Protective gear and legged robot

Abstract

The application discloses a protector and a foot-type robot, which are used for protecting the robot and reducing the possibility of damage of the robot. The protector disclosed by the application is used for being worn on a target part of the foot-type robot and comprises a first part, a second part and a connecting part, the first part and the second part are connected through the connecting part; a first connecting part is arranged on one side of the first part away from the connecting part, a second connecting part is arranged on one side of the second part away from the connecting part, the first connecting part and the second connecting part are detachably connected, when the first connecting part and the second connecting part are connected with each other, the first part, the second part and the connecting part can be fixed around the periphery of the target part, when the first connecting part and the second connecting part are disconnected, the protector can be detached from the target part.

Description

Technical Field

[0001] This application relates to the field of robot protective equipment technology, and more particularly to a protective gear and a legged robot. Background Technology

[0002] Legged robots, due to their biomimetic shape and flexible joint movement capabilities, have been widely used in industrial manufacturing, commercial services, home care, and special operations. In practical use, legged robots frequently come into contact with their environment. For example, in industrial manufacturing scenarios, when performing tasks such as handling and assembly, the robot's limbs and torso are prone to collisions with workpieces, fixtures, or equipment; in commercial services and home care scenarios, when walking, turning, or avoiding obstacles, the robot may accidentally fall or collide with or scratch furniture, walls, or other obstacles; and in special operations scenarios, when performing tasks in narrow or complex environments, the limbs and torso are prone to bumping into surrounding objects.

[0003] However, legged robots currently lack dedicated protective gear, making them susceptible to damage from falls or collisions during actual use. Utility Model Content

[0004] To address the aforementioned technical problems, this application provides a protective gear and a legged robot that can protect the robot and reduce the possibility of damage.

[0005] The technical solution provided in this application is described below:

[0006] A first aspect of this application provides a protective gear for wearing on a target area of ​​a legged robot, the protective gear comprising: The device comprises a first part, a second part, and a connecting part, wherein the first part and the second part are connected by the connecting part; the first part has a first connecting part on the side opposite to the connecting part, and the second part has a second connecting part on the side opposite to the connecting part; the first connecting part and the second connecting part are detachably connected; when the first connecting part and the second connecting part are connected to each other, the first part, the second part, and the connecting part can surround and fix the periphery of the target part; when the first connecting part and the second connecting part are disconnected, the protective gear can be removed from the target part.

[0007] Optionally, at least one of the first part and the second part adopts the following structure, including: The outer protective layer, the intermediate layer, and the inner liner layer are stacked together, with the intermediate layer disposed between the outer protective layer and the inner liner layer, and the density of the intermediate layer being 0.1 g / cm³ to 0.4 g / cm³.

[0008] Optionally, the intermediate layer is a foamed material layer, the outer protective layer is a flexible film layer, and the inner lining layer is a fabric layer.

[0009] Optionally, the thickness of the intermediate layer is 3 mm to 50 mm, and the thickness of both the outer protective layer and the inner liner layer is less than 0.8 mm.

[0010] Optionally, at the edge of the protective gear, the outer protective layer and the inner lining layer are connected to each other, and the distance between the connection between the outer protective layer and the inner lining layer and the outer wall of the protective gear is greater than the distance between the connection between the outer protective layer and the inner lining layer and the inner wall of the protective gear.

[0011] Optionally, the first connecting part and the second connecting part can be detachably connected by any one of the following methods: Velcro, snap fasteners, and magnetic attraction.

[0012] Optionally, when the first connecting part and the second connecting part are connected by Velcro, the first connecting part is provided with a recessed area, and the bottom of the recessed area is provided with one of a hook surface and a napped surface, and the second connecting part is provided with the other of a hook surface and a napped surface. When the second connecting part is placed in the recessed area, the hook surface and the napped surface are connected to each other.

[0013] Optionally, the protective gear has a plurality of through holes, and the ratio of the sum of the areas of the plurality of through holes to the area of ​​the protective gear is 30% to 50%. And / or, the protective gear has an opening, the position of which corresponds to the position of the ventilation opening on the target part.

[0014] Optionally, the inner wall of the protective gear is provided with anti-slip components, which are any one of rubber strips, rubber blocks, silicone pads, or anti-slip protrusions.

[0015] Optionally, the Shore hardness of the first part, the second part, and the connecting part is less than 60A, so that when the first connecting part and the second connecting part are disconnected, the protective gear can be unfolded into a sheet shape.

