CN108843714B - Robot leg foot buffer shock-absorbing and self power generation integrated apparatus - Google Patents
Robot leg foot buffer shock-absorbing and self power generation integrated apparatus Download PDFInfo
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- CN108843714B CN108843714B CN201810552321.0A CN201810552321A CN108843714B CN 108843714 B CN108843714 B CN 108843714B CN 201810552321 A CN201810552321 A CN 201810552321A CN 108843714 B CN108843714 B CN 108843714B
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- 238000010248 power generation Methods 0.000 title claims abstract description 101
- 229910001338 liquidmetal Inorganic materials 0.000 claims abstract description 309
- 229920001967 Metal rubber Polymers 0.000 claims abstract description 286
- 244000309466 calf Species 0.000 claims abstract description 46
- 150000001875 compounds Chemical class 0.000 claims abstract description 35
- 210000001503 joint Anatomy 0.000 claims abstract description 20
- 238000006073 displacement reaction Methods 0.000 claims abstract description 12
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- 238000013016 damping Methods 0.000 claims description 156
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- 229910052751 metal Inorganic materials 0.000 claims description 76
- 239000002184 metal Substances 0.000 claims description 76
- 239000007788 liquid Substances 0.000 claims description 51
- 210000002683 foot Anatomy 0.000 claims description 50
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- 210000000031 electric organ Anatomy 0.000 claims description 10
- 239000000178 monomer Substances 0.000 claims description 9
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- 229910052733 gallium Inorganic materials 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 8
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- 229920000049 Carbon (fiber) Polymers 0.000 claims description 6
- 239000004917 carbon fiber Substances 0.000 claims description 6
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F3/00—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic
- F16F3/08—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of a material having high internal friction, e.g. rubber
- F16F3/10—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of a material having high internal friction, e.g. rubber combined with springs made of steel or other material having low internal friction
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N11/00—Generators or motors not provided for elsewhere; Alleged perpetua mobilia obtained by electric or magnetic means
- H02N11/002—Generators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/18—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing electrical output from mechanical input, e.g. generators
- H02N2/186—Vibration harvesters
- H02N2/188—Vibration harvesters adapted for resonant operation
Abstract
The present invention relates to a kind of robot leg foot buffer shock-absorbings and self power generation integrated apparatus, comprising: liquid metal rubber humanoid robot buffer shock-absorbing self power generation leg, metal-rubber humanoid robot buffer shock-absorbing self power generation foot；Liquid metal rubber humanoid robot buffer shock-absorbing self power generation leg includes: liquid metal rubber-type buffer shock-absorbing and thermoelectric generator, metal-rubber type buffer shock-absorbing and piezoelectric generating unit, big leg joint, calf joint, joint driver, displacement sensor；Liquid metal rubber is the tight contact structure that liquid metal and metal-rubber are formed；Liquid metal rubber-type buffer shock-absorbing and thermoelectric generator include single-piston type or dual-active plunger type；Metal-rubber type buffer shock-absorbing and piezoelectric generating unit include: the compound Pressure-bar spring type buffer shock-absorbing of metal-rubber and piezoelectric generating unit, the compound cymbal drum type buffer shock-absorbing of metal-rubber and piezoelectric generating unit or the compound polyvinylidene fluoride type buffer shock-absorbing of metal-rubber and piezoelectric generating unit.
Description
Technical field
The present invention relates to robot fields, are related to robot buffer shock-absorbing and self power generation application technology, more specifically, relate to
And a kind of robot leg foot buffer shock-absorbing and self power generation integrated apparatus.
Background technique
The tool that robot can adapt to ideally the living environment of the mankind and use, and be able to carry out it is man-machine right
Words, exchange etc.；Robot wide application value, which is embodied in it not only and can replace people, radiation, dust, toxic ring
Operation in border, and power type artificial limb can be formed and assist paralytic's walking.Therefore, robot is in medical treatment, ocean development, religion
Educate, the disaster relief, engineering, military affairs, biotechnology, machine maintenance, agricultural aquatic products, the multiple fields such as communications and transportation have development prospect and
Value is widely applied.
But robot is in the process of walking, when striding, the leg landing ground Shi Huiyu of walking collides impact, from ground
The impact reactive force in face can cause a degree of vibration of robot, and with the quickening of the speed of travel and stride plus
Greatly, ground shock power is vibrated robot upper part body and also will more acutely to affect the stationarity of robot ambulation, be limited
The raising of the speed of travel has been made, the normal work of robotic vision system and other senser elements can be also interfered.Therefore, Ren Menbi
It must try to block or weaken the impact from ground, and slow down the vibration to robot upper part body.Ground is come from order to overcome
Influence of the collision impact to robot ambulation stability, conventionally employed method mainly has: adding rubber at robot foot bottom
The soft medium or metal spring equipment of the one kind such as glue, plastics or foamed material, or the physiological property of human foot is imitated,
The lateral and rear of sole increases bearing area, and come the impact from ground that buffers and decay, but the method has certain lack
Point, such as: causing the rotation flexibility between ankle-joint and ground inadequate, be unfavorable for gait planning design etc.；Additionally, due to metal
Spring damping is smaller, and easy to shake left and right along spring vertical direction, and there are posture deformations again in loading process, therefore are not suitable for
For requiring the lesser occasion of vibration insulating system metamorphosis itself, more because metal spring damping is smaller cannot effectively to obstruct high frequency
It vibrates and easy and damping object is the disadvantages of resonant frequency point forms resonance.
Currently, the influence of impact force is landed caused by how further effective buffer robot is in the walking process that strides,
How Collection utilization robot ambulation when generate the energy of vibration force, how the energy of vibration force is converted into electric energy, these skills
Art problem needs to solve.
Summary of the invention
In view of this, the present invention provides a kind of robot leg foot buffer shock-absorbings and self power generation integrated apparatus.
Present invention employs a kind of technical solutions: a kind of robot leg foot buffer shock-absorbing and self power generation integrated apparatus,
It is characterized in that, comprising: liquid metal rubber humanoid robot buffer shock-absorbing self power generation leg, metal-rubber humanoid robot buffer shock-absorbing are certainly
Power generation foot；The liquid metal rubber humanoid robot buffer shock-absorbing self power generation leg, comprising: liquid metal rubber-type buffer shock-absorbing with
Thermoelectric generator, metal-rubber type buffer shock-absorbing and piezoelectric generating unit, big leg joint, calf joint, joint driver, displacement pass
Sensor；Liquid metal rubber is that liquid gold and metal-rubber are in close contact the structure to be formed；The liquid metal rubber-type buffering
Vibration damping and thermoelectric generator, comprising: liquid metal rubber-type buffer shock-absorbing and thermoelectric generator I, liquid metal rubber-type buffer
Vibration damping and thermoelectric generator II；The liquid metal rubber-type buffer shock-absorbing and thermoelectric generator are single-piston type liquid metal rubber
Glue-type buffer shock-absorbing and thermoelectric generator or dual-active plunger type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator；The metal
Rubber-type buffer shock-absorbing and piezoelectric generating unit are the compound Pressure-bar spring type buffer shock-absorbing of metal-rubber and piezoelectric generating unit, metal rubber
The compound cymbal drum type buffer shock-absorbing of glue and piezoelectric generating unit or the compound polyvinylidene fluoride type buffer shock-absorbing of metal-rubber and piezo-electric generating
Device；The big leg joint is connected with calf joint by joint shaft；The joint driver and big midleg and mid calf
It is connected, the tripod structure for generating deformation can be driven by constituting；Institute's displacement sensors are assemblied in by joint driver；The liquid
State metal-rubber type buffer shock-absorbing is connected in parallel with thermoelectric generator I and the spring of joint driver lower part, and can produce buffering
Vibration damping and thermo-electric generation effect；The metal-rubber type buffer shock-absorbing and piezoelectric generating unit are assemblied in the middle part of calf joint；It is described
Liquid metal rubber-type buffer shock-absorbing and thermoelectric generator II are assemblied in calf joint lower part, and by leg joint bindiny mechanism with
Metal-rubber type buffer shock-absorbing in the middle part of calf joint is connected with piezoelectric generating unit, and constitutes calf joint overall linkage knot
Structure；The calf joint lower part is connected by ankle joint with metal-rubber humanoid robot buffer shock-absorbing self power generation enough, and structure
At robot leg foot buffer shock-absorbing and self power generation integrated apparatus.
In above scheme, the metal-rubber humanoid robot buffer shock-absorbing self power generation foot, comprising: heel buffer shock-absorbing and pressure
Electric electric organ, sufficient front end buffer shock-absorbing and piezoelectric generating unit, ankle joint, sufficient press rods, sufficient pressure block, sufficient pressure plare, pressure
Sensor, super capacitor, metal-rubber plate layer, carbon fiber board layer, heel rubber cushion blocks, sufficient front end rubber cushion blocks, sufficient outer layer, institute
It states heel buffer shock-absorbing and piezoelectric generating unit, sufficient front end buffer shock-absorbing and piezoelectric generating unit, ankle joint, sufficient press rods, foot is pressed
Power block, sufficient pressure plare, pressure sensor, super capacitor, metal-rubber plate layer, carbon fiber board layer are assemblied in sufficient outer layer, structure
At metal-rubber humanoid robot buffer shock-absorbing self power generation foot integral structure；The metal-rubber humanoid robot buffer shock-absorbing is spontaneous
The structure feature of electric foot are as follows: ankle joint is connected with sufficient press rods；The foot press rods bottom and heel buffer shock-absorbing and pressure
Electric electric organ is connected, and is connected with pressure sensor and sufficient pressure block；The foot pressure block and sufficient front end buffer shock-absorbing with
Piezoelectric generating unit is connected；The heel buffer shock-absorbing and piezoelectric generating unit and sufficient front end buffer shock-absorbing and piezoelectric generating unit, packet
Include: metal-rubber type buffer shock-absorbing and piezoelectric generating unit, and by bottom metal rubber slab layer respectively with heel rubber cushion blocks, foot
Front end rubber cushion blocks are connected.
