A self-releasing bouncing mechanism with controllable energy storage

Abstract

The invention discloses a self-releasing bouncing mechanism with controllable energy storage, belonging to the field of robots; the mechanism comprises a motor, a frame, a clutch mechanism, a bouncing mechanism and an energy storage mechanism; the frame is used for installing the motor, the clutch mechanism, the bouncing mechanism and the energy storage mechanism, and comprises a left frame, a middle frame and a right frame; the left frame, the middle frame and the right frame are three parallel and relatively arranged flat plates, and the left frame and the right frame are respectively fixed in parallel to the two sides of the middle frame by supporting studs and screws; the clutch mechanism is installed between the left frame and the middle frame, and comprises an active part and a driven part; the energy storage mechanism is coaxial with a ratchet with an axis, is installed on the other side of the middle frame, and stores energy by driving a plane volute spring through a motor; the bouncing mechanism is installed between the middle frame and the right frame; the clutch mechanism of the invention makes a rolling ball body move in a track by a forward and reverse rotation of the motor, so that the pawl ratchet is separated and meshed, thereby realizing the bouncing and energy storage of the robot, and the control of the robot becomes simple and easy.

Description

Technical Field

[0001] The invention belongs to the field of robots, and in particular relates to a self-releasing bouncing mechanism with controllable energy storage. Background Art

[0002] Jumping is a sport that requires strong explosive power and high energy density. In nature, many animals rely on jumping in combination with other forms of movement (such as walking, flying, etc.) to cope with complex external environments. The jumping movement of animals has brought many inspirations to the field of bionic engineering. Currently, research on jumping mainly focuses on jumping mechanisms and bouncing robots.

[0003] Jumping robots can be roughly divided into three categories based on energy drive: mechanical elastic energy, chemical release energy, and field force energy. Currently, most jumping robots use a combination of elastic elements and locking mechanisms to achieve intermittent jumping, and very few can achieve jumping with different take-off heights in complex environments.

[0004] Application No. 201820557280.X discloses a scheme for realizing continuous jumping of a bouncing robot by relying on toothless gears. The robot designed in this scheme can realize jumping at different take-off angles and can realize continuous jumps. However, the toothless mechanism used in this scheme limits the robot to a fixed jump height. For complex roads such as relatively flat steps, it cannot jump to different heights according to actual road conditions, which wastes a lot of energy. In addition, if the robot jumps too high, its posture in the air will be unstable, and hard landing will reduce the service life of the robot.

[0005] Application No. 201110114993.1 discloses a bionic bouncing mechanism with adjustable jumping degree, which realizes adjustable height and take-off angle of the bouncing mechanism and can realize the function of bouncing robot turning. The mechanism uses a variable gear set to realize the storage of different energies of the robot, thereby realizing jumping at different heights, but the meshing between the spline shaft and the gear has the disadvantage of inaccurate meshing, and the accurate gear set process cannot be guaranteed. In addition, the mechanism is complex and difficult to control. The fixed three-stage variable gear set can only realize three different jumping heights, and cannot realize continuous variable height jumping. Summary of the invention

[0006] Technical issues to be solved:

[0007] In order to avoid the shortcomings of the prior art, the present invention proposes a self-releasing bouncing mechanism with controllable energy storage, which stores energy according to actual needs to realize a robot that bounces at different heights. The robot mechanism has a simple design and is easy to control, and can meet the bouncing needs of different road conditions.

[0008] The technical solution of the present invention is: a self-releasing bouncing mechanism with controllable energy storage, characterized in that it comprises a motor, a frame, a clutch mechanism, a bouncing mechanism and an energy storage mechanism;

[0009] The frame is used to install the motor, the clutch mechanism, the bouncing mechanism and the energy storage mechanism, and includes a left frame, a middle frame and a right frame; the left frame, the middle frame and the right frame are three parallel and oppositely arranged flat plates, the left frame and the right frame are respectively fixed in parallel to the two sides of the middle frame by supporting studs and screws, the two through holes opened on the middle frame are respectively coaxial with the two through holes on the right frame, the center hole of the left frame is coaxial with the first through holes of the middle frame and the right frame, and the through holes on the three flat plates are located at the same height;

