Bidirectional energy storage robot for rotatable joints

Abstract

The utility model provides a two-way energy storage robot for a rotatable joint. The two-way energy storage robot comprises a rack; the fixed shaft is horizontally erected on the rack, and two ends of the fixed shaft are fixedly connected with the rack; the shaftless motor comprises an output shaft, a rotor, a stator and a shaftless motor shell which are sequentially arranged from inside to outside in the radial direction of the shaftless motor, the rotor is sleeved with the stator, the shaftless motor shell is rotationally connected with the output shaft, and the fixed shaft penetrates through the output shaft and is rotationally connected with the output shaft; the speed reducer comprises a harmonic generator which is fixedly connected with the output shaft and rotates together with the output shaft, a flexible gear and a rigid gear which are fixedly connected with the rack, and a speed reducer shell which is fixedly connected with the rigid gear and the shaftless motor shell at the same time, and the harmonic generator, the flexible gear and the rigid gear are sequentially arranged from inside to outside in the radial direction of the speed reducer. The rotating shaft sequentially penetrates through the harmonic generator and the flexible gear and is rotationally connected with the harmonic generator; and the mechanical arm is fixedly mounted on the peripheral side of the shaftless motor shell. According to the utility model, bidirectional energy storage is realized, the sizes of the motor and the robot are reduced, the load flexibility and stability are improved, and the cost is low.

Description

Technical Field

[0001] Embodiments of the present disclosure generally relate to the field of robotics, and more particularly, to a bidirectional energy storage robot for rotatable joints. Background Art

[0002] Existing ankle and knee joint robots suffer from problems such as a high center of gravity, oversized motors, and low precision. For one thing, the overly large motors not only increase costs but also make the robots bulky, hindering miniaturization and mass production. Furthermore, force control is imprecise, making it difficult to adjust force quickly and adaptively like the human ankle and knee joints to maintain balance and continue normal movements. This can lead to significant shaking or even falls.

[0003] Moreover, when ankle and knee robots perform swinging motions, the motors and loads are generally placed on opposite sides, which is extremely unstable. Furthermore, existing energy storage mechanisms can only store and assist energy in one direction, and cannot meet the need to reduce the robot's torque. Utility Model Content

[0004] In order to solve the above technical problems, the utility model provides a bidirectional energy storage robot for rotatable joints, which realizes bidirectional energy storage, reduces the size of the motor and the robot, improves load flexibility and stability, and has a low cost.

[0005] A bidirectional energy storage robot for rotatable joints comprises: a frame; a fixed shaft horizontally mounted on the frame, with both ends fixedly connected to the frame; a shaftless motor, comprising an output shaft, a rotor, a stator sleeved with the rotor, and a shaftless motor housing rotatably connected to the output shaft, which are sequentially arranged from the inside to the outside in its radial direction; the fixed shaft passes through the output shaft and is rotatably connected to the output shaft; a reducer, comprising a harmonic generator, which is sequentially arranged from the inside to the outside in its radial direction and is fixedly connected to and rotates with the output shaft, a flexible pulley, a rigid pulley fixedly connected to the frame, and a reducer housing fixedly connected to both the rigid pulley and the shaftless motor housing; the fixed shaft passes through the output shaft, then sequentially passes through the harmonic generator and the flexible pulley and is rotatably connected to the harmonic generator; and a robotic arm, which is fixedly mounted on the circumference of the shaftless motor housing.

[0006] Furthermore, the frame at least includes a base plate, a first frame plate vertically arranged on one side of the base plate, and a second frame plate vertically arranged on the other side of the base plate opposite to the first frame plate, a fixed shaft, one end of which is fixedly connected to the first frame plate and the other end is fixedly connected to the second frame plate, a shaftless motor housing, an end of which is rotatably connected to the first frame plate, a reducer housing, an end of which is rotatably connected to the second frame plate, and a flexible pulley fixedly connected to the second frame plate.

[0007] Furthermore, it also includes a drive disc and an energy storage mechanism. The drive disc is fixedly supported on the reducer housing and is coaxially arranged with the flexible wheel. The energy storage mechanism is fixedly connected to the drive disc.

