Search

CN-121993372-A - Power recovery system suitable for humanoid robot or multi-legged robot

CN121993372ACN 121993372 ACN121993372 ACN 121993372ACN-121993372-A

Abstract

The invention relates to the technical field of robot kinetic energy recovery, and discloses a power recovery system suitable for a human-type robot or a multi-legged robot; according to the invention, the leg hydraulic buffer unit, the power generation assembly and the air hydraulic return buffer unit are connected in series through the hydraulic pipeline to form a closed loop, so that an efficient energy capturing and converting chain is constructed, when the feet of the robot touch the ground, the impact force forces the piston in the hydraulic buffer unit to move, and mechanical energy is directly converted into hydraulic energy of high-pressure oil flow, and the oil flow immediately drives the impeller and the rotor of the power generation assembly to rotate at a high speed for power generation, so that the instant and direct conversion from impact kinetic energy to electric energy is realized, the recovery path is short, the efficiency is high, and the energy utilization rate of the robot in the walking, running or jumping process is improved.

Inventors

  • DENG JIANYANG

Assignees

  • 邓剑阳

Dates

Publication Date
20260508
Application Date
20260212

Claims (8)

  1. 1. The power recovery system suitable for the human-type robot or the multi-legged robot comprises a robot body (1), an upper limb leg (3) driven by the robot body (1) and a lower limb leg (4) hinged to the lower end of the upper limb leg (3), and is characterized in that a battery (2) is fixedly connected to the upper end of the robot body (1), the lower limb leg (4) comprises a supporting part (41) and a connecting part (42), and the connecting part (42) is arranged at the lower end of the upper limb leg (3); A hydraulic buffer unit (5) is arranged between the supporting part (41) and the connecting part (42), and a power generation assembly (7) and an air hydraulic buffer unit (6) are arranged on the robot body (1); the hydraulic output end of the hydraulic buffer unit (5), the hydraulic driving end of the power generation assembly (7) and the air hydraulic return unit (6) are communicated with each other through a hydraulic pipeline; The hydraulic buffer unit (5) is used for driving the power generation assembly (7) to generate power due to the flow of hydraulic oil generated by the stress of the lower limb legs (4), the generated electric energy is used for charging the battery (2) carried by the robot body (1), and the air hydraulic return unit (6) is used for providing the hydraulic circuit with reverse pressure for resetting the hydraulic buffer unit (5).
  2. 2. The power recovery system suitable for a humanoid robot or a multi-legged robot according to claim 1, wherein the hydraulic buffer unit (5) comprises a buffer oil chamber (51) formed in the connecting portion (42), a buffer rod (52) mounted at the end of the supporting portion (41), a liquid oil pipe (54) mounted in the connecting portion (42) and communicated with the buffer oil chamber (51), and a first piston (53) mounted at the end of the buffer rod (52), and one end of the buffer rod (52) penetrates into the buffer oil chamber (51) and controls the first piston (53) to slide in the buffer oil chamber (51).
  3. 3. The power recovery system suitable for the humanoid robot or the multi-legged robot according to claim 2, wherein the power generation assembly (7) comprises an assembly housing (71) arranged at the bottom of the robot body (1), a separation plate (72) is fixedly arranged in the assembly housing (71), the interior of the assembly housing (71) is divided into a power generation cavity (710) and a driving cavity (79) by the separation plate (72), a rotating shaft (75) is arranged in the middle of the separation plate (72) in a rotating mode, two ends of the rotating shaft (75) are respectively arranged in the power generation cavity (710) and the driving cavity (79), a plurality of rotary blades (76) are arranged on the outer wall of one end, located in the driving cavity (79), of the rotating shaft (75), a rotor (78) is arranged at one end, located in the power generation cavity (710), a stator (77) matched with the rotor (78) is arranged in the power generation cavity (710), the rotor (78) and the stator (77) is matched with the battery (2), a first oil inlet and outlet pipe (73) is arranged on the assembly housing (71), and the liquid oil pipe (54) is communicated with the first oil inlet and outlet pipe (73).
  4. 4. The power recovery system suitable for the humanoid robot or the multi-legged robot according to claim 3, wherein a second oil inlet and outlet pipe (74) is further arranged on a component shell (71) of the power generation component (7), the air hydraulic pressure is returned to the unit (6) and comprises a hydraulic pressure return shell (61) arranged at the bottom of the robot body (1), an annular liquid channel (62) is arranged on the end face of the hydraulic pressure return shell (61), the second oil inlet and outlet pipe (74) is connected with the annular liquid channel (62) to form a communication oil way, a plurality of regulating liquid holes (64) communicated with the annular liquid channel (62) are formed in one end of the hydraulic pressure return shell (61), a limit stop lever (69) is arranged at one end inside the hydraulic pressure return shell (61), a second piston (610) is slidably arranged on the outer wall of the limit stop lever (69), and the second piston (610) divides the inside of the hydraulic pressure return shell (61) into a liquid cavity (612) and a compressed air cavity (611).
  5. 5. The power recovery system suitable for the humanoid robot or the multi-legged robot according to claim 4, wherein the air hydraulic pressure is returned to the unit (6) and is further characterized by comprising an adjusting motor (65) arranged at one end of the hydraulic pressure is returned to the shell (61), the output end of the adjusting motor (65) penetrates into the hydraulic pressure is returned to the shell (61) and is fixedly provided with a rotary rod (66), the outer wall of the rotary rod (66) is fixedly provided with a limit bar (63), the outer walls of the rotary rod (66) and the limit bar (63) are in sliding connection with a sealing block (67), the outer wall of the sealing block (67) is provided with a plurality of oil return holes (68) which are matched with the adjusting liquid holes (64), and the end parts of the rotary rod (66) and the limit bar (63) are fixedly provided with an end cover (613).
  6. 6. The power recovery system for a humanoid robot or a multi-legged robot according to claim 5, wherein one end of the hydraulic pressure return housing (61) close to the adjusting liquid hole (64) is a concave conical surface, the sealing block (67) is a convex conical block, and the adjusting liquid hole (64) and the oil return hole (68) are arranged on the respective conical inclined surfaces.
  7. 7. A power recovery system for a humanoid robot or a multi-legged robot according to claim 3, characterized in that a full bridge rectifier is provided in the charging circuit between the rotor (78) and stator (77) and battery (2).
  8. 8. The power recovery system for a human-based or multi-legged robot according to claim 7, wherein an electric energy conditioning circuit is provided between the dc output end of the full-bridge rectifier and the battery (2) for adjusting the rectified fluctuating dc power to a stable dc power meeting the charging requirement of the battery (2).

