven terrain, the ground reaction force and uneven ground can cause significant vibrations and impacts. These vibrations and impacts can not only affect the robot's stability and balance, but also damage the robot's mechanical structure and internal electronic components. For example, continuous vibrations can cause problems such as loosening of connectors, decreased sensor accuracy, and accelerated aging of batteries and other critical components. On uneven ground, the robot needs to constantly adjust its posture to maintain balance, which places higher demands on the robot's motion control system. Traditional rigid designs are often unable to effectively cope with such complex environmental changes.

[0025] The natural world presents a diverse array of terrains, from flat roads to rugged mountain paths and rocky, potholed wilderness. Each type of terrain places different demands on a robot's motion control system. This diversity not only tests the robot's design and manufacturing processes but also places extremely high demands on its intelligent control system. In the natural environment, robots may encounter a wide variety of terrains, including but not limited to muddy wetlands, soft sand, hard rocks, slippery grass, and snow-covered ground. Each terrain has its unique physical properties, such as the coefficient of friction, hardness, and surface roughness. These factors directly affect the robot's movement efficiency and stability. In practice, robots may need to complete the transition from one type of terrain to another in a short period of time. For example, in rescue missions, robots may need to quickly traverse a flat area and then immediately enter a ruined area full of obstacles. Because different terrains fundamentally differ in their power requirements, balance adjustment strategies, and path planning algorithms, existing robots often struggle to adapt quickly to such sudden changes, leading to low mobility or even inability to continue. Besides static terrain features, the natural environment is also full of dynamic elements, such as wind speed, water flow, and swaying vegetation, all of which further impact robot movement. Especially under extreme conditions, such as during strong storms or floods, robots not only have to cope with complex terrain but also constantly changing external conditions, posing a significant challenge to their perception systems and decision-making mechanisms.

[0026] When a robot is operating at high speed, even the slightest deviation in posture can lead to serious consequences. In such situations, the robot needs a highly sensitive feedback mechanism to correct its posture promptly and ensure stable movement. However, the sensor accuracy and response speed of most robots currently are insufficient to meet these stringent requirements, making them prone to instability. During field operations, robots frequently encounter unexpected situations, such as suddenly appearing large rocks, deep ditches, or other unforeseen obstacles. Faced with these emergencies, the robot needs to react quickly and adjust its trajectory to avoid danger. However, existing balancing algorithms and techniques sometimes fall short, unable to calculate the optimal solution instantly, causing the robot to lose balance or even tip over.

[0027] To address the aforementioned challenges, designing a robot leg cushioning device is a solution. This device typically includes components such as a second shock-absorbing spring, a first shock-absorbing spring, a first balancing wheel, and a second balancing wheel. Its purpose is to reduce vibrations and impacts during walking, while helping the robot maintain balance. The second and first shock-absorbing springs are designed to absorb vibrations and impacts from the ground, ensuring a smooth transition when encountering irregular terrain and reducing damage to internal structures. The first and second balancing wheels are responsible for helping the robot maintain dynamic balance, especially on uneven surfaces. They provide additional support points during robot walking, making the center of gravity more stable and helping to prevent tipping or slipping. The telescopic rod allows the legs to automatically adjust their length according to different terrains, providing the robot with greater flexibility. It can extend or shorten as needed, better adapting to obstacles of varying heights and further enhancing overall stability.