[0008] Furthermore, the energy storage mechanism includes a slide rail, the bottom end of which is hingedly fixed to the base plate, the top end of which swings, and the swinging plane of the slide rail and the rotation plane of the driving disk are parallel to each other; a slider, which is slidably installed on the slide rail and fixedly connected to a non-center point on the driving disk; and an elastic member, which is wound around the circumference of the slide rail, the top end of which is fixedly connected to the top end of the slide rail, and the bottom end overlaps the slider.

[0009] Furthermore, the slide rail has a limiting piece at its top end, the top end of the elastic piece is fixedly connected to the limiting piece, and the bottom end is overlapped with the sliding block.

[0010] Furthermore, the driving disk is a circular disk with a hollow interior, a limiting opening is provided on the curved surface, and a through hole is opened at the center of one end face along the axial direction of the driving disk. The second frame plate is inserted into the driving disk through the limiting opening, and the fixed shaft and the flexible wheel are supported on the second frame plate by passing through the through hole.

[0011] Furthermore, the driving disc has an end surface on one side of which the through hole is provided with an extension portion extending toward the reducer side, and the extension portion is sleeved on the reducer housing and fixed.

[0012] The beneficial effects of the utility model are:

[0013] 1. The shaftless motor can be installed at the bottom of the robot arm, which increases balance and stability while saving internal space of the robot and is conducive to the miniaturization of the robot;

[0014] 2. Shares the motor load, reduces the cost of the motor, reduces the size of the motor, and further improves the stability of the robot;

[0015] 3. Improved the life and accuracy of the robot.

[0016] It should be understood that the contents described in the utility model summary are not intended to limit the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0018] Figure 1 A schematic structural diagram of a bidirectional energy storage robot for rotatable joints provided in an embodiment of the present utility model is shown;

[0019] Figure 2 A partial structural cross-sectional view of a bidirectional energy storage robot for rotatable joints provided by an embodiment of the present utility model is shown;

[0020] Figure 3 A schematic structural diagram of a mechanical arm of a bidirectional energy storage robot with rotatable joints provided by an embodiment of the present utility model is shown when rotating counterclockwise.

[0021] in, Figures 1 to 3 The corresponding relationship between the reference numerals and component names is as follows:

[0022] 1. Frame; 10. Base plate; 11. First frame plate; 12. Second frame plate; 2. Fixed shaft; 3. Shaftless motor; 30. Output shaft; 31. Rotor; 32. Stator; 33. Shaftless motor housing; 4. Reducer; 40. Harmonic generator; 41. Flexspline; 42. Rigid pulley; 43. Reducer housing; 5. Robotic arm; 6. Drive disc; 60. Limit opening; 61. Extension; 7. Energy storage mechanism; 70. Slide rail; 71. Slider; 72. Elastic member; 73. Limit member; 8. Six-dimensional force sensor; 90a. Magnet; 90b. Magnetic encoder; 91a. Scale; 91b. Grating encoder. DETAILED DESCRIPTION

[0023] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present disclosure.

[0024] In this document, the term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0025] Refer to the following Figure 1-2To describe a bidirectional energy storage robot for rotatable joints provided by an embodiment of the present invention, comprising a frame 1, a fixed shaft 2, a shaftless motor 3 and a reducer 4 which are sleeved on the fixed shaft 2, and a robotic arm 5. The fixed shaft 2 is horizontally mounted on the frame 1, and its two ends are fixedly connected to the frame 1; the shaftless motor 3 is composed of an output shaft 30, a rotor 31, a stator 32 and a shaftless motor housing 33 from the inside to the outside in its radial direction, the fixed shaft 2 is provided with the output shaft 30 and is rotatably connected to the output shaft 30, the stator 32 is sleeved with the rotor 31, the shaftless motor housing 33 is sleeved with the stator 32 and is rotatably connected to the output shaft 30; the reducer 4 is composed of a harmonic generator 40, a flexible wheel 41, a rigid wheel 42 from the inside to the outside in its radial direction. The fixed shaft 2 passes through the harmonic generator 40 and the flexible pulley 41 in sequence after passing through the output shaft 30, wherein the harmonic generator 40 is rotationally connected to the fixed shaft 2 and one end of the harmonic generator 40 is fixedly connected to the end of the output shaft 30, so that it rotates together with the output shaft 30, the flexible pulley 41 is fixedly connected to the frame 1, and the rigid pulley 42 is fixedly connected to the reducer housing 43; the robot arm 5 is fixedly installed on the peripheral side of the shaftless motor housing 33, and the shaftless motor 3, the reducer 4 and the fixed shaft 2 are coaxially arranged.

