Biped robot and leg damping and energy recovery device thereof

Abstract

The invention discloses a biped robot and a leg damping and energy recovery device thereof, and relates to the technical field of robots. An energy recovery mechanism comprises a left foot assembly, a right foot assembly, a magnetic wire cutting coil and a coil driving assembly, energy recovery magnets are arranged on the two opposite inner side faces of an annular base of the left foot assembly and the right foot assembly, the coil driving assembly is rotationally connected to the inner bottom of the annular base, and the magnetic wire cutting coil is clamped to the top of the coil driving assembly; transmission structures are engaged with the surfaces of the tooth columns of the left and right foot assemblies and used for driving the coil driving assemblies to rotate. When the biped robot walks, the vibration of the feet drives the tooth columns to move up and down, under the cooperation of the tooth columns and the second transmission gear and the cooperation of the first transmission gear and the gear ring, forward and reverse rotation of the coil driving assembly is achieved, and magnetic induction lines are cut by the magnetic line cutting coil; vibration energy of walking of the biped robot is effectively converted into electric energy to be stored for the robot to use.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a biped robot and its leg shock absorption and energy recovery device. Background technique [0002] At present, the research of robots is a hot spot of innovation in all countries in the world, especially the research on bipedal robots in anthropomorphic form is in full swing. [0003] However, most of the legs of the biped robots in the prior art adopt a three-joint structure, the foot structure is relatively large, and the ankle joint is used for cushioning, which is difficult to control, and the cushioning effect is not ideal; The robot drives walking in real time, and the energy consumption is high, which seriously restricts its endurance, operation and load capacity. To this end, we provide a biped robot and its leg shock absorption and energy recovery device to solve the above technical problems. SUMMARY OF THE INVENTION [0004] The purpose of the present i...

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Problems solved by technology

[0003] However, the legs of the biped robots in the prior art mostly adopt a three-joint structure, and the foot structure is relatively large, and the shock is cushioned by the ankle joint, so the control difficulty is relatively large, and the cushioning effect is not ideal; The robot drives and walks in real time, and the energy consumption is high, which seriously restricts its battery life, operation and load capacity

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