Description

Power recovery system suitable for humanoid robot or multi-legged robot Technical Field The invention relates to the technical field of robot kinetic energy recovery, in particular to a power recovery system suitable for a human-type robot or a multi-legged robot. Background The humanoid robot and the multi-legged robot are important development directions in the field of robots, can adapt to complex and unstructured terrain environments, and have wide application prospects in the fields of rescue detection, material transportation, special services and the like. However, the high dynamic movements of such robots, such as walking, running or jumping, frequently subject their leg joints, in particular ankle and knee joints, to large ground impact loads. To ensure structural safety and smooth movement, it is often necessary to provide cushioning mechanisms, such as hydraulic or pneumatic shock absorbers, at the leg, particularly the leg-to-foot or thigh-to-leg junction, to absorb and dissipate this portion of the impact energy. Currently, this portion of the energy dissipated by cushioning is typically dissipated as thermal energy and is not effectively utilized. Meanwhile, the humanoid and multi-legged robots have high integration level and large load, so that the driving, sensing and calculating systems have huge energy consumption, and the continuous operation time is severely limited by the limited battery capacity. Therefore, how to recover the energy generated by the robot during the movement and to convert the energy into electric energy for recharging to the battery has become one of the key technical challenges for improving the endurance of the robot. In the prior art, there are some kinetic energy recovery schemes for vehicle suspension or human energy harvesting, but they are generally difficult to adapt directly to humanoid or multi-legged robots. The scheme or the structure is complex, the size is huge, the scheme or the structure cannot be integrated in the compact leg space of the robot, the recovery efficiency is low, the high-frequency and reciprocating impact load during the movement of the robot cannot be dealt with, or the function is single, and only the energy recovery can be realized, so that the real-time and adjustable buffering damping characteristics required by the movement of the robot cannot be considered. In particular, for situations where hydraulic buffering is required, the existing design often considers buffering and power generation as two independent systems, resulting in complex pipelines, long energy transmission paths, large efficiency loss, and lack of a mechanism for actively adjusting energy recovery and buffering performance in the buffering process. Therefore, the prior art lacks an integrated power recovery system which can be tightly integrated in the leg structure of the humanoid or multi-legged robot, efficiently recover the motion impact energy and simultaneously has the adjustable buffering and resetting functions. The present invention is directed to solving the above-mentioned problems, and for this purpose, a power recovery system suitable for a human-type robot or a multi-legged robot is proposed. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a power recovery system suitable for a human-type robot or a multi-legged robot, so as to solve the background technical problem. The power recovery system suitable for the human-type robot or the multi-legged robot comprises a robot body, an upper limb leg driven by the robot body and a lower limb leg hinged to the lower end of the upper limb leg, wherein the upper end of the robot body is fixedly connected with a battery, the lower limb leg comprises a supporting part and a connecting part, and the connecting part is arranged at the lower end of the upper limb leg; A hydraulic buffer unit is arranged between the supporting part and the connecting part, and a power generation assembly and an air hydraulic return buffer unit are arranged on the robot body; The hydraulic output end of the hydraulic buffer unit, the hydraulic driving end of the power generation assembly and the air hydraulic return unit are communicated with each other through a hydraulic pipeline; The hydraulic buffer unit drives the power generation assembly to generate power due to the flow of hydraulic oil generated by the stress of the lower limb legs, and the generated power is used for charging a battery carried by the robot body; the air hydraulic pressure return unit is used for providing reverse pressure for resetting the hydraulic buffer unit to the hydraulic circuit. Preferably, the hydraulic buffer unit comprises a buffer oil cavity formed in the connecting portion, a buffer rod mounted at the end portion of the supporting portion, a liquid oil pipe mounted in the connecting portion and communicated with the buffer oil cavity, and a first piston mounted at the end portion of the buffer rod, wherei