[0010] The clutch mechanism is installed between the left frame and the middle frame, and includes an active part and a driven part. The active part includes an active plate, a pawl, a rolling ball, a cylindrical tension spring, and a shaft spring retaining ring, and the driven part includes a ratchet with a shaft; the active plate is a disc structure, a cylindrical boss is provided at the center of one end face, a circular boss is provided at the outer edge of the other end face, and two cylindrical protrusions are provided at symmetrical positions of the end face; the motor shaft of the motor passes through the center hole of the left frame and the D-shaped hole at the center axis of the active plate in turn, and the axial displacement is limited by the shaft spring retaining ring installed at the end of the motor shaft, and the active plate is driven by the motor to rotate, and the cylindrical boss of the active plate One side faces the motor; the pawl is an arc structure, the center of which is hinged on the cylindrical protrusion of the active plate, and one end is a hook head; the two pawls are connected end to end and are located on the same circumferential surface, and the other ends of the pawls are connected to the inner wall of the circular boss of the active plate through cylindrical tension springs; the two rolling balls are respectively placed between the outer arc surfaces of the two pawls and the inner wall of the circular boss of the active plate, and the stroke is between the center of the pawl and the cylindrical tension spring; the shafted ratchet is coaxial with the active plate, one end is a D-shaped cross-section shaft, and the other end is a ratchet, the ratchet is meshed with the hook heads of the two pawls, and the D-shaped cross-section shaft passes through the first through holes of the middle frame and the right frame in turn, and are connected through bearings respectively;

[0011] The energy storage mechanism is coaxial with the ratchet with shaft and installed on the other side of the middle frame, and includes a plane volute spring, a U-shaped buckle and a fixed sleeve; a D-shaped hole is opened at the center of the fixed sleeve, and is coaxially sleeved on the D-shaped cross-section shaft; the plane volute spring is coaxial with the fixed sleeve, and its inner end is fixed to the outer peripheral surface of the fixed sleeve, and the outer end is fixed to the middle frame through the U-shaped buckle; the fixed sleeve is driven to rotate by the ratchet with shaft, thereby realizing the energy storage and release of the plane volute spring;

[0012] The bouncing mechanism is installed between the middle frame and the right frame, and includes a shaft, a first spur gear, a second spur gear, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a supporting seat; a D-shaped hole is opened at the upper end of the first connecting rod and the center of the first spur gear, and is coaxially sleeved on the D-section shaft; the lower end of the first connecting rod is hinged to the upper end of the second connecting rod, and the lower end of the second connecting rod is a cylindrical gear structure, which is hinged to the supporting seat; the two ends of the shaft are respectively connected to the second through holes of the middle frame and the right frame through bearings, and the axial direction is connected to the axial direction of the ratchet with the shaft Parallel; the upper end of the third connecting rod and the second spur gear are coaxially fixed on the shaft, the lower end of the third connecting rod is hinged to the upper end of the fourth connecting rod, the lower end of the fourth connecting rod is a cylindrical gear structure, which is hinged on the support seat and meshes with the cylindrical gear of the second connecting rod; the second spur gear is meshed with the first spur gear; the ratchet with shaft drives the first connecting rod, the first spur gear, the second spur gear, the shaft, and the third connecting rod to rotate in turn, and then the first connecting rod and the third connecting rod respectively drive the second connecting rod and the fourth connecting rod to rotate, so as to realize the bouncing of the entire mechanism.

[0013] A further technical solution of the present invention is: the left frame is a strip plate, the middle frame is a flat plate structure with a circular end and a Y-shaped end, and the right frame is a strip plate structure with a triangular end; two lugs are symmetrically arranged on the outer circumference of the circular end of the middle frame, and the two ends of the left frame are respectively fixed to the two lugs by supporting studs and screws; the two apex angles on the outer side of the triangular end of the right frame are respectively fixed to the end of the Y-shaped end of the middle frame by supporting studs and screws, and the end of the strip end of the right frame is fixed to the circular end of the middle frame by supporting studs and screws.

[0014] A further technical solution of the present invention is: two notches are symmetrically opened on the annular boss of the active plate, protrusions are respectively arranged at the notches, one end of the cylindrical tension spring is fixed to the protrusion, and the other end is fixed to the other end of the pawl.