[0026] Furthermore, when the reducer 4 is reducing speed, if the rigid pulley 42 is stationary and the harmonic generator 40 rotates at a high speed relative to the rigid pulley 42, the flexspline 41 can rotate in the same direction relative to the rigid pulley 42 at a speed lower than that of the harmonic generator 40. If the flexspline 41 is stationary and the harmonic generator 40 rotates at a high speed relative to the flexspline 41, the rigid pulley 42 can rotate in the same direction relative to the flexspline 41 at a speed lower than that of the harmonic generator 40.

[0027] In this embodiment, the frame 1 includes at least a base plate 10, a first frame plate 11 vertically mounted on one side of the base plate 10, and a second frame plate 12 vertically mounted on the other side of the base plate 10, opposite the first frame plate 11. The fixed shaft 2 has one end fixedly connected to the first frame plate 11, and the other end passes through the output shaft 30, harmonic generator 40, and flexspline 41 in sequence before being fixedly connected to the second frame plate 12. The shaftless motor housing 33 has one end rotationally connected to the first frame plate 11 and the other end fixedly connected to one end of the reducer housing 43. The other end of the reducer housing 43 is rotationally connected to the second frame plate 12. The flexspline 41 is fixedly connected to the second frame 1.

[0028] Specifically, the shaftless motor housing 33 and the reducer housing 43 are rotatably connected to the frame 1 through bearings.

[0029] More specifically, the output shaft 30 and the input end are both rotatably connected to the fixed shaft 2 via bearings, and the shaftless motor housing 33 is rotatably connected to the output shaft 30 via bearings.

[0030] In this embodiment, the shaftless motor housing 33, the reducer housing 43 and the robotic arm 5 are all made of rigid metal materials, and the stator 32 is made of non-magnetic material. The stator 32 is sleeved on the outer periphery of the rotor 31 and is arranged between the rotor 31 and the shaftless motor housing 33, which can avoid magnetic attraction between the rotor 31 and the shaftless motor housing 33, thereby affecting the operation of the robot.

[0031] In this embodiment, the working principle of a bidirectional energy storage robot for rotatable joints is as follows:

[0032] The fixed shaft 2 is fixedly supported on the frame 1, supports the motor and the reducer 4 and is fixedly connected to the flexible spline 41, so the flexible spline 41 is fixed;

[0033] Start the shaftless motor 3. At this time, since the output shaft 30 and the fixed shaft 2, and the output shaft 30 and the shaftless motor housing 33 are all rotatably connected via bearings, the output shaft 30 can rotate at high speed relative to the fixed shaft 2 while the rotor 31 is fixed, without affecting the rotation of the shaftless motor housing 33. Since the harmonic generator 40 is fixedly connected to the output shaft 30 and the harmonic generator 40 and the fixed shaft 2 are rotatably connected via bearings, the harmonic generator 40 can rotate relative to the flexible spline 41. Therefore, the harmonic generator 40 can rotate with the output shaft 30 at the same speed and in the same direction. Since the flexible spline 41 is fixedly connected to the frame 1, the flexible spline 41 end cannot output torque, so the rigid spline 42 can rotate at a speed relative to the flexible spline 41. Lower than the same-direction rotational movement of the input end; and because the rigid wheel 42 is fixedly connected to the reducer housing 43, the reducer housing 43 can follow the rigid wheel 42 to make the same-direction rotational movement at a speed lower than the output shaft 30 of the shaftless motor 3; and because the reducer housing 43 is fixedly connected to the motor housing, and the reducer housing 43 and the second frame plate 12, the shaftless motor 3 and the first frame plate 11, and the shaftless motor housing 33 and the rotor are all rotatably connected through bearings, the reducer housing 43 and the shaftless motor housing 33 can drive the mechanical arm 5 fixedly mounted on the outer periphery of the shaftless motor housing 33 to make the same-direction rotational movement around the fixed axis 2 at a speed lower than the output shaft 30 of the shaftless motor 3, and do not affect the movement of the output shaft 30;

[0034] Finally, the operation of driving the shaftless motor 3 to make the robot arm 5 perform low-speed rotational motion is achieved.