In above scheme, the compound Pressure-bar spring type buffer shock-absorbing of the metal-rubber and piezoelectric generating unit, comprising: pressure
Bar, spring, pressure piston, conductive pressing plate, piezoelectric ceramics, elastic protective layer, metal-rubber block, conductive plate, metal-rubber plate, cylinder
Body, backing plate；The spring is assemblied in press rods；Described press rods one end connects pressure piston one end；The pressure piston is another
One end connects conductive pressing plate one end；The flexible protective layer of piezoelectric ceramics outer layer；Elastic protective layer's perimeter mounted has gold
Belong to rubber block；The conductive pressing plate other end connects piezoelectric ceramics one end；The piezoelectric ceramics other end and conductive plate one end connect
It connects；Described conductive plate one end is connected with backing plate；The backing plate other end is connected with metal-rubber；The pressure piston will be led
Voltage plate, piezoelectric ceramics, elastic protective layer, conductive plate, metal-rubber plate, backing plate are packaged in side in cylinder body, and composition has
The compound Pressure-bar spring type buffer shock-absorbing of the metal-rubber of integral structure and piezoelectric generating unit.
In above scheme, the compound cymbal drum type buffer shock-absorbing of the metal-rubber and piezoelectric generating unit, comprising: press rods, bullet
Spring, upper piezoelectric ceramics, upper sheet metal, metal-rubber ring, lower metal cymbal piece, pushes electroceramics, lower metal foil at upper metal cymbal piece
Piece, cymbal drum box；The spring is assemblied in press rods；Described press rods one end is connected with upper metal cymbal piece top；On described
Metal cymbal piece lower end is connected with upper piezoelectric ceramics one end；The upper piezoelectric ceramics other end is connected with upper sheet metal one end
It connects；The upper sheet metal other end is connected with metal-rubber ring one end；The metal-rubber ring other end and lower metal foil
Piece is connected；The lower sheet metal other end is connected with electroceramics one end is pushed；The pushing electroceramics other end is under
Metal cymbal piece is connected；The press rods, spring, upper metal cymbal piece, upper piezoelectric ceramics, upper sheet metal, metal-rubber ring, under
Metal cymbal piece, pushing electroceramics, lower sheet metal are assemblied in cymbal drum box, and constitute the metal-rubber with integral structure
Compound cymbal drum type buffer shock-absorbing and piezoelectric generating unit.
In above scheme, the single-piston type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator, comprising: liquid gold
Belong to rubber, band liquid metal damping adjusts valve-type piston, cylinder body, piston rod, graphene layer, hot thermoelectric power generation device, radiator
Part, super capacitor, temperature sensor, heat insulation layer；Metal-rubber in the liquid metal rubber passes through metal absorption filament-coiling, draws
It stretches, weave, making blank and cold-press process machine-shaping, and passing through Surface Physical Chemistry moditied processing；The liquid metal rubber
Glue, band liquid metal damping adjust valve-type piston, cylinder body, piston rod, graphene layer, hot thermoelectric power generation device, radiating element, surpass
Grade capacitor, temperature sensor, heat insulation layer collectively form the buffering of the single-piston type liquid metal rubber-type with integral structure and subtract
Vibration and thermoelectric generator.
In above scheme, the liquid metal rubber, band liquid metal damping adjusts valve-type piston, temperature sensor fills
It fits in cylinder body；When the metal-rubber is assemblied in cylinder body, there is slight gap between inboard wall of cylinder block；The band liquid metal resistance
It includes: one or more liquid metals damping regulating valves and the negotiable valve port of liquid metal that Buddhist nun, which adjusts valve-type piston,；The band
Liquid metal damping adjusts valve-type piston, and metal-rubber and operative liquid is metal enclosed in cylinder body side；The liquid metal exists
Under outer vibration pressure effect, the liquid metal damping regulating valve and liquid metal of valve-type piston are adjusted by damping with liquid metal
Negotiable valve port enters the cylinder body other side；The band liquid metal damping adjusts valve-type piston and is connected with piston rod one end；
The piston rod other end needs buffer shock-absorbing one end to be connected with robot；The graphene layer is by cylinder body lateral surface and heat temperature
Poor power generating device hot end is connected；The hot thermoelectric power generation device cold end is connected with radiating element；Top, the bottom of the cylinder body
There is heat insulation layer at end；Super capacitor is equipped with outside the cylinder body；The super capacitor is connected with hot thermoelectric power generation device；Institute
Stating the metal-rubber in liquid metal rubber is reguline metal rubber or granular metal rubber.
In above scheme, the dual-active plunger type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator are with dual-active
The synergetic structure of plug, twin-rotor housing and liquid metal building rubber compound；The dual-active plunger type liquid metal rubber-type buffer shock-absorbing and temperature
Poor electric organ, comprising: reguline metal rubber or granular metal rubber, liquid metal, band liquid metal are damped and adjusted in valve-type
Piston, lower piston, upper cylinder body, lower cylinder body, upper piston rod, lower piston rod, band liquid metal damping adjust valve-type partition, spring,
Graphene layer, hot thermoelectric power generation device, radiating element, super capacitor, temperature sensor, heat insulation layer；The reguline metal rubber
Or granular metal rubber passes through wrapping wire, stretching, braiding, production blank and cold-press process machine-shaping, and passes through surface physics
Chemical modification processing；Damping structure is collectively formed in the reguline metal rubber or granular metal rubber and liquid metal, can
Enough collaboration inhibits vibration, additionally it is possible to transmit the heat that damping vibration attenuation generates quickly to realize hot thermo-electric generation effect；The bulk
Metal-rubber or granular metal rubber, liquid metal, band liquid metal damping adjust valve-type upper piston, lower piston, upper cylinder body,
Lower cylinder body, upper piston rod, lower piston rod, band liquid metal damping adjust valve-type partition, spring, graphene layer, hot thermo-electric generation
Device, radiating element, super capacitor, temperature sensor, heat insulation layer collectively form dual-active plunger type liquid metal rubber-type buffering and subtract
Vibration and thermoelectric generator.
In above scheme, the band liquid metal damping adjusts valve-type partition and cylinder body is divided into upper cylinder body, lower cylinder body；It is described
Reguline metal rubber or granular metal rubber, liquid metal, band liquid metal damping adjusting valve-type upper piston, temperature sensor
It is assemblied in upper cylinder body；It includes: one or more liquid metal dampings that the band liquid metal damping, which adjusts valve-type upper piston,
Regulating valve and the negotiable valve port of liquid metal；Band liquid metal damping adjust valve-type upper piston by reguline metal rubber or
Granular metal rubber and operative liquid are metal enclosed in upper cylinder body side；The liquid metal outer vibration pressure effect under,
It can adjust valve-type upper piston liquid metal by being damped with liquid metal and damp regulating valve and the negotiable valve of liquid metal
Mouth stream enters the upper cylinder body other side, can also be by damping the side for adjusting valve-type partition stream and entering lower cylinder body with liquid metal；
The band liquid metal damping adjusts valve-type upper piston and is connected with upper piston rod one end；The upper piston rod other end and machine
People needs buffer shock-absorbing one end to be connected；The lower piston is assemblied in lower cylinder body；The lower piston and lower piston rod one end phase
Connection；The spring is assemblied on lower piston rod；The graphene layer sends out the lateral surface of upper cylinder body and lower cylinder body and the hot temperature difference
Electrical part hot end is connected；The hot thermoelectric power generation device cold end is connected with radiating element；The top of the upper cylinder body is under
There is heat insulation layer in cylinder body bottom end；Super capacitor is equipped with outside the upper cylinder body；The super capacitor and hot thermoelectric power generation device
It is connected.
In above scheme, the metal-rubber includes: stainless steel wire, copper wire, tungsten wire, shape-memory alloy wire using material
Or metal alloy wires；The liquid metal includes: liquid gallium, liquid gallium alloy or liquid gallium nano-fluid；The liquid gallium is received
Meter Liu Ti is dispersing Nano carbon tubes, the liquid gallium of graphene nanometer sheet or nano heat-conductive particle or liquid gallium alloy, the liquid
The good liquid of thermal conductivity or gas instead can be used in metal；The graphene layer is graphene film, graphite ene coatings or stone
Black alkene composite layer；The hot thermoelectric power generation device, including several pieces of concatenated or/and in parallel thermoelectric generation film monomers,
It is separated between the thermoelectric generation film monomer and thermoelectric generation film monomer by heat-insulating material；The radiating element includes: air-cooled
Fin radiator part or working medium circulation radiating element；The working medium includes: water, nano-fluid or heat-conducting fluid.
In above scheme, the joint driver includes: motor driver, hydraulic unit driver, pneumatic actuator, piezoelectricity drive
Dynamic device, marmen, polymer artificial-muscle driver or magnetic telescopic driver.