[0016] Optionally, the connecting portion is integrally formed with the first portion and the second portion, and the thickness of the connecting portion is less than the thickness of the first portion and / or the second portion.

[0017] A second aspect of this application provides a legged robot, including the protective gear described in the first aspect and any optional one of the first aspects, the protective gear being fitted onto a target part of the legged robot; The target body part is one or more of the following: thigh, lower leg, upper torso, upper arm, forearm, or hip of the legged robot.

[0018] As can be seen from the above technical solutions, this application has the following beneficial effects: This application establishes a first part and a second part connected by a connecting part. A first connecting portion is located on the side of the first part facing away from the connecting part, and a second connecting portion is located on the side of the second part facing away from the connecting part, allowing for a detachable connection between the first and second connecting portions. Thus, when the first and second connecting portions are connected, the first part, the second part, and the connecting part enclose and fix the target area, providing protection for the robot and reducing the possibility of damage. Furthermore, when the first and second connecting portions are disconnected, the protective gear can be easily and quickly removed from the target area, simplifying the installation and removal process and improving the efficiency of daily inspection and maintenance of the robot. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a protective gear according to this application; Figure 2 This is a schematic diagram showing the connection between the first connecting part and the second connecting part in a protective gear according to this application; Figure 3 This is a schematic diagram showing the connection between the first connecting part and the second connecting part of a protective gear according to this application, which is achieved by Velcro. Figure 4 This is a schematic diagram of the second connecting part in a protective gear according to this application; Figure 5 This is a schematic diagram showing the connection between the inner lining layer and the outer protective layer in a protective garment according to this application; Figure 6 This is a schematic diagram of a through hole and opening in a protective garment according to this application; Figure 7 This is a schematic diagram of a protective gear as it is deployed according to this application; Figure 8 This is a schematic diagram of a connecting part in a protective garment according to this application; Figure 9 This is a schematic diagram of a legged robot according to this application; In the figure, the first part is 01, the second part is 02, the connecting part is 03, the outer protective layer is 04, the middle layer is 05, the inner lining layer is 06, the through hole is 07, the anti-slip part is 08, the opening is 09, the first connecting part is 10, the second connecting part is 11, and the Velcro is 12. Detailed Implementation

[0020] In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and other terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to describe the relative positional relationship between the components or parts and do not specifically limit the specific installation orientation of each component or part.

[0021] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in certain circumstances to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0022] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0023] Furthermore, the structures, proportions, sizes, etc., drawn in the accompanying drawings of this application are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modification to the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects and purposes that this application can produce, should still fall within the scope of the technical content disclosed in this application.

[0024] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] Traditional legged robots lack dedicated protective gear, making them susceptible to damage during daily operation and impacting their efficiency. Therefore, this application proposes a protective gear to protect the robot and reduce the likelihood of damage. The protective gear provided in this application is worn on target areas of the legged robot, namely one or more of the thigh, lower leg, upper torso, upper arm, forearm, or hip. The specific implementation structure of this application is described below: See Figures 1 to 8 This application first provides an embodiment of protective gear, which includes: The first part 01, the second part 02, and the connecting part 03 are connected to each other via the connecting part 03. The first part 01 has a first connecting part 10 on the side away from the connecting part 03, and the second part 02 has a second connecting part 11 on the side away from the connecting part 03. The first connecting part 10 and the second connecting part 11 are detachably connected. When the first connecting part 10 and the second connecting part 11 are connected to each other, the first part 01, the second part 02, and the connecting part 03 can surround and fix the target part. When the first connecting part 10 and the second connecting part 11 are disconnected, the protective gear can be removed from the target part.

[0026] The first part 01 and the second part 02 correspond to the front and rear parts (or left and right parts) of the protective gear, respectively, and are arranged opposite to each other. The first part 01 and the second part 02 are connected to each other by a connecting part 03, which is located on the first side of the first part 01 and the first side of the second part 02 (i.e., the adjacent side of the two). The first part 01 and the second part 02 form a whole through the connecting part 03.

[0027] The first part 01 has a first connecting part 10 on the side opposite to the connecting part 03 (i.e., the second side of the first part 01), and the second part 02 has a second connecting part 11 on the side opposite to the connecting part 03 (i.e., the second side of the second part 02). The first connecting part 10 and the second connecting part 11 are provided correspondingly, and the two are detachably connected, such as by snap-fit ​​connection or magnetic connection.