[0035] In this embodiment, the energy storage robot further includes a drive disc 6 and an energy storage mechanism 7 , wherein the drive disc 6 is fixedly supported on the reducer housing 43 and coaxially arranged with the flexible spline 41 , and the energy storage mechanism 7 is fixedly connected to the drive disc 6 .

[0036] Specifically, the driving disk 6 is a circular disk with a hollow interior, and a limiting opening 60 is provided on the curved surface. A through hole is opened at the center of one end surface along the axial direction of the driving disk 6. The second frame plate 12 is inserted into the driving disk 6 through the limiting opening 60 and a specific distance is left between the driving disk 6. After the flexible wheel 41 is spaced apart from the setting shaft 2, a through hole is formed together with the fixed shaft 2 and fixedly connected to the second frame plate 12 in the internal cavity of the driving disk 6, so that the fixed shaft 2 and the flexible wheel 41 are fixedly supported on the second frame plate 12 together.

[0037] The energy storage mechanism 7 includes a slide rail 70, a slider 71, and an elastic member 72. The bottom end of the slide rail 70 is hingedly fixed to the base plate 10, while the top end swings, ensuring that the swinging plane of the slide rail 70 is parallel to the rotational plane of the drive disk 6. The slider 71 is slidably mounted on the slide rail 70 and fixedly connected to a non-center point on the drive disk 6. The elastic member 72 is wound around the side of the slide rail 70, with its top end fixedly connected to the top end of the slide rail 70 and its bottom end overlapping the slider 71.

[0038] More specifically, an extension portion 61 extends outward from the end surface of one side of the drive disc 6 where the through hole is formed, toward the reducer 4 , and the extension portion 61 is sleeved on the reducer housing 43 and fixedly connected thereto.

[0039] In this embodiment, the driving plate 6 is rotatably connected to the second frame plate 12 via a bearing.

[0040] In this embodiment, the working principle of a bidirectional energy storage robot for rotatable joints is as follows:

[0041] The high-speed rotation of the output shaft 30 of the driving motor drives the reducer housing 43, the housing 33 of the shaftless motor 3 and the robotic arm 5 to rotate at a low speed;

[0042] Because the drive disc 6 is fixedly connected to the reducer housing 43 and is coaxially arranged with the rigid wheel 42, and the drive disc 6 is rotatably connected to the second frame plate 12 via a bearing, the drive disc 6 can rotate in the same direction as the reducer housing 43, the shaftless motor housing 33 and the robot arm 5 at a speed lower than that of the output shaft 30 of the shaftless motor 3.

[0043] The slider 71 is fixedly connected to the end surface of the driving disc 6 away from the reducer 4 by a thick fixing member. Therefore, when the driving disc 6 rotates at a low speed, the slider 71 also moves in an arc in a plane parallel to the rotation plane of the driving disc 6.

[0044] When the shaftless motor 3 is not started, Figure 1 As shown, the robot arm 5 and the slide rail 70 are in a vertical neutral position, at which time the elastic member 72 is in a relaxed state, with no invisible variables and no elastic potential energy;

[0045] When the robot arm 5 needs to rotate counterclockwise, the shaftless motor 3 is started to rotate the output shaft 30 counterclockwise at high speed, and the rigid wheel 42 rotates counterclockwise at low speed, driving the robot arm 5 and the drive disk 6 to swing counterclockwise at the same time. At this time, the slide rail 70 swings to the right, and the slider 71 moves upward along the slide rail 70 and compresses the elastic member 72. The elastic member 72 stores elastic potential energy until the drive disk 6 swings to the required position. The limit opening 60 on the left side of the drive disk 6 abuts the second frame plate 12. At this time, the robot arm 5 swings counterclockwise, as shown in FIG. Figure 3 As shown;

[0046] When the robot arm 5 needs to restore its vertical neutral position, the shaftless motor 3 is started to make the output shaft 30 rotate clockwise at high speed. At this time, the rigid wheel 42 drives the driving disk 6 to generate a clockwise rotation tendency, so that the driving disk 6 gives the slider 71 a clockwise rotation force. At this time, the elastic potential energy stored in the elastic member 72 drives the slider 71 to move downward along the slide rail 70, so that the elastic potential energy is converted into kinetic energy, so that the slider 71 drives the driving disk 6 to rotate clockwise. At this time, the shaftless motor 3 and the elastic member 72 jointly drive the driving disk 6 and the robot arm 5 to rotate clockwise until the elastic potential energy is completely converted into kinetic energy, and the slide rod and the robot arm 5 return to the original position. Figure 1 The vertical neutral position shown;