The technical solution that the embodiment of the present invention provides has the benefit that
(1) liquid metal rubber humanoid robot buffer shock-absorbing self power generation leg of the invention uses liquid metal rubber-type
Buffer shock-absorbing and thermoelectric generator, metal-rubber type buffer shock-absorbing and piezoelectric generating unit, therefore the walking that robot can be striden
It is collected when leg lands with the ground impact force that collides, is converted to the electric energy of thermo-electric generation and piezo-electric generating, and reached and have
Imitate the multipurpose of buffer shock-absorbing power generation.Therefore, the present invention is suitable for being assembled with the robot of the present apparatus in the disaster relief, engineering, army
The application of the multiple fields such as thing, biotechnology, machine maintenance, agricultural aquatic products, communications and transportation, medical treatment, ocean development, education.
(2) present invention employs liquid metal rubber, comprising: liquid metal, metal-rubber, the two are in tight contact structure
Form liquid metal rubber；It is connected using graphene layer with the cylinder body comprising liquid metal rubber with hot thermoelectric power generation device
It connects, by the quick conductive synergistic effect of cylinder body, liquid metal rubber and graphene layer, the multiple damping of device is cooperateed with into buffering
Effect of damping generate heat bring hot thermoelectric generator quickly to generate power generation effect, improve robot leg foot buffer shock-absorbing with
The energy utilization efficiency of self power generation integrated apparatus.
(3) present invention employs liquid metal rubber, metal-rubber includes: stainless steel wire, copper wire, tungsten wire, shape note
Recall alloy wire or metal alloy wires；In robot leg foot buffer shock-absorbing and self power generation integrated apparatus, liquid metal rubber
Rigidity and damping characteristic are related with deformation, and nonlinear characteristic is presented.When amplitude constantly changes, different rigidity and resistance can be presented
Damping characteristics.In amplitude very little, slippage very little between the wire in liquid metal rubber, mainly in liquid metal rubber
The loaded deformation of helical spring itself, rigidity is almost unchanged, i.e. power and displacement is linear, damps very little.When amplitude increases,
Helical spring in liquid metal rubber contacts with each other, and occurs with different degrees of sliding phenomenon, and contact-sliding generation rubs
It wipes, so that dissipation energy, is provided with damping characteristic.When amplitude continues to increase, the helical spring in liquid metal rubber is mutual
Contact squeeze, sliding phenomenon weaken, and rigidity increases, i.e., hardening characteristics are presented with deformation in power output.In the inside of liquid metal rubber,
Relative sliding between wire forms friction, to consume a large amount of vibrational energy and generate amount of heat, generates liquid gold
Belong to the damping vibration attenuation effect of rubber；Under vibration force effect, liquid metal adjusts the liquid of valve-type piston with damping with liquid metal
State metal, which damps regulating valve or damps with liquid metal, adjusts valve-type partition formation synergistic effect, generates damping collaboration effect
It answers；Since liquid metal rubber is made of liquid metal and metal-rubber close contact, liquid metal vibration damping can be generated
Effect of damping is cooperateed with the multiple damping of metal-rubber vibration damping, device totality buffer shock-absorbing efficiency significantly improves.
Detailed description of the invention
Fig. 1 is the structural profile illustration of robot leg foot buffer shock-absorbing and self power generation integrated apparatus of the invention；
Fig. 2 is the structural profile illustration of metal-rubber humanoid robot buffer shock-absorbing self power generation foot of the invention；
Fig. 3 is the structural profile signal of the compound Pressure-bar spring type buffer shock-absorbing of metal-rubber of the invention and piezoelectric generating unit
Figure；
Fig. 4 is the structural profile illustration of metal-rubber of the invention compound cymbal drum type buffer shock-absorbing and piezoelectric generating unit；
Fig. 5 is the structural profile signal of single-piston type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator of the invention
Figure；
Fig. 6 is the structural profile signal of dual-active plunger type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator of the invention
Figure.
Wherein: robot leg foot buffer shock-absorbing subtracts with self power generation integrated apparatus 1, liquid metal rubber humanoid robot buffering
Shake self power generation leg 2, metal-rubber humanoid robot buffer shock-absorbing self power generation foot 3, big leg joint 4, calf joint 5, joint driver
6, displacement sensor 7, heel buffer shock-absorbing and piezoelectric generating unit 8, sufficient front end buffer shock-absorbing and piezoelectric generating unit 9, ankle joint
10, sufficient press rods 11, sufficient pressure block 12, sufficient pressure plare 13, pressure sensor 14, super capacitor 15, metal-rubber plate layer 16, carbon
Fibrolamellar 17, heel rubber cushion blocks 18, sufficient front end rubber cushion blocks 19, sufficient outer layer 20, joint shaft 21, big leg joint connecting shaft
22, calf joint connecting shaft 23, metal-rubber type buffer shock-absorbing and piezoelectric generating unit 24, calf joint lower part 25, leg joint connect
The compound Pressure-bar spring type buffer shock-absorbing of connection mechanism 26, metal-rubber and the compound cymbal drum type of piezoelectric generating unit 27, metal-rubber buffer
Vibration damping and piezoelectric generating unit 28, first pressure bar 29, the first spring 30, pressure piston 31, conductive pressing plate 32, piezoelectric ceramics 33,
Elastic protective layer 34, conductive plate 35, metal-rubber plate 36, cylinder body 37, backing plate 38, metal-rubber block 39, second pressure bar 40,
Two springs 41, upper metal cymbal piece 42, upper piezoelectric ceramics 43, upper sheet metal 44, metal-rubber ring 45, lower metal cymbal piece 46, under
Piezoelectric ceramics 47, lower sheet metal 48, cymbal drum box 49, single-piston type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator
50, dual-active plunger type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator 51, liquid metal rubber 52, band liquid metal damp
Adjust valve-type piston 53, cylinder body 54, piston rod 55, the first graphene layer 56, the first hot thermoelectric power generation device 57, the first radiator
Part 58, the first super capacitor 59, the first temperature sensor 60, the first heat insulation layer 61, gap 62, the first valve port 63, graininess gold
Belong to rubber 64, upper piston 65, lower piston 66, upper cylinder body 67, lower cylinder body 68, upper piston rod 69, lower piston rod 70, band liquid metal
Damping adjusts valve-type partition 71, third spring 72, the second graphene layer 73, the second hot thermoelectric power generation device 74, the second radiator
Part 75, the second super capacitor 76, second temperature sensor 77, the second heat insulation layer 78, the second valve port 79, liquid metal damping are adjusted
Valve 80.
Specific embodiment
Embodiment one
The embodiment provides a kind of robot leg foot buffer shock-absorbing and self power generation integrated apparatus 1 (see Fig. 1),
Including: includes: that liquid metal rubber humanoid robot buffer shock-absorbing self power generation leg 2, metal-rubber humanoid robot buffer shock-absorbing are spontaneous
3 (see Fig. 2) of electric foot；The liquid metal rubber humanoid robot buffer shock-absorbing self power generation leg 2 (see Fig. 1), comprising: liquid metal rubber
Glue-type buffer shock-absorbing and thermoelectric generator, metal-rubber type buffer shock-absorbing and piezoelectric generating unit, big leg joint 4, calf joint 5,
Joint driver 6, displacement sensor 7；Liquid metal rubber, comprising: liquid metal, metal-rubber, and be in tight contact structure；
Liquid metal rubber-type buffer shock-absorbing and thermoelectric generator, comprising: liquid metal rubber-type buffer shock-absorbing and thermoelectric generator I,
Liquid metal rubber-type buffer shock-absorbing and thermoelectric generator II；Metal-rubber humanoid robot buffer shock-absorbing self power generation foot 3 is (see figure
2), comprising: heel buffer shock-absorbing and piezoelectric generating unit 8, sufficient front end buffer shock-absorbing and piezoelectric generating unit 9, ankle joint 10, foot are pressed
Power bar 11, sufficient pressure block 12, sufficient pressure plare 13, pressure sensor 14, super capacitor 15, metal-rubber plate layer 16, carbon fiber board
Layer 17, heel rubber cushion blocks 18, sufficient front end rubber cushion blocks 19, sufficient outer layer 20；Big leg joint 4 passes through joint shaft with calf joint 5
21 are connected (see Fig. 1)；Joint driver 6 by big leg joint connecting shaft 22 and calf joint connecting shaft 23 and big midleg and
Mid calf is connected, and the tripod structure for generating deformation can be driven by constituting；Displacement sensor 7 is assemblied in by joint driver 6；
Liquid metal rubber-type buffer shock-absorbing is connected in parallel with thermoelectric generator I and 6 lower springs of joint driver, and can produce buffering
Vibration damping and thermo-electric generation effect；Metal-rubber type buffer shock-absorbing and piezoelectric generating unit 24 are assemblied in the middle part of calf joint；Liquid gold
Belong to rubber-type buffer shock-absorbing and thermoelectric generator II and be assemblied in calf joint lower part 25, and by leg joint bindiny mechanism 26 with it is small
Metal-rubber type buffer shock-absorbing in the middle part of leg joint is connected with piezoelectric generating unit 24, and constitutes 5 overall linkage knot of calf joint
Structure；Calf joint lower part 25 is connected with metal-rubber humanoid robot buffer shock-absorbing self power generation foot 3 (see Fig. 1) by ankle joint 10
It connects, and constitutes robot leg foot buffer shock-absorbing and self power generation integrated apparatus 1.