[0015] A further technical solution of the present invention is that an annular key groove is provided on the outer peripheral surface of the motor shaft end of the motor for installing the shaft spring retaining ring.

[0016] A further technical solution of the present invention is: a circular groove is opened on the end surface of the middle frame facing the active plate, and a rubber ring is embedded in it; the rubber ring is coaxial with the first through hole of the middle frame and contacts with the rolling ball body, so as to increase the friction force of the rolling ball body rolling within the stroke.

[0017] A further technical solution of the present invention is that the active sheet and the middle frame are clearance matched, and the clearance is smaller than the diameter of the rolling ball, so as to prevent the rolling ball from falling off.

[0018] A further technical solution of the present invention is that a semicircular protrusion is arranged at the center of the outer arc surface of the pawl to limit the travel of the rolling ball.

[0019] A further technical solution of the present invention is that the cylindrical gears of the second connecting rod and the fourth connecting rod have the same number of teeth and module.

[0020] A further technical solution of the present invention is that the first spur gear and the second spur gear have the same number of teeth and module.

[0021] A further technical solution of the present invention is that through holes are respectively opened on both sides of the central hole of the left frame, which are arranged opposite to the positioning holes on the motor body, and bolts are passed through in sequence to fix the left frame to the motor.

[0022] Beneficial Effects

[0023] The beneficial effects of the present invention are:

[0024] (1) The energy storage and release process of the clutch mechanism designed in the present invention is achieved by separating and engaging the ratchet pawl, and there is no sticking phenomenon, which solves the problem of the missing tooth gear meshing with the stuck teeth when storing energy in the missing tooth mode.

[0025] (2) The clutch mechanism designed in the present invention can make the ball body move in the track by the forward and reverse rotation of the motor to separate and engage the pawl and ratchet, thereby realizing the robot's bouncing and energy storage, and the robot's operation becomes simple and easy.

[0026] (3) The clutch mechanism designed in the present invention determines the jumping height according to the number of revolutions of the motor shaft, and the method of controlling the jumping height becomes simpler and more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is an isometric view of the present invention;

[0028] Figure 2 is a top view of the present invention;

[0029] Figure 3 It is an exploded view of the clutch mechanism;

[0030] Figure 4 It is an exploded view of the bounce and energy storage mechanism;

[0031] Figure 5 This is a partial view of the active plate of the clutch mechanism;

[0032] Figure 6 It is the motor 100 view;

[0033] Figure 7 is a schematic diagram of the middle rack 202;

[0034] Figure 8 is a schematic diagram of an active sheet 300;

[0035] Fig. 9 is a schematic diagram of the ratchet 305;

[0036] Fig.10 is a schematic diagram of a ratchet wheel 302 with an axis;

[0037] Fig.11 is a schematic diagram of a fixed sleeve 502;

[0038] Fig.12 is a schematic diagram of the first connecting rod 406;

[0039] Fig.13 is a schematic diagram of the fourth connecting rod 403;

[0040] Fig.14 is a schematic diagram of a first spur gear 400;

[0041] Fig.15 is a schematic diagram of the right rack 204;

[0042] Fig.16 is a schematic diagram of a support base 404;

[0043] Fig.17 is a schematic diagram of a U-shaped buckle 500;

[0044] Fig.18 is a schematic diagram of a spring retaining ring 306 for a shaft;

[0045] Fig.19 is a schematic diagram of a cylindrical tension spring 303;

[0046] Fig. 20 is a schematic diagram of a support stud 201;

[0047] Fig.21 is a schematic diagram of the left rack 200;

[0048] Fig. 22 is a schematic diagram of a rubber ring 301;

[0049] Fig.23 is a schematic diagram of shaft 407;

[0050] Explanation of the reference numerals: 100. Motor; 101. Motor shaft; 102. Keyway; 103. Positioning hole; 200. Left frame; 201. Support stud; 202. Middle frame; 203. Deep groove ball bearing; 204. Right frame; 205. Angular contact ball bearing; 300. Active plate; 301. Rubber ring; 302. Ratchet with shaft; 303. Cylindrical tension spring; 304. Rolling ball body; 305. Ratchet; 306. Spring retaining ring for shaft; 307. U-shaped buckle hole; 400. First spur gear; 401. Second spur gear; 402. Third connecting rod; 403. Fourth connecting rod; 404. Support seat; 405. Second connecting rod; 406. First connecting rod; 407. Shaft; 500. U-shaped buckle; 501. Plane volute spring; 502. Fixed sleeve. DETAILED DESCRIPTION

