# US 12,668,321 B2 · Quadruped robot body having flexible buffer structure and quadruped robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,668,321 B2 - Document ID: US12668321B2 - Status: Granted - Kind: B2 - Application number: 18/248,785 - Filed: 2021-11-30 - Published: 2023-09-28 - Granted: 2026-06-30 - Earliest claimed: 2020-10-12 - Assignees: Hangzhou Yushu Technology Co., Ltd. - Applicants: HangZhou YuShu TECHNOLOGY CO., LTD. - Inventors: Xingxing Wang - Web page: https://patentgrep.com/patent/US12668321B2 ## CPC - B62D 57/032: with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) - B25J 17/00: Joints - B25J 19/0075: {Means for protecting the manipulator from its environment or vice versa} - B25J 19/0091: {Shock absorbers (in general F16F)} - F16F 15/04: using elastic means (single elements or their attachment F16F1/00 - F16F13/00); {(F16F15/023, F16F15/03 take precedence)} - F16F 15/08: with rubber springs {(grommet- or bushing-type resilient mountings F16F1/3732, F16F1/38); with springs made of rubber and metal (arrangement of internal-combustion or jet-propulsion units B60K5/12; mounting of propulsion plants on vessels B63H21/30; mounting of vehicle drivers' cabs B62D33/0604)} - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - F16F: SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION ## Abstract A quadruped robot body having a flexible buffer structure includes a housing having an accommodating cavity, a buffer connection portion capable of connecting to a fixed end of a joint unit being provided at at least one position on the housing. The buffer connection portion is provided with a connection hole for fixedly connecting to the joint unit. One or more strip-shaped holes are provided in a region where the buffer connection portion connects to the housing. Further disclosed is a quadruped robot. The strip-shaped hole is provided on the buffer connection portion, and under the action of an external force, the strip-shaped hole can deform slightly to generate a slight displacement between the hole wall and a surrounding region, thus achieving buffering of the external force. The present invention features a simple structure, low manufacturing costs, no need to reserve an additional mounting space, and a compact structure. ## Claims ### Claim 1 A quadruped robot body having a flexible buffer structure, comprising: a housing having an accommodating cavity; a buffer connection portion capable of connecting to a fixed end of a joint unit being provided at at least one position on the housing; wherein the buffer connection portion is provided with a connection hole for fixedly connecting to the joint unit; and one or more strip-shaped holes are provided in a region where the buffer connection portion connects to the housing. ### Claim 2 (depends on 1) The quadruped robot body having the flexible buffer structure according to claim 1, wherein the strip-shaped hole is arch-shaped, U-shaped, or arc-shaped. ### Claim 3 (depends on 1) The quadruped robot body having the flexible buffer structure according to claim 1, wherein at the end of the housing, a plurality of sets of buffer connection portions for fixing the two joint units are provided on the same side; and the plurality of sets of buffer connection portions are arranged symmetrically on the left and right with respect to the central line of the housing. ### Claim 4 (depends on 1) The quadruped robot body having the flexible buffer structure according to claim 1, wherein at least one elastomer is provided between the inner wall of the accommodating cavity of the housing and the joint unit, and wherein the elastomer protrudes from the inner wall surface of the cavity of the housing, and can abut on the rear end of an outer casing of the joint unit. ### Claim 5 (depends on 1) The quadruped robot body having the flexible buffer structure according to claim 1, wherein the buffer connection portion is made of a material having elasticity, which is nylon or polycarbonate (PC) or ABS plastic. ### Claim 6 (depends on 4) The quadruped robot body having the flexible buffer structure according to claim 4, wherein the elastomer is a spring or a compression spring or is made of elastic polyurethane or a rubber material. ### Claim 7 (depends on 5) The quadruped robot body having the flexible buffer structure according to claim 5, wherein the width of the strip-shaped hole is 0.1-3 mm, and wherein a seal is provided in or around the strip-shaped hole to prevent water or dust from entering the housing via the strip-shaped hole. ### Claim 8 A quadruped robot body having a flexible buffer structure, comprising: a housing having an accommodating cavity; and a buffer connection portion capable of connecting to a fixed end of a joint unit being provided at at least one position on the housing, wherein one or more strip-shaped holes are provided in a region where the buffer connection portion connects to the housing, and wherein, under the action of an external force, the strip-shaped hole can deform to generate a displacement between the hole wall and a surrounding region, forming the flexible buffer structure and thus achieving buffering of the external force. ### Claim 9 (depends on 1) A quadruped robot, comprising: a quadruped robot body having the flexible buffer structure according to claim 1, and a joint unit; wherein the joint unit is mounted on the housing by means of the buffer connection portion; and an impact force on the joint unit can be buffered and attenuated by deformation of the buffer connection portion. ### Claim 10 (depends on 9) The quadruped robot according to claim 9, wherein the joint unit comprises an outer casing end fixed in the housing and a rotary output end exposed from the housing, and wherein the outer casing end is screwed to the housing, and the housing is provided with the buffer connection portion at a screw connection with the joint unit. ### Claim 11 (depends on 2) The quadruped robot body having the flexible buffer structure according to claim 2, wherein the buffer connection portion is made of a material having elasticity, which is nylon or polycarbonate (PC) or ABS plastic. ### Claim 12 (depends on 3) The quadruped robot body having the flexible buffer structure according to claim 3, wherein the buffer connection portion is made of a material having elasticity, which is nylon or polycarbonate (PC) or ABS plastic. ### Claim 13 (depends on 4) The quadruped robot body having the flexible buffer structure according to claim 4, wherein the buffer connection portion is made of a material having elasticity, which is nylon or polycarbonate (PC) or ABS plastic. ### Claim 14 (depends on 11) The quadruped robot body having the flexible buffer structure according to claim 11, wherein the width of the strip-shaped hole is 0.1-3 mm, and wherein a seal is provided in or around the strip-shaped hole to prevent water or dust from entering the housing via the strip-shaped hole. ### Claim 15 (depends on 12) The quadruped robot body having the flexible buffer structure according to claim 12, wherein the width of the strip-shaped hole is 0.1-3 mm, and wherein a seal is provided in or around the strip-shaped hole to prevent water or dust from entering the housing via the strip-shaped hole. ### Claim 16 (depends on 13) The quadruped robot body having the flexible buffer structure according to claim 13, wherein the width of the strip-shaped hole is 0.1-3 mm, and wherein a seal is provided in or around the strip-shaped hole to prevent water or dust from entering the housing via the strip-shaped hole.