The structure feature of 3 (see Fig. 2) of metal-rubber humanoid robot buffer shock-absorbing self power generation foot are as follows: ankle joint 10 and foot are pressed
Power bar 11 is connected；Sufficient 11 bottom of press rods is connected with heel buffer shock-absorbing with piezoelectric generating unit 8, and with pressure sensor 14
It is connected with sufficient pressure block 12；Sufficient pressure block 12 passes through sufficient pressure plare 13 and is connected with sufficient front end buffer shock-absorbing with piezoelectric generating unit 9
It connects；Heel buffer shock-absorbing and piezoelectric generating unit 8 and sufficient front end buffer shock-absorbing and piezoelectric generating unit 9, comprising: metal-rubber type buffering
Vibration damping and piezoelectric generating unit 24, and by bottom metal rubber slab layer 16 respectively with heel rubber cushion blocks 18, sufficient front end rubber pad
Block 19 is connected；Heel buffer shock-absorbing and piezoelectric generating unit 8, sufficient front end buffer shock-absorbing and piezoelectric generating unit 9, ankle joint 10,
Sufficient press rods 11, sufficient pressure block 12, sufficient pressure plare 13, pressure sensor 14, super capacitor 15, metal-rubber plate layer 9, carbon fiber
Plate layer 17 is assemblied in sufficient outer layer 20, constitutes metal-rubber humanoid robot buffer shock-absorbing self power generation 3 integral structures of foot.
Metal-rubber type buffer shock-absorbing and piezoelectric generating unit 24, comprising: the compound Pressure-bar spring type buffer shock-absorbing of metal-rubber
With piezoelectric generating unit 27 (see Fig. 3), the compound cymbal drum type buffer shock-absorbing of metal-rubber and piezoelectric generating unit 28 (see Fig. 4), metal rubber
The compound polyvinylidene fluoride type buffer shock-absorbing of glue and piezoelectric generating unit or the compound Pressure-bar spring type buffer shock-absorbing of metal-rubber and piezoelectricity
Electric organ 27 comprising: first pressure bar 29, the first spring 30, pressure piston 31, conductive pressing plate 32, piezoelectric ceramics 33, elasticity
Protective layer 34, conductive plate 35, metal-rubber plate 36, cylinder body 37, backing plate 38, metal-rubber block 39；First spring 30 is assemblied in
In one press rods 29；29 one end of first pressure bar connects 31 one end of pressure piston；31 other end of pressure piston connects conductive pressing plate
32 one end；The flexible protective layer 34 of 33 outer layer of piezoelectric ceramics；34 perimeter mounted of elastic protective layer has metal-rubber block 39；Conduction pressure
32 other end of plate connects 33 one end of piezoelectric ceramics；33 other end of piezoelectric ceramics is connect with 35 one end of conductive plate；Conductive plate 35 is another
End is connected with backing plate 38；38 other end of backing plate is connected with metal-rubber plate 36；Pressure piston 31 is by conductive pressing plate 32, piezoelectricity
Ceramics 33, elastic protective layer 34, conductive plate 35, backing plate 38, metal-rubber plate 36 are packaged in side in cylinder body 37, and composition has
The compound Pressure-bar spring type buffer shock-absorbing of the metal-rubber of integral structure and piezoelectric generating unit 27.
The compound cymbal drum type buffer shock-absorbing of metal-rubber and piezoelectric generating unit 28 (see Fig. 4), comprising: second pressure bar 40, the
Two springs 41, upper metal cymbal piece 42, upper piezoelectric ceramics 43, upper sheet metal 44, metal-rubber ring 45, lower metal cymbal piece 46, under
Piezoelectric ceramics 47, lower sheet metal 48, cymbal drum box 49；Second spring 41 is assemblied on second pressure bar 40；Second pressure bar 40
One end is connected with upper 42 top of metal cymbal piece；Upper 42 lower end of metal cymbal piece is connected with upper 43 one end of piezoelectric ceramics；Upper piezoelectricity
Ceramic 43 other ends are connected with upper 44 one end of sheet metal；Upper 44 other end of sheet metal is connected with 45 one end of metal-rubber ring
It connects；45 other end of metal-rubber ring is connected with lower sheet metal 46；Lower 46 other end of sheet metal and pushing electroceramics 47 1
End is connected；47 other end of electroceramics is pushed to be connected with lower sheet metal 48；Second pressure bar 40, second spring 41, upper gold
Belong to cymbal piece 42, upper piezoelectric ceramics 43, upper sheet metal 44, metal-rubber ring 45, lower sheet metal 48, push electroceramics 47, under
Sheet metal 46 be assemblied in cymbal drum box 49, and constitute have integral structure the compound cymbal drum type buffer shock-absorbing of metal-rubber with
Piezoelectric generating unit 28.
Metal-rubber type buffer shock-absorbing and piezoelectric generating unit 24 using the compound Pressure-bar spring type buffer shock-absorbing of metal-rubber with
Piezoelectric generating unit 27, and be assemblied in the middle part of calf joint；Heel buffer shock-absorbing and piezoelectric generating unit 8 use the compound cymbal of metal-rubber
Drum type buffer shock-absorbing and piezoelectric generating unit 28, and it is assemblied in heel portion position；Sufficient front end buffer shock-absorbing and piezoelectric generating unit 9 use
The compound polyvinylidene fluoride type buffer shock-absorbing of metal-rubber and piezoelectric generating unit, and it is assemblied in sufficient front position.
The liquid metal rubber-type buffer shock-absorbing and thermoelectric generator I, liquid metal rubber-type buffer shock-absorbing and the temperature difference
Electric organ II) it is single-piston type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator 50 (see Fig. 5)；Single-piston type liquid
Metal-rubber type buffer shock-absorbing and thermoelectric generator 50, comprising: liquid metal rubber 52, band liquid metal damping adjust valve-type and live
Fill in 53, cylinder body 54, piston rod 55, the first graphene layer 56, the first hot thermoelectric power generation device 57, the first radiating element 58, first
Super capacitor 59, the first temperature sensor 60, the first heat insulation layer 61；Metal-rubber in liquid metal rubber 52 passes through metal
Absorption filament-coiling, stretching, braiding, production blank and cold-press process machine-shaping, and pass through Surface Physical Chemistry moditied processing；Liquid gold
Belong to rubber 52, band liquid metal damping adjusts valve-type piston 53, cylinder body 54, piston rod 55, first graphene layer the 56, first heat temperature
Poor power generating device 57, the first radiating element 58, the first super capacitor 59, the first temperature sensor 60, the first heat insulation layer 61 are common
Constitute the single-piston type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator 50 with integral structure.
In single-piston type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator 50, liquid metal rubber 52, band liquid
Metal damping adjusts valve-type piston 53, the first temperature sensor 60 is assemblied in cylinder body 54；Metal-rubber is assemblied in cylinder body
When, there is slight gap 62 between inboard wall of cylinder block；It includes: one or more liquid gold that band liquid metal damping, which adjusts valve-type piston 53,
Belong to damping regulating valve and negotiable the first valve port 63 of liquid metal；Band liquid metal damping adjusts valve-type piston 53 for metal rubber
Glue and operative liquid are metal enclosed in 54 side of cylinder body；Liquid metal can pass through band liquid gold under the effect of outer vibration pressure
The first valve port 63 that the liquid metal damping regulating valve and liquid metal of category damping adjusting valve-type piston 53 are negotiable enters cylinder body
54 other sides；Band liquid metal damping adjusts valve-type piston 53 and is connected with 55 one end of piston rod；Single-piston type liquid metal rubber
Glue-type buffer shock-absorbing and thermoelectric generator 50 are assemblied in liquid metal rubber-type buffer shock-absorbing and the position thermoelectric generator II (see figure
1) it, that is, is assemblied in calf joint lower part 25, and slow by the metal-rubber type at 5 middle part of leg joint bindiny mechanism 23 and calf joint
It eats up part of vibration to be connected with piezoelectric generating unit 24, and constitutes 5 overall linkage structure of calf joint；First graphene layer 56 is by cylinder body 54
Lateral surface is connected with the first hot 57 hot end of thermoelectric power generation device；First 58 phases of hot 57 cold end of thermoelectric power generation device and radiator
Connection；There are the first heat insulation layer 61 in top, the bottom end of cylinder body 54；The first super capacitor 59 is equipped with outside cylinder body 54；The first surpass
Grade capacitor 59 is connected with the first hot thermoelectric power generation device 57；Metal-rubber in liquid metal rubber 52 includes: reguline metal
Rubber or granular metal rubber.
