Energy storage and release device of hopping robot
A technology of energy storage and release device, which is applied in the direction of motor vehicles, transportation and packaging, etc. It can solve the problems of difficult miniaturization, unstable movement, and large power demand, etc., and achieves fast response, simple and reliable structure, and reliable action.
Inactive Publication Date: 2013-04-03
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology
[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the energy storage and release device of the bouncing robot in the above-mentioned technologies, such as high power demand, difficulty in miniaturization, or insufficient stability of movement, etc., and proposes an energy storage device suitable for bouncing robots. with release device
Method used
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[0038] In these figures, it can be seen that the energy storage and release device of the bounce machine includes an attitude adjustment mechanism, a locking / release mechanism and a lead screw nut drive mechanism.
[0039] Such as figure 1 , figure 2 The attitude adjustment mechanism shown in includes secondary gear 8, secondary gear shaft 16, primary gear 9, primary gear shaft 15, driving gear 13, driving gear shaft 14, clutch 12, stepping motor 10 and stepping motor Fixed plate 11. Wherein the secondary gear 8, the primary gear 9 and the driving gear 13 are three standard spur gears with a "one" character distribution, a modulus of 1 and a tooth ratio of 7.2:2:1. The primary gear 9 is located in the middle of the secondary gear 8 and the driving gear 13 , the secondary gear 8 meshes with the primary gear 9 , and the primary gear 9 meshes with the driving gear 13 . The secondary gear shaft 16, the primary gear shaft 15 and the driving gear shaft 14 are thin straight rods ...
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The invention discloses an energy storage and release device of a hopping robot, which comprises a gesture regulating mechanism, a locking and unlocking mechanism and a screw nut drive mechanism, wherein the gesture regulating mechanism and the locking and unlocking mechanism are positioned inside a machine body, and the machine body is connected with a leg mechanism of the robot. According to the structural distortion principle, the screw nut drive mechanism is adopted in a gesture regulating process, a spindle nut is moved to the top end of a screw to ensure that a spring is shortened, the screw and thigh rod hopping preparation is completed under the drive of a small-power motor; in an energy storing process, the screw nut drive mechanism has a larger transmission ratio, and the springis stretched under the drive of the small-power motor so that the energy storage is realized; and in a locking and unlocking process, the locking and the unlocking of a hopping mechanism are completed by using a steering engine to drive pawls, and the response speed is high and the action is reliable. The energy-storage and release device of the hopping robot has a simple and reliable structure, can complete the energy storage and release of the hopping robot by only the small-power motor, and is suitable for the hopping robot for planet exploration.
Description
technical field [0001] The invention relates to a mechanical energy storage and release device, in particular to an energy storage and release device for a bouncing robot. Background technique [0002] US patent specification US 7 168 513 B2 discloses a bouncing robot for planetary surface exploration. The bouncing robot involved includes a bouncing mechanism and an energy storage and release device. The bouncing mechanism is composed of four equal-length connecting rods, two pairs of gears with the same parameters and springs. mechanism, the two ends of the spring are respectively fixed on the two hinge joints in the middle of the six-bar mechanism. Its energy storage and release device includes a motor, a lead screw transmission mechanism and a locking / release device. When working, the motor fixed on the top of the bouncing mechanism drives the lead screw to extend downward, and the hook at the end of the lead screw is fixed to the locking / release device at the bottom of...
Claims
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IPC IPC(8): B62D51/06
Inventor 葛文杰柏龙陈晓红张永红柴辉
Owner NORTHWESTERN POLYTECHNICAL UNIV