[0028] In this embodiment, the connecting part 03 has a bending function. The first part 01 and the second part 02 can be bent relative to each other through the connecting part 03, so that the protective gear can switch between the unfolded state and the closed state.

[0029] Specifically, the connecting part 03 can be bent in various ways. For example, the connecting part 03 can be a thin-walled structure integrally formed with the first part 01 and the second part 02, the thickness of which is less than the thickness of the first part 01 and the second part 02, thereby forming a bendable thin-walled hinge at the connecting part 03; the connecting part 03 can also be a flexible sheet, with both sides of the flexible sheet fixedly connected to the first part 01 and the second part 02 respectively; the connecting part 03 can also be a hinge structure.

[0030] The first connecting part 10 is integrally disposed on the second side (the side opposite to the connecting part 03) of the first part 01. There may be one or more first connecting parts 10. Correspondingly, the second connecting part 11 is integrally disposed on the second side (the side opposite to the connecting part 03) of the second part 02. The number of second connecting parts 11 is the same as the number of first connecting parts 10.

[0031] In this embodiment, when the first connecting portion 10 and the second connecting portion 11 are connected to each other, the first part 01 and the second part 02 bend and close together, thereby forming a ring structure together with the first part 01, the second part 02, and the connecting portion 03. This ring structure is used to cover the periphery of the robot's target part, so that the protective gear fits tightly against the outer surface of the target part, thus forming a protective enclosure for the target part. When the robot is subjected to external force collision or scratch, the protective gear first bears the impact and wear, thereby reducing the direct effect of external force on the robot's shell and protecting the shell from damage.

[0032] When it is necessary to remove the protective gear from the robot, the connection between the first connecting part 10 and the second connecting part 11 is released, and the first part 01 and the second part 02 can be bent and unfolded relative to each other, thereby removing the protective gear from the target part. Therefore, the installation and removal process does not require axially inserting or removing the protective gear from the end of the robot's limb, nor does it require overcoming elastic contraction forces and frictional forces. The operation is simple and quick, which helps improve the efficiency of daily inspection and maintenance of the robot.

[0033] It is understood that the protective gear provided in this application can be adaptively designed according to the outer contour dimensions of different target parts of the robot, so that the protective gear can fit closely to the outer surface of the target part and achieve protection for different parts of the robot.

[0034] In this embodiment, a first part 01 and a second part 02 are provided and connected by a connecting part 03. A first connecting part 10 is provided on the side of the first part 01 opposite to the connecting part 03, and a second connecting part 11 is provided on the side of the second part 02 opposite to the connecting part 03, so that the first connecting part 10 and the second connecting part 11 are detachably connected. Thus, when the first connecting part 10 and the second connecting part 11 are connected, the first part 01, the second part 02, and the connecting part 03 surround and fix the target part, thereby protecting the robot target part and reducing the possibility of damage.

[0035] Furthermore, when the first connecting part 10 is disconnected from the second connecting part 11, the protective gear can be removed from the target part. The installation and removal operation is simple and quick, which can improve the efficiency of daily inspection and maintenance of the robot.

[0036] Please continue reading. Figure 5In an optional embodiment, at least one of the first portion 01 and the second portion 02 adopts the following structure, including: The outer protective layer 04, the intermediate layer 05, and the inner lining layer 06 are stacked together. The intermediate layer 05 is disposed between the outer protective layer 04 and the inner lining layer 06, and the density of the intermediate layer 05 is 0.1 g / cm³ to 0.4 g / cm³.

[0037] In this embodiment, the intermediate layer 05 is disposed between the outer protective layer 04 and the inner lining layer 06, that is, the intermediate layer 05 is located between the outer layer and the inner layer, and the three together form a laminated structure. Adjacent layers are bonded and fixedly connected, for example, by adhesive.

[0038] By controlling the density of the intermediate layer 05 within the range of 0.1 g / cm³ to 0.4 g / cm³, the intermediate layer 05 achieves both low weight and sufficient structural strength, thus meeting the requirements of both lightweight and high structural strength.

[0039] In this optional embodiment, the intermediate layer 05 is a foam material layer, the outer protective layer 04 is a flexible film layer, and the inner lining layer 06 is a fabric layer.

[0040] In this embodiment, the foaming material layer can be any one of polyurethane foaming material, EVA foaming material, polyethylene foaming material, or thermoplastic elastomer foaming material.