The course of work of the present embodiment is as follows:
When robot when walking, under the effect of joint driver 6, big leg joint 4 drives calf joint 5, calf joint 5
Metal-rubber humanoid robot buffer shock-absorbing self power generation foot 3 is driven by ankle-joint 10, robot strides forward, at this time displacement sensing
Device 7 is by measurement walking information conveyance to robot controller；The leg of walking of striding collides impact on the landing ground Shi Huiyu enough,
Impact reactive force from ground can cause a degree of vibration of robot, and with the quickening of the speed of travel and stride
Increasing, ground shock power to robot upper part body vibrate also will more acutely, be assemblied in the metal rubber at 5 position of calf joint
Glue-type buffer shock-absorbing and piezoelectric generating unit 24 are started to work；Due to the metal-rubber type buffer shock-absorbing and piezo-electric generating of the present embodiment
Device 24 using the compound Pressure-bar spring type buffer shock-absorbing of metal-rubber and piezoelectric generating unit 27 (see Fig. 3), and is assemblied in calf joint
Middle part；The vibration force that robot ambulation generates drives pressure piston 31, conductive pressing plate 32 to metal rubber by first pressure bar 29
Blob of viscose 39, piezoelectric ceramics 33 and metal-rubber plate 36 generate effect of vibration power；When effect of vibration power becomes larger, metal-rubber block 39
It contacts with each other with the helical spring in metal-rubber plate 36, and occurs with different degrees of sliding phenomenon, contact-sliding generates
Friction, so that dissipation energy, is provided with damping characteristic.Helical spring phase mutual connection when amplitude continues to increase, in metal-rubber
Touching squeezes, and sliding phenomenon weakens, and rigidity increases, i.e., hardening characteristics are presented with deformation in power output.In metal-rubber block 39 and metal rubber
The inside of offset plate 36, the Relative sliding between wire forms friction, to consume a large amount of vibrational energy and generate big calorimetric
Amount；Therefore, metal-rubber block 39 and metal-rubber plate 36 cooperate with the first spring 30, generate the association of metal-rubber and the first spring 30
With damping buffering effect of damping；Meanwhile piezoelectric ceramics 33 is influenced by the vibration force that robot ambulation generates, and generates piezoelectricity hair
Electrical effect, and the electrical energy transportation that piezo-electric generating generates is stored for future use to super capacitor.
When robot when walking, under the effect of joint driver 6, big leg joint 4 drives calf joint 5, calf joint 5
Metal-rubber humanoid robot buffer shock-absorbing self power generation foot 3 is driven by ankle-joint 10, robot strides forward；Calf joint 5 fills
The liquid metal rubber-type buffer shock-absorbing matched and thermoelectric generator II, using single-piston type liquid metal rubber-type buffer shock-absorbing with
Thermoelectric generator 50 (see Fig. 5)；The vibration force that robot ambulation generates drives band liquid metal damping to adjust by piston rod 55
Valve-type piston 53 acts on liquid metal rubber 52；Since there is liquid metal rubber 52 liquid metal and metal-rubber to constitute
Tight contact structure, rigidity and damping characteristic are related with deformation, present nonlinear characteristic.When amplitude constantly changes, meeting
Different rigidity and damping characteristic is presented.In amplitude very little, slippage very little between the wire in liquid metal rubber 52,
The loaded deformation of helical spring itself mainly in liquid metal rubber, rigidity is almost unchanged, i.e. power and displacement is linear, resistance
Buddhist nun's very little.When amplitude increases, the helical spring in liquid metal rubber 52 contacts with each other, and existing with different degrees of sliding
As occurring, contact-sliding generates friction, so that dissipation energy, is provided with damping characteristic.When amplitude continues to increase, liquid metal
Helical spring in rubber 52 contacts with each other extruding, and sliding phenomenon weakens, and rigidity increases, i.e., it is special with deformation hardening to be presented in power output
Property.In the inside of liquid metal rubber 52, the Relative sliding between wire forms friction, to consume a large amount of vibrational energy
And amount of heat is generated, generate the damping vibration attenuation effect of metal-rubber；Vibration force effect under, liquid metal with liquid metal
The liquid metal damping regulating valve 63 that damping adjusts valve-type piston 53 forms synergistic effect, generates damping synergistic effect；By
It is made of in liquid metal rubber 52 liquid metal and metal-rubber close contact, therefore liquid metal vibration damping and gold can be generated
The multiple damping for belonging to rubber damping cooperates with effect of damping, and device totality vibration damping efficiency significantly improves.Due to using graphene layer
It is connected with the cylinder body 54 comprising liquid metal rubber 52 with the first hot thermoelectric power generation device 57, passes through cylinder body 54, liquid metal
With the quick conductive synergistic effect of the first graphene layer 56, the multiple damping collaboration effect of damping of device is generated into heat fast speed belt
Power generation effect is generated to the first hot thermoelectric power generation device 57, and the electrical energy transportation that thermo-electric generation is generated gives the first super capacitor
59 store for future use.
When robot when walking, calf joint lower part 25 by ankle joint 10 drive metal-rubber humanoid robot buffering
Vibration damping self power generation 3 (see Fig. 1) of foot, walking, which generates vibration force, influences heel buffer shock-absorbing and piezoelectric generating unit by sufficient press rods 11
8 (see Fig. 2), sufficient press rods 11 pass through sufficient pressure block 12, sufficient pressure plare 13 influences sufficient front end buffer shock-absorbing and piezoelectric generating unit 9.
The present embodiment heel buffer shock-absorbing and piezoelectric generating unit 8 are using the compound cymbal drum type buffer shock-absorbing of metal-rubber and piezoelectric generating unit 28
(see Fig. 4)；Sufficient front end buffer shock-absorbing and piezoelectric generating unit 9 are using the compound polyvinylidene fluoride type buffer shock-absorbing of metal-rubber and piezoelectricity
Electric organ.Under the influence of walking vibration force, vibration force is transferred to upper metal cymbal piece 42 by second pressure bar 40；Upper metal cymbal piece 42
Vibration force is transferred to upper piezoelectric ceramics 43；Since upper piezoelectric ceramics 43 is connected by upper sheet metal 44 with metal-rubber ring 45
It connects, metal-rubber ring 45 is transferred to by lower sheet metal 46 and pushes electroceramics 47；Therefore, metal-rubber ring 45 and second spring
41 can generate buffer shock-absorbing synergistic effect, while upper piezoelectric ceramics 43 and pushing electroceramics 47 generate piezo-electric generating effect；Foot
Front end buffer shock-absorbing and piezoelectric generating unit 9 also can using the compound polyvinylidene fluoride type buffer shock-absorbing of metal-rubber and piezoelectric generating unit
Piezo-electric generating effect is enough generated, and by piezo-electric generating electrical energy transportation to super capacitor.
The robot leg foot buffer shock-absorbing and self power generation integrated apparatus 1 of the embodiment of the present invention, due to using liquid gold
Belonging to rubber is structure that liquid metal and metal-rubber are combined closely, therefore adapts to environment than traditional rubber and single metal-rubber
Ability is stronger, and the multiple damping with liquid metal vibration damping and metal-rubber vibration damping cooperates with buffer shock-absorbing effect, and damps big, soft
Good toughness, resiliency are strong, absorb the features such as impact energy is strong, does not fear high/low temperature acts on, is non-aging, additionally it is possible to collect multiple damping
The heat for cooperateing with buffer shock-absorbing effect to generate, and be used to generate piezo-electric generating and hot thermo-electric generation.Apparatus of the present invention are in robot
Application field has multi-buffer vibration-damping function, also with the spontaneous electrical function of multiple thermo-electric generation and piezo-electric generating, therefore has
There is broader application prospect.
Embodiment two
The liquid metal rubber-type buffer shock-absorbing and thermoelectric generator I, liquid metal rubber-type buffer shock-absorbing and the temperature difference
Electric organ II) it is dual-active plunger type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator 51 (see Fig. 6)
Dual-active plunger type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator 51 are assemblied in by joint driver 6, that is, are filled
The position (see Fig. 1) of liquid metal rubber-type buffer shock-absorbing Yu thermoelectric generator I is fitted over, it is characterized in that: there is double-piston, twin-tub
Body and liquid metal building rubber compound synergetic structure；Dual-active plunger type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator 51, packet
Include: reguline metal rubber or granular metal rubber 64, liquid metal, band liquid metal damping adjust valve-type upper piston 65, under
Piston 66, upper cylinder body 67, lower cylinder body 68, upper piston rod 69, lower piston rod 70, band liquid metal damping adjust valve-type partition 71,
Third spring 72, the second graphene layer 73, the second hot thermoelectric power generation device 74, the second radiating element 75, the second super capacitor 76,
Second temperature sensor 77, the second heat insulation layer 78；Reguline metal rubber or granular metal rubber 64 pass through wrapping wire, stretching, volume
It knits, make blank and cold-press process machine-shaping, and pass through Surface Physical Chemistry moditied processing；Reguline metal rubber or graininess
Damping structure is collectively formed in metal-rubber 64 and liquid metal, and inhibition can be cooperateed with to vibrate, additionally it is possible to which quickly transmission damping subtracts
The heat generated that shakes realizes hot thermo-electric generation effect；Reguline metal rubber or granular metal rubber liquid metal 64, band liquid
State metal damping adjust valve-type upper piston 65, lower piston 66, upper cylinder body 67, lower cylinder body 68, upper piston rod 69, lower piston rod 70,
Band liquid metal damping adjust valve-type partition 71, third spring 72, the second graphene layer 73, the second hot thermoelectric power generation device 74,
Second radiating element 75, the second super capacitor 76, second temperature sensor 77, the second heat insulation layer 78 collectively form dual-active plunger type liquid
State metal-rubber type buffer shock-absorbing and thermoelectric generator 51.
