Bidirectional energy storage device, robotic joint and robot

A robotic joint comprising:

• a main body;
• an actuating device;
• an end rotating member rotatably connected to an end of the main body;
• an output rotating member rotatably connected to an output end of the actuating device;
• and
• a bidirectional energy storage device comprising:
• a sleeve comprising two, opposite open ends;
• a first sliding member and a second sliding member that are slidably disposed at the open ends of the sleeve, respectively;
• and
• an elastic member comprising two, opposite ends that are respectively in contact with the first sliding member and the second sliding member;
• a first telescopic link comprising a first end and an opposite, second end, the first end of the first telescopic link pivotally connected to the first sliding member, the first telescopic link configured to rotate to drive the first sliding member to slide;
• a second telescopic link comprising a first end and an opposite, second end, the first end of the second telescopic link pivotally connected to the second sliding member, the second telescopic link configured to rotate to drive the second sliding member to slide;
• wherein the second ends of the first telescopic link and the second telescopic link are respectively pivotally connected to the end rotating member and the output rotating member, and the output rotating member or the second telescopic link is connected to the first telescopic link to drive the first telescopic link to move.

A robot comprising:

• a robotic joint comprising:
• a main body;
• an actuating device;
• an end rotating member rotatably connected to an end of the main body;
• an output rotating member rotatably connected to an output end of the actuating device;
• and
• a bidirectional energy storage device comprising:
• a sleeve comprising two, opposite open ends;
• a first sliding member and a second sliding member that are slidably disposed at the open ends of the sleeve, respectively;
• an elastic member comprising two, opposite ends that are respectively in contact with the first sliding member and the second sliding member;
• at least one first telescopic link comprising a first end and an opposite, second end, the first end of the at least one first telescopic link pivotally connected to the first sliding member, the at least one first telescopic link configured to rotate to drive the first sliding member to slide;
• and
• at least one second telescopic link comprising a first end and an opposite, second end, the first end of the at least one second telescopic link pivotally connected to the second sliding member, the at least one second telescopic link configured to rotate to drive the second sliding member to slide;
• wherein the second ends of the at least one first telescopic link and the at least one second telescopic link are respectively pivotally connected to the end rotating member and the output rotating member, and the output rotating member or the at least one second telescopic link is connected to the at least one first telescopic link to drive the at least one first telescopic link to move.