[0041] Foamed materials have a large number of tiny air bubbles or pores inside, which gives them good cushioning and energy absorption properties while maintaining a low density. Therefore, this embodiment uses foamed material as an intermediate layer, which has the advantages of being lightweight and impact-resistant, and can buffer and absorb the impact during collisions, thus better protecting the robot.

[0042] By selecting foam materials, the protective gear maintains high impact resistance while being lightweight. When worn on the robot, it does not affect the robot's movement. If the protective gear is too heavy, it will increase the robot's power consumption.

[0043] For the flexible membrane layer, any one of thermoplastic polyurethane film, polyvinyl chloride film, or polyurethane coated fabric can be used. With its good flexibility and abrasion resistance, the flexible membrane layer can be tightly attached to the outer surface of the intermediate layer 05, protecting the inner intermediate layer 05 from wear, scratches, or contamination by the external environment.

[0044] The fabric layer can be any of nylon, polyester, or cotton. The fabric layer is located on the inner surface of the protective gear, i.e., the side facing the target area of ​​the robot. The fabric layer is fixed to the middle layer 05 on the side facing the target area. Due to its softness, the fabric layer will not cause scratches or abrasions to the robot's outer shell surface when in direct contact.

[0045] In this optional embodiment, the thickness of the intermediate layer 05 is 3 mm to 50 mm, and the thicknesses of the outer protective layer 04 and the inner liner layer 06 are both less than 0.8 mm.

[0046] The intermediate layer 05 is the main buffer layer of the protective gear and needs to have sufficient thickness to absorb and disperse external impact. Therefore, in this embodiment, the thickness of the intermediate layer 05 is set to 3mm to 50mm, for example, 40mm.

[0047] Setting the thickness of both the outer protective layer 04 and the inner lining layer 06 to less than 0.8 mm helps maintain the overall flexibility and lightweight of the protective gear, while reducing material waste and lowering manufacturing costs.

[0048] In one specific embodiment, the thicknesses of the inner liner 06 and the outer protective layer 04 can be different. For example, the thickness of the outer protective layer 04 can be selected as 0.1 mm to 0.3 mm, and the thickness of the inner liner 06 can be selected as 0.4 mm to 0.6 mm.

[0049] Please continue reading. Figure 5 In an optional embodiment, at the edge of the protective gear, the outer protective layer 04 and the inner lining layer 06 are connected to each other, and the distance between the connection between the outer protective layer 04 and the inner lining layer 06 and the outer wall of the protective gear is greater than the distance between the connection between the outer protective layer 04 and the inner lining layer 06 and the inner wall of the protective gear.

[0050] The connection between the outer protective layer 04 and the inner lining layer 06 can be referred to the appendix. Figure 5 The label A in the diagram. The distance here refers to the distance in the thickness direction of the protective gear. Specifically, the distance from the joint to the outer wall along the thickness direction of the protective gear is greater than the distance from the joint to the inner wall along the thickness direction of the protective gear.

[0051] In this embodiment, the edges of the outer protective layer 04 and the inner lining layer 06 are fixedly connected together by means of sewing, heat pressing, or bonding, so that the intermediate layer 05 is wrapped between the outer protective layer 04 and the inner lining layer 06, and the edges of the intermediate layer 05 are not exposed. Thus, the edges of the intermediate layer 05 are sealed by the outer and inner layers, preventing the intermediate layer 05 from being damaged or falling off due to friction or scratches during use, and also making the edges of the protective gear neater and more durable.

[0052] Furthermore, the distance between the connection point between the outer protective layer 04 and the inner lining layer 06 and the outer wall of the protective gear is greater than the distance between the connection point and the inner wall of the protective gear. That is, the edge connection point between the outer protective layer 04 and the inner lining layer 06 is closer to the inner wall of the protective gear (i.e., the side facing the robot target area).

[0053] In this embodiment, by setting the connection between the inner lining layer 06 and the outer protective layer 04 near the inner wall of the protective gear, the outer surface of the protective gear is smooth and continuous, without exposed seams or rough edges, thus improving the appearance and texture of the protective gear.

[0054] Please continue reading. Figure 2 and Figure 3 In an optional embodiment, the first connecting portion 10 and the second connecting portion 11 are detachably connected by any one of Velcro 12, snap fasteners, and magnets.