In dual-active plunger type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator 51, band liquid metal damping adjusts valve-type
Cylinder body is divided into upper cylinder body 67, lower cylinder body 68 by partition 71；Reguline metal rubber or granular metal rubber, liquid metal, band liquid
The damping of state metal adjusts valve-type upper piston 65, second temperature sensor 77 is assemblied in upper cylinder body 67；Band liquid metal damps
Adjusting valve-type upper piston 65 includes: one or more liquid metals damping regulating valves and negotiable the second valve port of liquid metal
79；Band liquid metal damping adjusts valve-type upper piston 65 for reguline metal rubber or fine granularity metal-rubber and operative liquid gold
Category is closed in 67 side of upper cylinder body；Liquid metal can damp regulating valve by band liquid metal under the effect of outer vibration pressure
It is another that negotiable the second valve port 79 stream of the liquid metal damping regulating valve and liquid metal of type upper piston 65 enters upper cylinder body 67
Side can also damp regulating valve by the liquid metal for damping adjusting valve-type partition 71 with liquid metal and liquid metal is negotiable
Valve port 80 stream enter lower cylinder body 68 side；Band liquid metal damping adjusts valve-type upper piston 65 and 69 one end phase of upper piston rod
Connection；69 other end of upper piston rod and 70 other end of lower piston rod phase in parallel with 6 both ends of the spring of robot articular driver respectively
Connection；Lower piston 66 is assemblied in lower cylinder body 68；Lower piston 66 is connected with 70 one end of lower piston rod；Third spring 72 is assemblied in
On lower piston rod 70；Second graphene layer 73 is by the lateral surface and the second hot thermoelectric power generation device 74 of upper cylinder body 67 and lower cylinder body 68
Hot end is connected；Second hot 74 cold end of thermoelectric power generation device is connected with the second radiating element 75；The top of upper cylinder body 67 is under
There is the second heat insulation layer 78 in 68 bottom end of cylinder body；The second super capacitor 76 is equipped with outside upper cylinder body 67；Second super capacitor 76 with
Second hot thermoelectric power generation device 74 is connected.
The metal-rubber of the present embodiment uses material for stainless steel wire；Liquid metal uses liquid gallium alloy；Second graphite
Alkene layer 73 uses graphene film；Second hot thermoelectric power generation device 74 uses several pieces of concatenated or/and in parallel thermo-electric generations
Piece monomer is separated between thermoelectric generation film monomer and thermoelectric generation film monomer by using heat-insulating material；Second radiating element 75
It include: air cooling fin radiating element.Joint driver 6 uses: motor driver.Remaining is the same as embodiment one.
When robot when walking, be assemblied in the liquid metal rubber-type buffer shock-absorbing in parallel with joint driver spring with
Thermoelectric generator I, using dual-active plunger type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator 51 (see Fig. 6)；Robot row
The vibration force for walking generation drives band liquid metal damping to adjust valve-type upper piston 65 by upper piston rod 69, to liquid metal rubber
64, which generate effect of vibration power, influences, and the rigidity and damping characteristic of liquid metal rubber 64 are related with deformation, and nonlinear characteristic is presented.
When amplitude constantly changes, different rigidity and damping characteristic can be presented.Gold in amplitude very little, in liquid metal rubber 64
Belong to slippage very little between silk, the loaded deformation of helical spring itself mainly in liquid metal rubber 64, rigidity is hardly
Become, i.e. power and displacement is linear, damps very little.When amplitude increases, the helical spring in liquid metal rubber 64 contacts with each other,
And occur with different degrees of sliding phenomenon, contact-sliding generates friction, so that dissipation energy, is provided with damping characteristic.When
When amplitude continues to increase, the helical spring in liquid metal rubber 64 contacts with each other extrudings, and sliding phenomenon weakens, rigidity increase,
I.e. hardening characteristics are presented with deformation in power output.In the inside of liquid metal rubber 64, the Relative sliding between wire forms friction,
To consume a large amount of vibrational energy and generate amount of heat, the damping vibration attenuation effect of metal-rubber is generated；It is acted in vibration force
Under, liquid metal damps regulating valve 79 or with liquid metal resistance with the liquid metal for adjusting valve-type piston 65 is damped with liquid metal
The liquid metal damping regulating valve 80 that Buddhist nun adjusts valve-type partition 71 forms synergistic effect, generates damping synergistic effect；Due to
Liquid metal rubber 64 is made of liquid metal and metal-rubber close contact, therefore can generate liquid metal vibration damping and metal
The multiple shock reducing synergistic effect of rubber damping, device totality vibration damping efficiency significantly improve.
When outer vibration force is in periodically removing, outer vibration pressure reduces, the part liquid in 67 upper piston of upper cylinder body, 65 outside
State metal damps regulating valve by the liquid metal for damping adjusting valve-type piston 65 with liquid metal and liquid metal is negotiable
Second valve port 79 flows again to be entered in upper cylinder body 67；Meanwhile the third spring 72 installed on the lower piston rod 70 in lower cylinder body 68
Also it plays a role, the lower piston 66 of lower cylinder body 68 is promoted to move up, make the operative liquid metal outside 68 lower piston 66 of lower cylinder body
Regulating valve 80 is damped by the liquid metal for damping adjusting valve-type partition 71 with liquid metal also to flow back into again in upper cylinder body 67.
In dual-active plunger type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator 51, liquid metal rubber 64 can be produced
Raw damping vibration attenuation effect damps the liquid metal damping regulating valve 79 adjusted in valve-type piston 65, band liquid gold with liquid metal
Band liquid metal damping regulating valve 80 in category damping adjusting valve-type partition 71 can generate multiple damp with liquid metal and cooperate with
Effect of damping, therefore dual-active plunger type liquid metal rubber-type buffer shock-absorbing with thermoelectric generator 51 there is multiple damping to cooperate with vibration damping
Effect；Meanwhile the upper cylinder body 67 of liquid metal rubber 64 and the second hot thermo-electric generation will be included using the second graphene layer 73
Device 74 is connected, can be by liquid by the quick conductive synergistic effect of upper cylinder body 67, liquid metal and the second graphene layer 73
The heat that the heat and metal-rubber damping vibration attenuation that state metal damping vibration attenuation generates generate quickly brings the second hot thermoelectric generator
Part 74 generates power generation effect, and can will power generation power storage in the second super capacitor 76.
Embodiment three
The liquid metal rubber-type buffer shock-absorbing is that single-piston type liquid metal rubber-type buffering subtracts with thermoelectric generator I
Vibration and thermoelectric generator 50 (see Fig. 5), liquid metal rubber-type buffer shock-absorbing and thermoelectric generator II are dual-active plunger type liquid gold
Belong to rubber-type buffer shock-absorbing and thermoelectric generator 51 (see Fig. 6)；Single-piston type liquid metal rubber-type buffer shock-absorbing and the temperature difference are sent out
In electric appliance 50, liquid metal rubber 52, band liquid metal damping adjusts valve-type piston 53, the first temperature sensor 60 is assemblied in
In cylinder body 54；When metal-rubber is assemblied in cylinder body, there is slight gap 62 between inboard wall of cylinder block；Band liquid metal damps regulating valve
Type piston 53 includes: one or more liquid metals damping regulating valves and negotiable the first valve port 63 of liquid metal；Band liquid
Metal damping adjusts valve-type piston 53, and metal-rubber and operative liquid is metal enclosed in 54 side of cylinder body；Liquid metal can be
Under outer vibration pressure effect, the liquid metal damping regulating valve and liquid gold of valve-type piston 53 are adjusted by damping with liquid metal
The first valve port 63 for belonging to negotiable enters 54 other side of cylinder body；Band liquid metal damping adjusts valve-type piston 53 and piston rod 55 1
End is connected；Single-piston type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator 50 are assemblied in liquid metal rubber-type buffering
Vibration damping and the position thermoelectric generator II (see Fig. 1), that is, be assemblied in calf joint lower part 25, and by leg joint bindiny mechanism 23 with
The metal-rubber type buffer shock-absorbing at 5 middle part of calf joint is connected with piezoelectric generating unit 24, and constitutes 5 overall linkage of calf joint
Structure；54 lateral surface of cylinder body is connected by the first graphene layer 56 with the first hot 57 hot end of thermoelectric power generation device；The first hot temperature difference
57 cold end of power generating device is connected with 58, radiator；There are the first heat insulation layer 61 in top, the bottom end of cylinder body 54；54 outside of cylinder body
It is equipped with the first super capacitor 59；First super capacitor 59 is connected with the first hot thermoelectric power generation device 57；Liquid metal rubber
Metal-rubber in 52 includes: reguline metal rubber or granular metal rubber.
In dual-active plunger type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator 51, band liquid metal damping adjusts valve-type
Cylinder body is divided into upper cylinder body 67, lower cylinder body 68 by partition 71；Reguline metal rubber or granular metal rubber, liquid metal, band liquid
The damping of state metal adjusts valve-type upper piston 65, second temperature sensor 77 is assemblied in upper cylinder body 67；Band liquid metal damps
Adjusting valve-type upper piston 65 includes: one or more liquid metals damping regulating valves and negotiable the second valve port of liquid metal
79；Band liquid metal damping adjusts valve-type piston 65 for reguline metal rubber or fine granularity metal-rubber and operative liquid metal
It is closed in 67 side of upper cylinder body；Liquid metal can adjust valve-type by band liquid metal damping under the effect of outer vibration pressure
The second valve port 79 stream that the liquid metal damping regulating valve and liquid metal of upper piston 65 are negotiable enters 67 other side of upper cylinder body,
Regulating valve can also be damped by the liquid metal for damping adjusting valve-type partition 71 with liquid metal and liquid metal is negotiable
The stream of valve port 80 enters the side of lower cylinder body 68；Band liquid metal damping adjusts valve-type upper piston 65 and is connected with 69 one end of upper piston rod
It connects；69 other end of upper piston rod and 70 other end of lower piston rod are connected with 6 both ends of the spring parallel connection of robot articular driver respectively
It connects；Lower piston 66 is assemblied in lower cylinder body 68；Lower piston 66 is connected with 70 one end of lower piston rod；Third spring 72 is assemblied in down
On piston rod 70；Second graphene layer 73 is warm by the lateral surface and the second hot thermoelectric power generation device 74 of upper cylinder body 67 and lower cylinder body 68
End is connected；Second hot 74 cold end of thermoelectric power generation device is connected with the second radiating element 75；The top of upper cylinder body 67 and lower cylinder
There is the second heat insulation layer 78 in 68 bottom end of body；The second super capacitor 76 is equipped with outside upper cylinder body 67；Second super capacitor 76 and
Two hot thermoelectric power generation devices 74 are connected.Remaining is the same as embodiment one or two.