[0028] Example 1

[0029] like Figure 1 - Figure 3As shown, the robot's leg cushioning device includes a mounting frame 1, a leg support block 3, a fixing frame 7, a fixing block 8, a support frame 9, a second rotating frame 15, a second rotating shaft 16, a second mounting block 26, a first balance wheel 27, a second telescopic rod 28, a second shock-absorbing spring 29, a third mounting block 30, and a second balance wheel 31. The lower end of the mounting frame 1 is fitted with the leg support block 3. Two sets of second mounting blocks 26 are symmetrically mounted on the lower ends of both sides of the leg support block 3. The first balance wheel 27, located inside the leg support block 3, is mounted at the center of the inner side of each second mounting block 26. The second mounting block 20... A second telescopic rod 28 is vertically mounted at the center of the lower surface of the 6th column. A second shock-absorbing spring 29 for maintaining leg balance is mounted around the outer side of the sliding section of the second telescopic rod 28. A spring damper is provided inside the second shock-absorbing spring 29. A third mounting block 30 is fixedly connected to the bottom end of the second telescopic rod 28. A second rotating frame 15 for bending the leg is provided on the inner side of both sets of third mounting blocks 30. A fixed frame 7 is provided at the upper end between the two sets of second rotating frames 15. A second balance wheel 31 is provided at the center of the inner side of the third mounting block 30, passing through the second rotating frame 15 and the fixed frame 7. The leg support block 3 and the fixing frame 7 remain connected to the second telescopic rod 28 when bending. The lower inner ends of the two sets of second rotating frames 15 are clamped with fixing blocks 8. A second rotating shaft 16 is provided at the lower end of the surface of the second rotating frame 15. Three sets of anti-collision pads 11 are installed sequentially from top to bottom at the center of the rear surface of the leg support block 3. A first connecting block 4 is fixedly connected to the bottom of the leg support block 3. Two sets of first rotating frames 13 are symmetrically installed on both sides of the first connecting block 4. A first drive module 12 is provided at the center of the rear surface of the first connecting block 4. A connection between the first rotating frame 13 and the first connecting block 4 is provided with a first drive module 12. The first rotating shaft 14 is electrically connected to the drive module 12. Three sets of anti-collision pads 11 are installed from top to bottom on the center of the rear surface of the leg support block 3, which helps to absorb and mitigate the impact from the rear and protect the robot from damage. Movable blocks 5 are clamped and installed on the lower inner side of the two sets of first rotating frames 13. Connecting rods 25 that are fixedly connected to the first rotating frames 13 are provided on the upper sides of both sides of the movable blocks 5. The bottom end of the leg support block 3 is fixedly connected to the first connecting block 4. The first rotating frames 13 installed symmetrically on both sides are controlled by the first rotating shaft 14 that is electrically connected to the first drive module 12.

[0030] Multiple sets of connecting pipes 24 are installed sequentially from left to right on the lower surface of the movable block 5. The lower end of each connecting pipe 24 has a second connecting block 6 fixedly connected to the fixed frame 7, increasing structural flexibility and allowing the robot to better adapt to different terrain conditions. A second drive module 17 electrically connected to the second rotating shaft 16 is located at the center of the rear surface of the fixed block 8. A support frame 9 is located at the lower end of the fixed block 8, providing additional power support and structural strength, enabling the robot to move more freely in complex environments. A support plate 10 is fixedly connected to the center of the lower surface of the support frame 9. A second rotating wheel 20 is installed at the connection between the fixed block 8 and the support frame 9. The lower surface of the support plate 10 is covered with an anti-slip pad 18, and multiple sets of honeycomb foot pads 19 are formed on the lower surface of the anti-slip pad 18, significantly improving friction and preventing impact. The sliding mechanism ensures the robot's stable standing on various ground surfaces. Four sets of first mounting blocks 21 are symmetrically installed on both sides of the movable block 5 and the second connecting block 6. A first telescopic rod 22 is provided between the upper and lower symmetrical sets of first mounting blocks 21. A first shock-absorbing spring 23 surrounds the outer side, effectively absorbing vibrations. Multiple sets of first shock-absorbing springs 23 are installed around the sliding part of the first telescopic rod 22. A spring damper is provided inside each first shock-absorbing spring 23. A first rotating wheel 2 is rotatably connected at the connection between the mounting frame 1 and the leg support block 3, further enhancing the flexibility and adaptability of the legs.

[0031] When the robot begins to move and the leg support block 3 contacts the ground, the second shock-absorbing spring 29 and the first shock-absorbing spring 23 take effect first. These springs have internal spring dampers that can effectively absorb the impact force from the ground and reduce the impact of vibration on the overall structure of the robot. During movement, the first balance wheel 27 and the second balance wheel 31 are located in key positions to help the robot maintain balance, especially on uneven or sloping ground, where they provide additional support points. As the robot moves forward and encounters obstacles of different heights or changes in terrain, the design of the telescopic rod allows the legs to automatically adjust their length as needed. For example, when crossing a small pothole, the corresponding telescopic rod will extend, while when climbing stairs, it may shorten. The first rotating frame 13 achieves precise angle adjustment through the first rotating shaft 14 controlled by the first drive module 12, allowing the robot to flexibly change the posture of its legs. The second drive module 17 at the center of the rear surface of the fixed block 8 is electrically connected to the second rotating shaft 16, providing the necessary power support for the robot's movement. The support plate 10 at the lower end of the support frame 9, along with the anti-slip pad 18 and honeycomb foot pad 19 thereon, increases friction, ensuring that the robot can stand stably on various surfaces.