[0055] In this embodiment, the three connection methods of Velcro 12, buckle, and magnetic attraction can all achieve quick connection and quick separation, and the protective gear can be put on and taken off without the need for special tools, making it convenient to use.

[0056] Specifically, when a snap-fit ​​connection is used, the first connecting part 10 is provided with one of a slot and a hook, and the second connecting part 11 is provided with the other of a slot and a hook. The connection is achieved by the engagement of the hook and the slot, and the separation is achieved by pressing the hook to disengage it from the slot.

[0057] When magnetic connection is used, the first connection part 10 and the second connection part 11 are respectively provided with magnetic components (such as permanent magnets) that attract each other. The connection is achieved by magnetic attraction, and the two are separated by overcoming the magnetic attraction.

[0058] In this optional embodiment, when the first connecting part 10 and the second connecting part 11 are connected by Velcro 12, the first connecting part 10 is provided with a recessed area, and the bottom of the recessed area is provided with one of a hook surface and a napped surface. The second connecting part 11 is provided with the other of a hook surface and a napped surface. When the second connecting part 11 is placed in the recessed area, the hook surface and the napped surface are connected to each other.

[0059] In this embodiment, the recessed area is recessed inward from the outer surface of the first connecting portion 10, and the bottom of the recessed area is provided with one of a hook surface and a napped surface, while the second connecting portion 11 is provided with the other of a hook surface and a napped surface. When the second connecting portion 11 is placed in the recessed area, the second connecting portion 11 is embedded in the recessed area, and the hook surface and the napped surface are bonded together, thereby fixing the first connecting portion 10 and the second connecting portion 11 together.

[0060] By accommodating the second connecting portion 11 in the recessed area, when the second connecting portion 11 is connected to the first connecting portion 10, the outer surface of the second connecting portion 11 is flush with the outer surface of the first connecting portion 10. As a result, the connection point of the protective gear is smooth overall, preventing the connection point (the connection between the first connecting portion 10 and the second connecting portion 11) from being scratched or snagged by the external environment during the robot's movement, and also further improving the overall appearance consistency of the protective gear.

[0061] Please continue reading. Figure 6 and Figure 7 In one optional embodiment, the protective gear has a plurality of through holes 07, and the ratio of the sum of the areas of the plurality of through holes 07 to the area of ​​the protective gear is 30% to 50%; And / or, the protective gear has an opening 09, the position of which corresponds to the position of the ventilation opening on the target part.

[0062] In this embodiment, several through holes 07 are distributed on the surface of the protective gear, penetrating the wall thickness of the protective gear, allowing air to circulate between the inside and outside of the protective gear. The through holes 07 can take various shapes such as circular holes, elliptical holes, elongated holes, or rectangular holes. Multiple through holes 07 can be evenly distributed in an array, or they can be concentrated in a specific area according to actual heat dissipation requirements.

[0063] The area of ​​the protective gear refers to the area of ​​its outer contour, that is, the total area enclosed by the outer contour of the protective gear (including the area of ​​through hole 07). By controlling the area ratio of through hole 07 between 30% and 50%, sufficient air circulation area is ensured to achieve good heat dissipation, while also ensuring that the protective gear has sufficient solid area to maintain structural strength and protective performance.

[0064] And / or, the protective gear also has an opening 09. This opening 09 refers to an unclosed notch formed by an inward indentation from the edge of the protective gear, meaning that the outer end of the opening 09 extends to the edge of the protective gear and communicates with the external space, while the inner end of the opening 09 extends a certain distance into the interior of the protective gear. When the protective gear is worn on the target area, the position of the opening 09 corresponds to the position of the ventilation opening on the target area.

[0065] Make an opening 09 on the edge of the protective gear, align it with the ventilation opening on the target part, and ensure that the robot's own ventilation opening is not blocked by the protective gear. Air can flow through the opening 09 of the protective gear and enter the robot's ventilation opening, forming an effective heat dissipation channel, thereby avoiding the protective gear covering and affecting the robot's normal heat dissipation.

[0066] Please continue reading. Figure 2 In one optional embodiment, the inner wall of the protective gear is provided with an anti-slip element 08, which is any one of a rubber strip, a rubber block, a silicone pad, or anti-slip protrusions.

[0067] In this embodiment, the anti-slip component 08 is disposed on the side surface of the protective gear facing the target area, that is, on the surface where the protective gear directly contacts the robot shell. When the protective gear is worn on the target area, the anti-slip component 08 is in close contact with the surface of the robot shell, generating a large static friction force, thereby preventing the protective gear from sliding, rotating or shifting along the target area during use, so that the protective gear can be stably maintained in the predetermined protective position.