Example IV
The liquid metal rubber-type buffer shock-absorbing is that dual-active plunger type liquid metal rubber-type buffering subtracts with thermoelectric generator I
Vibration and thermoelectric generator 51 (see Fig. 6), liquid metal rubber-type buffer shock-absorbing and thermoelectric generator II are single-piston type liquid gold
Belong to rubber-type buffer shock-absorbing and thermoelectric generator 50 (see Fig. 5)；Dual-active plunger type liquid metal rubber-type buffer shock-absorbing and the temperature difference are sent out
In electric appliance 51, band liquid metal damping adjusts valve-type partition 71 and cylinder body is divided into upper cylinder body 67, lower cylinder body 68；Reguline metal rubber
Or granular metal rubber, liquid metal, band liquid metal damping adjusting valve-type upper piston 65, second temperature sensor 77 fill
It fits in upper cylinder body 67；It includes: that one or more liquid metal dampings are adjusted that band liquid metal damping, which adjusts valve-type upper piston 65,
Valve and negotiable the second valve port 79 of liquid metal；Band liquid metal damping adjusts valve-type piston 65 for reguline metal rubber or small
Granular metal rubber and operative liquid are metal enclosed in 67 side of upper cylinder body；Liquid metal is under the effect of outer vibration pressure, energy
It is enough by damped with liquid metal adjust valve-type upper piston 65 liquid metal damp regulating valve and liquid metal it is negotiable the
Two valve ports 79 stream enters 67 other side of upper cylinder body, and the liquid metal of valve-type partition 71 can also be adjusted by damping with liquid metal
Damp regulating valve and liquid metal it is negotiable valve port 80 stream enter lower cylinder body 68 side；Band liquid metal damping adjusts valve-type
Upper piston 65 is connected with 69 one end of upper piston rod；69 other end of upper piston rod and 70 other end of lower piston rod respectively with robot
6 both ends of the spring parallel connection of joint driver is connected；Lower piston 66 is assemblied in lower cylinder body 68；Lower piston 66 and lower piston rod 70 1
End is connected；Third spring 72 is assemblied on lower piston rod 70；Second graphene layer 73 is by the outer of upper cylinder body 67 and lower cylinder body 68
Side is connected with the second hot 74 hot end of thermoelectric power generation device；Second hot 74 cold end of thermoelectric power generation device and the second radiating element 75
It is connected；There is the second heat insulation layer 78 on the top and 68 bottom end of lower cylinder body of upper cylinder body 67；It is equipped with outside upper cylinder body 67 and the second surpasses
Grade capacitor 76；Second super capacitor 76 is connected with the second hot thermoelectric power generation device 74.
In single-piston type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator 50, liquid metal rubber 52, band liquid
Metal damping adjusts valve-type piston 53, the first temperature sensor 60 is assemblied in cylinder body 54；Metal-rubber is assemblied in cylinder body
When, there is slight gap 62 between inboard wall of cylinder block；It includes: one or more liquid gold that band liquid metal damping, which adjusts valve-type piston 53,
Belong to damping regulating valve and negotiable the first valve port 63 of liquid metal；Band liquid metal damping adjusts valve-type piston 53 for metal rubber
Glue and operative liquid are metal enclosed in 54 side of cylinder body；Liquid metal can pass through band liquid gold under the effect of outer vibration pressure
The first valve port 63 that the liquid metal damping regulating valve and liquid metal of category damping adjusting valve-type piston 53 are negotiable enters cylinder body
54 other sides；Band liquid metal damping adjusts valve-type piston 53 and is connected with 55 one end of piston rod；Single-piston type liquid metal rubber
Glue-type buffer shock-absorbing and thermoelectric generator 50 are assemblied in liquid metal rubber-type buffer shock-absorbing and the position thermoelectric generator II (see figure
1) it, that is, is assemblied in calf joint lower part 25, and slow by the metal-rubber type at 5 middle part of leg joint bindiny mechanism 23 and calf joint
It eats up part of vibration to be connected with piezoelectric generating unit 24, and constitutes 5 overall linkage structure of calf joint；First graphene layer 56 is by cylinder body 54
Lateral surface is connected with the first hot 57 hot end of thermoelectric power generation device；First 58 phases of hot 57 cold end of thermoelectric power generation device and radiator
Connection；There are the first heat insulation layer 61 in top, the bottom end of cylinder body 54；The first super capacitor 59 is equipped with outside cylinder body 54；The first surpass
Grade capacitor 59 is connected with the first hot thermoelectric power generation device 57；Metal-rubber in liquid metal rubber 52 includes: reguline metal
Rubber or granular metal rubber.Remaining is the same as embodiment one or two.
Herein, the nouns of locality such as related front, rear, top, and bottom are to be located in figure with components in attached drawing and zero
Part mutual position defines, only for the purpose of expressing the technical solution clearly and conveniently.It should be appreciated that the noun of locality
Use should not limit the claimed range of the application.
In the absence of conflict, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of robot leg foot buffer shock-absorbing and self power generation integrated apparatus characterized by comprising liquid metal rubber-type
Robot buffer shock-absorbing self power generation leg, metal-rubber humanoid robot buffer shock-absorbing self power generation foot, the liquid metal rubber-type machine
Device people buffer shock-absorbing self power generation leg is connect enough with the self power generation of metal-rubber humanoid robot buffer shock-absorbing；The liquid metal rubber-type
Robot buffer shock-absorbing self power generation leg, comprising: liquid metal rubber-type buffer shock-absorbing and thermoelectric generator, metal-rubber type buffer
Vibration damping and piezoelectric generating unit, big leg joint, calf joint, joint driver, displacement sensor；Liquid metal rubber is liquid gold
Belong to the tight contact structure formed with metal-rubber；The liquid metal rubber-type buffer shock-absorbing and thermoelectric generator, comprising: liquid
State metal-rubber type buffer shock-absorbing and thermoelectric generator I, liquid metal rubber-type buffer shock-absorbing and thermoelectric generator II；The liquid
State metal-rubber type buffer shock-absorbing and thermoelectric generator are single-piston type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator
Or dual-active plunger type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator；The metal-rubber type buffer shock-absorbing and piezo-electric generating
Device is the compound Pressure-bar spring type buffer shock-absorbing of metal-rubber and piezoelectric generating unit, the compound cymbal drum type buffer shock-absorbing of metal-rubber and pressure
Electric electric organ or the compound polyvinylidene fluoride type buffer shock-absorbing of metal-rubber and piezoelectric generating unit；The big leg joint and calf joint
It is connected by joint shaft；The joint driver is connected with big midleg and mid calf, and composition can drive generation deformation
Tripod structure；Institute's displacement sensors are assemblied in by joint driver；The liquid metal rubber-type buffer shock-absorbing and temperature
Poor electric organ I and the spring of joint driver lower part are connected in parallel；The metal-rubber type buffer shock-absorbing and piezoelectric generating unit fill
It fits in the middle part of calf joint；The liquid metal rubber-type buffer shock-absorbing and thermoelectric generator II are assemblied in calf joint lower part,
And it is connected with the metal-rubber type buffer shock-absorbing in the middle part of calf joint with piezoelectric generating unit by leg joint bindiny mechanism, and structure
At calf joint overall linkage structure；The calf joint lower part passes through ankle joint and metal-rubber humanoid robot buffer shock-absorbing
Self power generation is connected enough.
2. robot leg foot buffer shock-absorbing according to claim 1 and self power generation integrated apparatus, it is characterised in that: described
Metal-rubber humanoid robot buffer shock-absorbing self power generation includes: heel buffer shock-absorbing and piezoelectric generating unit, sufficient front end buffer shock-absorbing enough
With piezoelectric generating unit, ankle joint, sufficient press rods, sufficient pressure block, sufficient pressure plare, pressure sensor, super capacitor, metal-rubber
Plate layer, carbon fiber board layer, heel rubber cushion blocks, sufficient front end rubber cushion blocks, sufficient outer layer, the heel buffer shock-absorbing and piezo-electric generating
Device, sufficient front end buffer shock-absorbing and piezoelectric generating unit, ankle joint, sufficient press rods, sufficient pressure block, foot pressure plare, pressure sensor,
Super capacitor, metal-rubber plate layer, carbon fiber board layer are assemblied in sufficient outer layer；The ankle joint is connected with sufficient press rods
It connects；It is described foot press rods bottom be connected with heel buffer shock-absorbing with piezoelectric generating unit, and with pressure sensor and foot pressure block
It is connected；The foot pressure block is connected with sufficient front end buffer shock-absorbing with piezoelectric generating unit；The heel buffer shock-absorbing and piezoelectricity
Electric organ and sufficient front end buffer shock-absorbing and piezoelectric generating unit, comprising: metal-rubber type buffer shock-absorbing and piezoelectric generating unit, and pass through
Bottom metal rubber slab layer is connected with heel rubber cushion blocks, sufficient front end rubber cushion blocks respectively.