[0047] Similarly, when the robot arm 5 needs to rotate clockwise, the shaftless motor 3 is started, causing the output shaft 30 to rotate clockwise at high speed, and the rigid wheel 42 to rotate clockwise at low speed, driving the robot arm 5 and the drive plate 6 to swing clockwise at the same time. At this time, the slide rail 70 swings to the left, and the slider 71 moves upward along the slide rail 70 and compresses the elastic member 72. The elastic member 72 stores elastic potential energy until the drive plate 6 swings to the desired position. The right limit opening 60 of the drive plate 6 abuts the second frame plate 12. At this time, the robot arm 5 swings clockwise.

[0048] When the robot arm 5 needs to restore its vertical neutral position, the shaftless motor 3 is started to rotate the output shaft 30 counterclockwise at high speed. At this time, the rigid wheel 42 drives the driving disk 6 to generate a counterclockwise rotation tendency, so that the driving disk 6 gives the slider 71 a counterclockwise rotation force. At this time, the elastic potential energy stored in the elastic member 72 drives the slider 71 to move downward along the slide rail 70, so that the elastic potential energy is converted into kinetic energy, so that the slider 71 drives the driving disk 6 to rotate counterclockwise. At this time, the shaftless motor 3 and the elastic member 72 jointly drive the driving disk 6 and the robot arm 5 to rotate counterclockwise until the elastic potential energy is completely converted into kinetic energy, and the slide bar and the robot arm 5 return to the original position. Figure 1 Vertical neutral position shown.

[0049] In this embodiment, the energy storage mechanism 7 can provide resistance and partial driving force for the swing of the robotic arm 5, not only providing driving force for the swing of the robotic arm 5, but also enabling the robotic arm 5 to always maintain a stable state during the swing process, especially in the initial stage of motor drive, when the motor is not rotating stably, maintaining the stable rotation of the drive disk 6, thereby ultimately driving the stable swing of the robotic arm 5.

[0050] In this embodiment, a limiting member 73 is provided at the top of the slide rail 70 , the top of the elastic member 72 is fixedly connected to the limiting member 73 , and the bottom end thereof overlaps with the slider 71 .

[0051] In this embodiment, the energy storage robot further includes a six-dimensional force sensor 8 fixedly mounted inside the second frame 12 for acquiring mechanical signals inside the energy storage robot, thereby improving the accuracy of the energy storage robot in joint movement.

[0052] In this embodiment, the energy storage robot further includes a first encoder and a second encoder. The first encoder includes a magnet 90a fixedly mounted on the outer periphery of the fixed axis 2 and a magnetic encoder 90b mounted on the outer side of the fixed axis 2, fixedly connected to the shaftless motor housing 33, and capable of rotating around the fixed axis 2 along with the shaftless motor housing 33. By providing the first encoder, the angle data of the swing of the robotic arm 5 can be monitored. The second encoder includes a scale 91a mounted on the outer side of the fixed axis 2, fixedly connected to the shaftless motor housing 33, and capable of rotating around the fixed axis 2 along with the shaftless motor housing 33, and a grating encoder 91b mounted on the outer side of the fixed axis 2, fixedly connected to the output shaft 30, and capable of rotating around the fixed axis 2 along with the output shaft 30. By providing the second encoder, the scale 91a and the grating encoder 91b rotate relative to each other, thereby monitoring the rotation angle and number of revolutions of the output shaft 30 and the shaftless motor housing 33 of the shaftless motor 3.