[0068] In this embodiment, the anti-slip component 08 can be any one of the following: a rubber strip, a rubber block, a silicone pad, or anti-slip bumps. The rubber strip can be a low-tack rubber strip, which adheres to the robot surface through its adhesiveness to increase friction and leaves no residue after removal. Rubber blocks and silicone pads have high coefficients of friction, providing a stable anti-slip effect. The anti-slip bumps can be distributed in a dotted or striped pattern, increasing friction through multi-point contact between the bumps and the robot surface.

[0069] In conjunction with the aforementioned embodiments, the inner wall of the protective gear is a fabric layer. When the anti-slip component 08 uses adhesive strips (especially low-tack adhesive strips), the adhesion between the adhesive strips and the fabric layer is relatively strong, allowing it to be firmly fixed to the inner wall of the protective gear and preventing it from easily falling off. For other forms of anti-slip components such as rubber blocks, silicone pads, or anti-slip protrusions, they can be fixed to the inner lining layer 06 by means of sewing, heat pressing, or bonding.

[0070] In an optional embodiment, the Shore hardness of the first part 01, the second part 02, and the connecting part 03 is less than 60A, so that when the first connecting part 10 and the second connecting part 11 are disconnected, the protective gear can be unfolded into a sheet shape.

[0071] In this embodiment, Shore hardness refers to the hardness value measured at room temperature using a Type A Shore hardness tester in accordance with GB / T 531.1 or ASTM D2240 standards.

[0072] By controlling the stiffness of the protective gear to less than 60A, the gear possesses overall flexibility and elasticity. Therefore, when worn, the protective gear can conform to the curved shape of the target area, bending and deforming appropriately to achieve a close fit to the outer surface of the target area and a good wrapping effect. Furthermore, when the protective gear is removed from the robot, its low stiffness allows for good bendability, enabling it to be unfolded into a sheet, thus reducing the space required for storage and facilitating storage and portability.

[0073] Understandably, the specific Shore hardness value can be adjusted according to the actual application scenario. For example, for applications requiring higher protective performance, the Shore hardness can be set between 50A and 60A; for applications requiring higher flexibility and ease of storage, the Shore hardness can be set between 30A and 50A.

[0074] Please continue reading. Figure 8 In an optional embodiment, the connecting portion 03 is integrally disposed with the first portion 01 and the second portion 02, and the thickness of the connecting portion 03 is less than the thickness of the first portion 01 and / or the second portion 02.

[0075] In this embodiment, the connecting part 03, the first part 01, and the second part 02 form an integral structure, with no separate interfaces or connecting gaps between them. This integrated design can be achieved through injection molding, compression molding, or 3D printing.

[0076] The thickness of the connecting portion 03 is less than the main body thickness of the two side portions (first portion 01 and second portion 02), thereby having a lower bending stiffness at the connecting portion 03 than the two side portions, allowing the first portion 01 and the second portion 02 to bend relative to each other around the connecting portion 03. The thickness of the connecting portion 03 can be 20% to 50% of the thickness of the first portion 01 or the second portion 02.

[0077] In conjunction with the foregoing embodiments, the first part 01 and / or the second part 02 include an outer protective layer 04, an intermediate layer 05, and an inner lining layer 06, with the intermediate layer 05 disposed between the outer protective layer 04 and the inner lining layer 06. In this embodiment, the connecting part 03 also includes an outer protective layer 04, an intermediate layer 05, and an inner lining layer 06, with each layer extending continuously at the connecting part 03, and the intermediate layer 05 located between the outer protective layer 04 and the inner lining layer 06. Each layer extends from the main body of the first part 01 through the connecting part 03 to the main body of the second part 02, thereby ensuring the structural integrity and bending durability of the protective gear at the connecting part 03 and preventing damage to the connecting part 03 due to delamination or adhesive failure.

[0078] During the injection molding or compression molding of the protective gear, the fabric layer is first placed in the mold, then foam material is injected, and a flexible film layer is then placed on the outer surface of the foam material. Through one-time molding, the three-layer structure extends continuously and is integrally joined at the connection part 03. Because the mold gap at the connection part 03 is smaller than the mold gap of the main body, the overall thickness of the connection part 03 after molding is less than the thickness of the main body.

