A spring energy storage jumping mechanism

Abstract

The invention belongs to the technical field of robots, and discloses a spring energy storage type jumping mechanism, comprising: a track turntable (1), a pull rod (4), a spring energy storage device (15), the front end of the pull rod (4) and the track turntable The track of (1) is connected and can move on the track, the rear end of the pull rod (4) is connected with the spring energy storage device (15), the track of the track turntable (1) is Archimedes spiral, the The track turntable (1) is a worm gear structure, and the jumping mechanism also includes a worm, which meshes with the worm wheel, and drives the worm wheel to rotate by rotating the worm. The driving torque realizes the compression of a spring with greater elastic force, so that the jumping height of the jumping mechanism is higher, and the jumping mechanism can be widely used in small jumping robots.

Description

Technical field [0001] The present invention belongs to the field of robotics, in particular to a spring energy storage mechanism jump. Background technique [0002] A variety of robot jumping mechanism classification, according to the driving mode can be divided into hydraulic drives, pneumatic drives and motors driving mode such as a spring, but the complexity of the hydraulic drive and pneumatic drive structure, and large volume mass, problems such as complicated control, are not suitable for Research on small hopping robot, and general motor-driven spring-like hopping mechanism is unreasonable because it is designed, resulting in less storage, jump height is low, problems such as a larger volume. So the type of robot jumping agencies such as are described in US20150352454 A1. It is generally disc-shaped rotary member, the sliding portion, a spring and a driving motor. [0003] This structure has the following disadvantages: [0004] (1) a substantially disc-shaped cam surface...

AI Technical Summary

Problems solved by technology

[0004] (1) The cam surface in the roughly disk-shaped rotating part is composed of several regions, the spring compression speed is non-uniform, and the compression stability is low

[0005] (2) The sliding arm only pulls the cam surface from one side. When compressing, the spring force is too large, which will cause the roughly disc-shaped rotating part to be biased to one side of the sliding arm, thus preventing further energy storage or damaging the energy storage structure.

[0006] (3) The direct drive of the roughly disc-shaped rotating parts by the drive motor is only suitable for robots with small energy storage and low jump height. energy storage

[0007] (4) The structure is asymmetrical, and when jumping, the overall structure will rotate unnecessarily

[0008] (5) When the structure is in the state of spring contraction, it is necessary to set up an additional structure to fix the sliding part, thereby increasing the complexity of the overall structure and control program

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