[0051] The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0052] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0053] Reference Figure 1 As shown, the present invention provides a self-release bouncing mechanism with controllable energy storage, comprising a motor 100, a frame, a clutch mechanism, a bouncing mechanism and an energy storage mechanism; the frame is used to install the motor, the clutch mechanism, the bouncing mechanism and the energy storage mechanism, and comprises a left frame 200, a middle frame 202 and a right frame 204; the left frame 200, the middle frame 202 and the right frame 204 are three parallel and relatively arranged flat plates, the left frame 200 and the right frame 204 are respectively fixed in parallel to the two sides of the middle frame 202 by supporting studs 201 and screws, the two through holes opened on the middle frame 202 are respectively coaxial with the two through holes on the right frame, the center hole of the left frame 200 is coaxial with the first through holes of the middle frame 202 and the right frame 204, and the through holes on the three flat plates are located at the same height. Through holes are respectively opened on both sides of the central hole of the left frame 200, which are arranged opposite to the positioning holes 103 on the body of the motor 100, and bolts are passed through in sequence to fix the left frame 200 and the motor 100.

[0054] The clockwise and counterclockwise directions mentioned below are defined when viewed from the direction of the motor.

[0055] Reference Figure 1 , 3 , 4, 5, the clutch mechanism includes an active plate 300, a rubber ring 301, a ratchet wheel with a shaft 302, a cylindrical tension spring 303, a rolling ball body 304, a pawl 305, a spring retaining ring for the shaft 306, and a U-shaped buckle hole 307. The active plate is installed on the motor shaft 100, with the left side of the active plate close to the shoulder of the motor shaft, and the right side is axially fixed by an elastic retaining ring 306 installed at the end of the motor shaft; the axial center hole of the active plate 300 is a D-shaped hole, which is matched with the motor shaft clearance, and the outer edge of the end face of one side of the active plate is provided with a circular ring boss, which surrounds the pawl 305, the ball body 304, and the cylindrical tension spring 303; the pawl 305 is hinged on the cylindrical protrusion on the end face of the active plate, and the tail end of the pawl 305 has a hole; one end of the cylindrical tension spring 303 is connected to the tail end of the pawl, and the other end is connected to the circular ring boss on the outer edge of the active plate; the ball body 304 is installed in the sandwich of the outer edge of the pawl and the cylindrical tension spring, and the movement of the ball body can only be from the tail end of the pawl to the pawl fixing point; the rubber ring 301 is installed in the circular ring groove of the middle frame (refer to Figure 7 ); A deep groove ball bearing and an angular contact bearing are sequentially installed on the D-shaped shaft of the shaft ratchet 302, the deep groove ball bearing is installed in the first through hole of the middle frame, and the angular contact bearing is installed in the first through hole of the right frame;

[0056] Reference Figure 1 , 4 The bouncing mechanism includes a first spur gear 400, a second spur gear 401, a first connecting rod 406, a second connecting rod 405, a third connecting rod 402, a fourth connecting rod 403, a shaft 407, and a support seat 404. The first connecting rod 406 and the first spur gear 400 are installed on the ratchet with a shaft. The first spur gear 400 is installed on the ratchet with a shaft. The gear shaft has a D-shaped hole, which is interference fit with the ratchet with a shaft. One side of the shaft extension is close to the right frame 204, and the other side is close to the first connecting rod. The third connecting rod 402 and the second spur gear 401 are installed on the shaft. The third connecting rod 402 and the second spur gear 401 both have D-shaped holes. The shaft 407 It is a D-shaped shaft, and the shaft hole is an interference fit. The second spur gear 401 has one side of the shaft extension close to the right frame 204, and the left side close to the third connecting rod 402. The first spur gear 400 and the second spur gear 401 are externally meshed; the second connecting rod 405 and the fourth connecting rod 403 are hinged at one end with teeth in the groove on the support seat 404, and the toothed side is externally meshed, and the other end is hinged to the first connecting rod 406 and the third connecting rod 402 respectively.