[0079] It is understood that the technical solutions in the above embodiments can be combined with each other without contradiction, in order to achieve better protection and user experience. For example, the three-layer protective gear can also have through holes 07 and openings 09, and can also have anti-slip parts 08 on the inner wall. Specifically, the above technical features can be flexibly combined according to actual needs.

[0080] Please see Figure 9 The second aspect of this application provides an embodiment of a legged robot, which includes... Figures 1 to 8The protective gear in any of the embodiments is fitted onto the target part of the legged robot; The target body part is one or more of the following: thigh, lower leg, upper torso, upper arm, forearm, or hip of the legged robot.

Claims

1. A protective gear, characterized in that, The protective gear, intended for wearing on target areas of a legged robot, includes: The first part (01), the second part (02), and the connecting part (03) are connected by the connecting part (03). The first part (01) has a first connecting part (10) on the side away from the connecting part (03), and the second part (02) has a second connecting part (11) on the side away from the connecting part (03). The first connecting part (10) and the second connecting part (11) are detachably connected. When the first connecting part (10) and the second connecting part (11) are connected to each other, the first part (01), the second part (02), and the connecting part (03) can surround and fix the periphery of the target part. When the first connecting part (10) and the second connecting part (11) are disconnected, the protective gear can be removed from the target part. At least one of the first part (01) and the second part (02) adopts the following structure, including: An outer protective layer (04), an intermediate layer (05), and an inner lining layer (06) are stacked together, wherein the intermediate layer (05) is disposed between the outer protective layer (04) and the inner lining layer (06); The intermediate layer (05) is a foam material layer.

2. The protective gear according to claim 1, characterized in that, The density of the intermediate layer (05) is 0.1 g / cm³ to 0.4 g / cm³.

3. The protective gear according to claim 2, characterized in that, The outer protective layer (04) is a flexible membrane layer, and the inner lining layer (06) is a fabric layer.

4. The protective gear according to claim 3, characterized in that, The thickness of the intermediate layer (05) is 3 mm to 50 mm, and the thickness of the outer protective layer (04) and the inner lining layer (06) is less than 0.8 mm.

5. The protective gear according to claim 2, characterized in that, At the edge of the protective gear, the outer protective layer (04) and the inner lining layer (06) are connected to each other, and the distance between the connection between the outer protective layer (04) and the inner lining layer (06) and the outer wall of the protective gear is greater than the distance between the connection between the outer protective layer (04) and the inner lining layer (06) and the inner wall of the protective gear.

6. The protective gear according to any one of claims 1 to 5, characterized in that, The first connecting part (10) and the second connecting part (11) are detachably connected by any one of Velcro (12), buckle and magnet.

7. The protective gear according to claim 6, characterized in that, When the first connecting part (10) and the second connecting part (11) are connected by Velcro (12), the first connecting part (10) is provided with a recessed area, and the bottom of the recessed area is provided with one of a hook surface and a napped surface. The second connecting part (11) is provided with the other of a hook surface and a napped surface. When the second connecting part (11) is placed in the recessed area, the hook surface and the napped surface are connected to each other.

8. The protective gear according to any one of claims 1 to 5, characterized in that, The protective gear has a plurality of through holes (07), and the ratio of the sum of the areas of the plurality of through holes (07) to the area of ​​the protective gear is 30% to 50%; And / or, the protective gear has an opening (09) and the position of the opening (09) corresponds to the position of the ventilation opening on the target part.

9. The protective gear according to any one of claims 1 to 5, characterized in that, The inner wall of the protective gear is provided with anti-slip components (08), which are any one of rubber strips, rubber blocks, silicone pads or anti-slip protrusions.

10. The protective gear according to any one of claims 1 to 5, characterized in that, The Shore hardness of the first part (01), the second part (02) and the connecting part (03) is less than 60A, so that when the first connecting part (10) and the second connecting part (11) are disconnected, the protective gear can be unfolded into a sheet.

11. The protective gear according to any one of claims 1 to 5, characterized in that, The connecting part (03) is integrally formed with the first part (01) and the second part (02), and the thickness of the connecting part (03) is less than the thickness of the first part (01) and / or the second part (02).

12. A legged robot, characterized in that, The protective gear included in any one of claims 1 to 11 is fitted onto the target portion of the legged robot; The target body part is one or more of the following: thigh, lower leg, upper torso, upper arm, forearm, or hip of the legged robot.

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