Claims

1. A robot leg cushioning device, comprising a mounting bracket (1); characterized in that, It also includes a leg support block (3), a fixing frame (7), a fixing block (8), a support frame (9), a second rotating frame (15), a second rotating shaft (16), a second mounting block (26), a first balance wheel (27), a second telescopic rod (28), a second shock-absorbing spring (29), a third mounting block (30), and a second balance wheel (31); the lower end of the mounting frame (1) is equipped with a leg support block (3), and two sets of second mounting blocks (26) are symmetrically installed on the lower ends of both sides of the leg support block (3). The first balance wheel (27) located inside the leg support block (3) is installed on the inner center of the second mounting block (26), and the second telescopic rod (28) is vertically installed on the center of the lower surface of the second mounting block (26). The sliding section of the second telescopic rod (28) is surrounded by a device for holding the leg. A balanced second shock-absorbing spring (29) is provided inside the second shock-absorbing spring (29). A third mounting block (30) is fixedly connected to the bottom end of the second telescopic rod (28). A second rotating frame (15) for bending the leg is provided on the inner side of both sets of third mounting blocks (30). A fixed frame (7) is provided at the upper end between the two sets of second rotating frames (15). A second balance wheel (31) is provided at the center of the inner side of the third mounting block (30) and passes through the second rotating frame (15) and the fixed frame (7). The second balance wheel (31) keeps the second telescopic rod (28) connected when the leg support block (3) and the fixed frame (7) are bent. A fixed block (8) is clamped and installed at the lower end of the inner side of the two sets of second rotating frames (15). A second rotating shaft (16) is provided at the lower end of the surface of the second rotating frame (15).

2. The robot leg cushioning device according to claim 1, characterized in that; Three sets of anti-collision pads (11) are installed from top to bottom on the center of the rear surface of the leg support block (3). The bottom end of the leg support block (3) is fixedly connected to the first connecting block (4). Two sets of first rotating frames (13) are symmetrically installed on both sides of the first connecting block (4). The center of the rear surface of the first connecting block (4) is provided with a first driving module (12). The connection between the first rotating frame (13) and the first connecting block (4) is provided with a first rotating shaft (14) that is electrically connected to the first driving module (12).

3. The robot leg cushioning device according to claim 2, characterized in that; Two sets of first rotating frames (13) have movable blocks (5) clamped and installed on the lower inner side. The upper sides of the movable blocks (5) are provided with connecting rods (25) that are fixedly connected to the first rotating frames (13).

4. The robot leg cushioning device according to claim 3, characterized in that; Multiple sets of connecting pipes (24) are installed sequentially from left to right on the lower surface of the movable block (5). The lower end of the connecting pipe (24) is provided with a second connecting block (6) that is fixedly connected to the fixed frame (7).

5. The robot leg cushioning device according to claim 1, characterized in that; The center of the rear surface of the fixing block (8) is provided with a second drive module (17) that is electrically connected to the second rotating shaft (16), and the lower end of the fixing block (8) is provided with a support frame (9).

6. The robot leg cushioning device according to claim 5, characterized in that; A support plate (10) is fixedly connected to the center of the lower surface of the support frame (9). A second rotating wheel (20) is installed at the connection between the fixing block (8) and the support frame (9). The lower surface of the support plate (10) is covered with an anti-slip pad (18). Multiple sets of honeycomb foot pads (19) are opened on the lower surface of the anti-slip pad (18).

7. The robot leg cushioning device according to claim 3, characterized in that; Four sets of first mounting blocks (21) are symmetrically installed on both sides of the movable block (5) and the second connecting block (6), and a first telescopic rod (22) is provided between the upper and lower symmetrical sets of first mounting blocks (21).

8. The robot leg cushioning device according to claim 7, characterized in that; Multiple sets of first shock-absorbing springs (23) are installed around the outer side of the sliding part of the first telescopic rod (22). The first shock-absorbing spring (23) is equipped with a spring damper inside. The mounting bracket (1) and the leg support block (3) are rotatably connected to the first rotating wheel (2).

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