[0053] According to the embodiments of the present disclosure, the following technical effects are achieved:

[0054] By fixing the harmonic generator 40 and the output shaft 30 of the reducer 4, fixing the flexible wheel 41 of the reducer 4 to the frame 1, fixing the rigid wheel 42 of the reducer 4 to the reducer housing 43, and fixing the reducer housing 43 to the robot arm 5, the high-speed rotation of the motor output shaft 30 drives the low-speed rotation of the robot arm 5, so that the shaftless motor 3 can be installed in the bottom space of the robot arm 5, saving the internal space of the robot and facilitating the miniaturization of the robot; by providing a drive disk 6 that can be inserted into the frame 1 and an energy storage mechanism 7 fixedly connected to the drive disk 6, the energy storage mechanism 7 can provide resistance when the robot arm 5 swings, and when it recovers, the energy storage mechanism 7 can provide resistance when the robot arm 5 swings. Providing partial driving force in the neutral position not only saves energy and reduces the size and cost of the motor, but also ensures the stability of the robot arm 5 during the swinging process, further improving the miniaturization of the robot; by setting a limit opening 60 on the driving disk 6, the limitation of the robot arm 5 is achieved; by setting a limit member 73 on the slide rail 70, the limitation of the elastic member 72 and the slider 71 is achieved; by fixing the driving disk 6 and the slider 71, the limitation of the swing stroke of the slide rail 70 is achieved, thereby improving the life of the robot; by setting a six-dimensional force sensor 8 and an encoder, the rotation speed and torque inside the robot are detected.

[0055] In this specification, the terms "connect," "install," and "fix" should be understood broadly. For example, "connect" can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a direct connection or an indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0056] Throughout this specification, terms such as "one embodiment" or "some embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0057] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A bidirectional energy storage robot for rotatable joints, characterized in that: include: frame; A fixed axis is horizontally mounted on the frame, with both ends fixedly connected to the frame; The shaftless motor comprises an output shaft arranged in sequence from the inside to the outside along its radial direction, a rotor fixedly sleeved on the outer periphery of the output shaft, a stator, and a shaftless motor housing rotatably connected to the output shaft. The fixed shaft passes through the output shaft and is rotatably connected to the output shaft; The reducer includes harmonic generators which are arranged sequentially from the inside to the outside along the radial direction of the reducer and are fixedly connected to the output shaft and rotate together with the output shaft. A flexible pulley fixedly connected to the frame, Ganglun, and The reducer housing is fixedly connected to the rigid wheel and the shaftless motor housing. After passing through the output shaft, the fixed shaft passes through the harmonic generator and the flexible spline in sequence and is rotationally connected to the harmonic generator; and The mechanical arm is fixedly mounted on the peripheral side of the shaftless motor housing.

2. The energy storage robot according to claim 1, characterized in that: The frame at least includes a bottom plate, a first frame plate vertically arranged on one side of the bottom plate, and a second frame plate vertically arranged on the other side of the bottom plate opposite to the first frame plate. The fixed shaft has one end fixedly connected to the first frame plate, and the other end fixedly connected to the second frame plate. The shaftless motor housing has an end portion rotatably connected to the first frame plate. The reducer housing has an end portion rotatably connected to the second frame plate. The flexible pulley is fixedly connected to the second frame plate.

3. The energy storage robot according to claim 2, characterized in that: It also includes a drive disc and an energy storage mechanism. The driving disc is fixedly supported on the reducer housing and is coaxially arranged with the flexible wheel. The energy storage mechanism is fixedly connected to the driving disc.

4. The energy storage robot according to claim 3, characterized in that: The energy storage mechanism includes: A slide rail, the bottom end of which is hingedly fixed to the bottom plate, and the top end of which performs a swinging motion, so that the swinging plane of the slide rail and the rotating plane of the driving disk are parallel to each other; a slider, slidably mounted on the slide rail and fixedly connected to a non-center point on the drive disk; and The elastic member is wound around the circumference of the slide rail, with the top end of the elastic member fixedly connected to the top end of the slide rail and the bottom end overlapping the slider.

5. The energy storage robot according to claim 4, characterized in that: The top end of the slide rail is provided with a limiting piece, the top end of the elastic piece is fixedly connected to the limiting piece, and the bottom end is overlapped with the sliding block.

6. The energy storage robot according to claim 3, characterized in that: The driving disc is a hollow disc with a limited opening on the curved surface and a through hole at the center of one end surface along the axial direction of the driving disc. The second frame plate is inserted into the driving disk through the limiting opening, and the fixed shaft and the flexible pulley pass through the through hole so as to be supported on the second frame plate.

7. The energy storage robot according to claim 6, characterized in that: The driving plate has an end surface on one side of which a through hole is provided with an extension portion extending toward the reducer side, and the extension portion is sleeved on and fixed to the reducer housing.

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