[0057] Reference Figure 4The energy storage mechanism includes a U-shaped buckle 500, a plane volute spring 501, and a fixed sleeve 502. The U-shaped buckle 500 is installed on the right end face of the middle frame and fixed by screws; the plane volute spring 501 is installed on the right side of the middle frame, the inner edge hook is inserted into the groove of the fixed sleeve 502, and the outer edge hook is stuck in the U-shaped buckle. The rotation direction of the plane volute spring 501 for energy storage is clockwise; the fixed sleeve 502 is installed on the ratchet with a shaft, and the shaft hole is D-shaped, and the matching method is interference fit.

[0058] The working process of the present invention is as follows: first, the robot is placed in a working environment, and the control system controls the motor 100 to rotate counterclockwise, the active plate 300 rotates synchronously with the motor shaft 101, the ball body 304 rolls toward the protruding part of the pawl along the track direction, the cylindrical tension spring 303 pulls up the tail end of the pawl 305, and the hook head is lowered and meshed with the ratchet, thereby driving the shaft ratchet 302 to rotate clockwise together; the fixed sleeve 502 drives the flat spiral spring to rotate clockwise through the groove on the outer edge to store energy, and the first connecting rod 406 and the first spur gear 400 on the D-shaped shaft of the shaft ratchet 302 rotate clockwise; the second spur gear 401 meshes with the first spur gear externally, driving the shaft 407 to rotate counterclockwise, and the opposite movements of the first connecting rod and the third connecting rod increase the angle between them. Similarly, the angle between the second connecting rod and the fourth connecting rod increases. When the motor 100 reaches a predetermined take-off height and number of turns, the motor 100 is powered off, and the energy storage stage ends. The motor 100 is controlled to reverse, and the active plate 300 rotates synchronously with the motor shaft 101. The ball body 304 rolls toward the tail end of the pawl 305 along the track direction, and the cylindrical tension spring 303 stretches. The gap between the tail end of the pawl 305 and the outer edge of the active plate 300 gradually increases, the hook head is lifted, and the ratchet becomes free. The energy stored in the plane volute spring 501 is released, and the shaft ratchet 302, the first connecting rod 406, and the second spur gear 400 rotate counterclockwise, and the first connecting rod 406 drives the second connecting rod 405 to rotate clockwise; the first spur gear 400 drives the second spur gear 401 to rotate clockwise, and the third connecting rod 402 on the shaft 407 rotates clockwise, driving the fourth connecting rod to rotate counterclockwise. When the energy of the plane volute spring 501 is completely released, the entire mechanism returns to the lowest energy state, and the entire bouncing stage ends.

[0059] Since there is missing teeth at the end of the connecting rod connected to the support seat, the body posture is determined during the energy storage and release process. The drawings provided in this design only give one body posture. Different body postures can be achieved by adjusting the transmission ratio of the second spur gear, the first spur gear and the length and angle of the first, second, third and fourth connecting rods.

[0060] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and intent of the present invention.