3. robot leg foot buffer shock-absorbing according to claim 1 and self power generation integrated apparatus, it is characterised in that: described
The compound Pressure-bar spring type buffer shock-absorbing of metal-rubber and piezoelectric generating unit, comprising: press rods, spring, pressure piston, conductive pressure
Plate, piezoelectric ceramics, elastic protective layer, metal-rubber block, conductive plate, metal-rubber plate, cylinder body, backing plate；The spring is assemblied in
In press rods；Described press rods one end connects pressure piston one end；The pressure piston other end connects conductive pressing plate one end；Institute
State the flexible protective layer of piezoelectric ceramics outer layer；Elastic protective layer's perimeter mounted has metal-rubber block；The conductive pressing plate is another
One end connects piezoelectric ceramics one end；The piezoelectric ceramics other end is connect with conductive plate one end；Described conductive plate one end and backing plate
It is connected；The backing plate other end is connected with metal-rubber plate；The pressure piston is by conductive pressing plate, piezoelectric ceramics, elasticity
Protective layer, conductive plate, metal-rubber plate, backing plate are packaged in side in cylinder body.
4. robot leg foot buffer shock-absorbing according to claim 1 and self power generation integrated apparatus, it is characterised in that: described
The compound cymbal drum type buffer shock-absorbing of metal-rubber and piezoelectric generating unit, comprising: press rods, spring, upper metal cymbal piece, upper piezoelectricity pottery
Porcelain, upper sheet metal, metal-rubber ring, lower metal cymbal piece, pushing electroceramics, lower sheet metal, cymbal drum box, the press rods,
Spring, upper piezoelectric ceramics, upper sheet metal, metal-rubber ring, lower metal cymbal piece, pushes electroceramics, lower metal at upper metal cymbal piece
Thin slice is assemblied in cymbal drum box；The spring is assemblied in press rods；Described press rods one end is connected with upper metal cymbal piece top
It connects；The upper metal cymbal piece lower end is connected with upper piezoelectric ceramics one end；The upper piezoelectric ceramics other end and upper sheet metal
One end is connected；The upper sheet metal other end is connected with metal-rubber ring one end；The metal-rubber ring other end with
Lower sheet metal is connected；The lower sheet metal other end is connected with electroceramics one end is pushed；The pushing electroceramics is another
One end is connected with lower metal cymbal piece.
5. robot leg foot buffer shock-absorbing according to claim 1 and self power generation integrated apparatus, it is characterised in that: described
Single-piston type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator, comprising: liquid metal rubber, band liquid metal damping are adjusted
Save valve-type piston, cylinder body, piston rod, graphene layer, hot thermoelectric power generation device, radiating element, super capacitor, temperature sensor,
Heat insulation layer；Metal-rubber in the liquid metal rubber is by by metal absorption filament-coiling, stretching, braiding, production blank and cold pressing
It is obtained after technique processing through Surface Physical Chemistry moditied processing.
6. robot leg foot buffer shock-absorbing according to claim 5 and self power generation integrated apparatus, it is characterised in that: described
Liquid metal rubber, band liquid metal damping adjusts valve-type piston, temperature sensor is assemblied in cylinder body；The liquid metal
Rubber and inboard wall of cylinder block have gap；It includes: one or more liquid metals that the band liquid metal damping, which adjusts valve-type piston,
Damp regulating valve and the negotiable valve port of liquid metal；The band liquid metal damping adjusts valve-type piston for metal-rubber and portion
Liquid separation state is metal enclosed in cylinder body side；It is another that the liquid metal enters cylinder body by valve port under the effect of outer vibration pressure
Side；The band liquid metal damping adjusts valve-type piston and is connected with piston rod one end；The piston rod other end and robot
Buffer shock-absorbing one end is needed to be connected；Cylinder body lateral surface is connected by the graphene layer with hot thermoelectric power generation device hot end；Institute
Hot thermoelectric power generation device cold end is stated to be connected with radiating element；There are heat insulation layer in top, the bottom end of the cylinder body；Outside the cylinder body
Face is equipped with super capacitor；The super capacitor is connected with hot thermoelectric power generation device；The metal-rubber is reguline metal rubber
Glue or granular metal rubber.
7. robot leg foot buffer shock-absorbing according to claim 1 and self power generation integrated apparatus, it is characterised in that: described
Dual-active plunger type liquid metal rubber-type buffer shock-absorbing and thermoelectric generator are with double-piston, twin-rotor housing and liquid metal rubber group
The synergetic structure of conjunction；Comprising: reguline metal rubber or granular metal rubber, liquid metal, band liquid metal damping adjusting
Valve-type upper piston, lower piston, upper cylinder body, lower cylinder body, upper piston rod, lower piston rod, band liquid metal damping adjust valve-type partition,
Spring, graphene layer, hot thermoelectric power generation device, radiating element, super capacitor, temperature sensor, heat insulation layer；The reguline metal
Rubber or granular metal rubber are by processing rear surface object for metal absorption filament-coiling, stretching, braiding, production blank and cold-press process
Physicochemical moditied processing obtains；The reguline metal rubber or granular metal rubber are collectively formed with liquid metal cooperates with inhibition
The damping structure for the heat that vibration and transmission damping vibration attenuation generate.
8. robot leg foot buffer shock-absorbing according to claim 7 and self power generation integrated apparatus, it is characterised in that: described
Band liquid metal damping adjusts valve-type partition and cylinder body is divided into upper cylinder body, lower cylinder body；The reguline metal rubber or graininess gold
Belong to rubber, liquid metal, band liquid metal damping adjusting valve-type upper piston, temperature sensor to be assemblied in upper cylinder body；It is described
It includes: that one or more liquid metal damping regulating valves and liquid metal are negotiable that band liquid metal damping, which adjusts valve-type upper piston,
Valve port；The band liquid metal damping adjusts valve-type upper piston for reguline metal rubber or granular metal rubber and part liquid
State is metal enclosed in upper cylinder body side；The liquid metal outer vibration pressure act through valve port flow into the upper cylinder body other side or
By damping the side for adjusting valve-type partition and flowing into lower cylinder body with liquid metal；The band liquid metal damping adjusts living in valve-type
Plug is connected with upper piston rod one end；The upper piston rod other end needs buffer shock-absorbing one end to be connected with robot；It is described
Lower piston is assemblied in lower cylinder body；The lower piston is connected with lower piston rod one end；The spring is assemblied on lower piston rod；
The lateral surface of upper cylinder body and lower cylinder body is connected by the graphene layer with hot thermoelectric power generation device hot end；The hot thermo-electric generation
Device cold end is connected with radiating element；There is heat insulation layer on the top and lower cylinder body bottom end of the upper cylinder body；Outside the upper cylinder body
Face is equipped with super capacitor；The super capacitor is connected with hot thermoelectric power generation device.
9. robot leg foot buffer shock-absorbing according to claim 8 and self power generation integrated apparatus, it is characterised in that: described
Metal-rubber uses material for stainless steel wire, copper wire, tungsten wire, shape-memory alloy wire or metal alloy wires；The liquid metal
For liquid gallium, liquid gallium alloy or liquid gallium nano-fluid；The liquid gallium nano-fluid is dispersing Nano carbon tubes, graphene is received
The liquid gallium or liquid gallium alloy of rice piece or nano heat-conductive particle, the liquid metal use the good liquid of thermal conductivity or gas
Body；The graphene layer is graphene film, graphite ene coatings or graphene composite material layer；The hot thermoelectric power generation device,
Including several pieces of concatenated or/and in parallel thermoelectric generation film monomers, the thermoelectric generation film monomer and thermoelectric generation film monomer
Between separated by heat-insulating material；The radiating element is air cooling fin radiating element or working medium circulation radiating element；The work
Matter is water, nano-fluid or heat-conducting fluid.
10. robot leg foot buffer shock-absorbing according to claim 1 and self power generation integrated apparatus, it is characterised in that: institute
State joint driver be motor driver, hydraulic unit driver, pneumatic actuator, piezoelectric actuator, marmen,
Polymer artificial-muscle driver or magnetic telescopic driver.
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| CN112377552B (en) * | 2020-10-28 | 2022-03-15 | 武汉第二船舶设计研究所(中国船舶重工集团公司第七一九研究所) | Self-cooling air bag vibration isolation device |
| CN112933533A (en) * | 2021-01-26 | 2021-06-11 | 济南市中心医院 | Integrated rehabilitation device after limb burn |
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| JP6652289B2 (en) * | 2014-11-07 | 2020-02-19 | キヤノン株式会社 | Vibration type driving device, robot, image forming device, and imaging device |
| JP6657902B2 (en) * | 2015-12-14 | 2020-03-04 | セイコーエプソン株式会社 | Piezo actuators and robots |
| CN105508487B (en) * | 2016-01-24 | 2017-09-29 | 中国地质大学（武汉） | Double dampings and double compound damping devices that generate electricity |
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