Claims

1. A self-releasing bouncing mechanism with controllable energy storage, characterized in that: It includes a motor, a frame, a clutch mechanism, a spring mechanism and an energy storage mechanism; The frame is used to install the motor, the clutch mechanism, the bouncing mechanism and the energy storage mechanism, and includes a left frame, a middle frame and a right frame; the left frame, the middle frame and the right frame are three parallel and oppositely arranged flat plates, the left frame and the right frame are respectively fixed in parallel to the two sides of the middle frame through supporting studs, the two through holes opened on the middle frame are respectively coaxial with the two through holes on the right frame, the center hole of the left frame is coaxial with the first through holes of the middle frame and the right frame, and the through holes on the three flat plates are located at the same height; The clutch mechanism is installed between the left frame and the middle frame, and includes an active part and a driven part. The active part includes an active plate, a pawl, a rolling ball, a cylindrical tension spring, and a shaft spring retaining ring, and the driven part includes a ratchet with a shaft; the active plate is a disc structure, a cylindrical boss is provided at the center of one end face, a circular boss is provided at the outer edge of the other end face, and two cylindrical protrusions are provided at symmetrical positions of the end face; the motor shaft of the motor passes through the center hole of the left frame and the D-shaped hole at the center axis of the active plate in turn, and the axial displacement is limited by the shaft spring retaining ring installed at the end of the motor shaft, and the active plate is driven by the motor to rotate, and the cylindrical boss of the active plate One side faces the motor; the pawl is an arc structure, the center of which is hinged on the cylindrical protrusion of the active plate, and one end is a hook head; the two pawls are connected end to end and are located on the same circumferential surface, and the other ends of the pawls are connected to the inner wall of the circular boss of the active plate through cylindrical tension springs; the two rolling balls are respectively placed between the outer arc surfaces of the two pawls and the inner wall of the circular boss of the active plate, and the stroke is between the center of the pawl and the cylindrical tension spring; the shafted ratchet is coaxial with the active plate, one end is a D-shaped cross-section shaft, and the other end is a ratchet, the ratchet is meshed with the hook heads of the two pawls, and the D-shaped cross-section shaft passes through the first through holes of the middle frame and the right frame in turn, and are connected through bearings respectively; The energy storage mechanism is coaxial with the ratchet with shaft and installed on the other side of the middle frame, and includes a plane volute spring, a U-shaped buckle and a fixed sleeve; a D-shaped hole is opened at the center of the fixed sleeve, and is coaxially sleeved on the D-shaped cross-section shaft; the plane volute spring is coaxial with the fixed sleeve, and its inner end is fixed to the outer peripheral surface of the fixed sleeve, and the outer end is fixed to the middle frame through the U-shaped buckle; the fixed sleeve is driven to rotate by the ratchet with shaft, thereby realizing the energy storage and release of the plane volute spring; The bouncing mechanism is installed between the middle frame and the right frame, and includes a shaft, a first spur gear, a second spur gear, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a supporting seat; a D-shaped hole is opened at the upper end of the first connecting rod and the center of the first spur gear, and is coaxially sleeved on the D-section shaft; the lower end of the first connecting rod is hinged to the upper end of the second connecting rod, and the lower end of the second connecting rod is a cylindrical gear structure, which is hinged to the supporting seat; the two ends of the shaft are respectively connected to the second through holes of the middle frame and the right frame through bearings, and the axial direction is connected to the axial direction of the ratchet with the shaft The third connecting rod is parallel; the upper end of the third connecting rod and the second spur gear are coaxially fixed on the shaft, the lower end of the third connecting rod is hinged with the upper end of the fourth connecting rod, the lower end of the fourth connecting rod is a cylindrical gear structure, which is hinged on the support seat and meshes with the cylindrical gear of the second connecting rod; the second spur gear is meshed with the first spur gear; the ratchet with shaft drives the first connecting rod, the first spur gear, the second spur gear, the shaft, and the third connecting rod to rotate in turn, and then the first connecting rod and the third connecting rod respectively drive the second connecting rod and the fourth connecting rod to rotate, so as to realize the bouncing of the whole mechanism; The left frame is a strip plate, the middle frame is a flat plate structure with a circular end and a Y-shaped end, and the right frame is a flat plate structure with a strip end and a triangular end; two lugs are symmetrically arranged on the outer circumference of the circular end of the middle frame, and the two ends of the left frame are respectively fixed to the two lugs through supporting studs; the two vertices outside the triangular end of the right frame are respectively fixed to the end of the Y-shaped end of the middle frame through supporting studs, and the end of the strip end of the right frame is fixed to the circular end of the middle frame through supporting studs; Two notches are symmetrically formed on the annular boss of the active plate, and protrusions are respectively arranged at the notches. One end of the cylindrical tension spring is fixed on the protrusion, and the other end is fixed to the other end of the pawl.

2. The energy storage controllable self-release bouncing mechanism according to claim 1, characterized in that: An annular key groove is formed on the outer peripheral surface of the motor shaft end of the motor for installing the shaft spring retaining ring.

3. The energy storage controllable self-release bouncing mechanism according to claim 1, characterized in that: A circular groove is formed on the end surface of the middle frame facing the active sheet, and a rubber ring is embedded therein; the rubber ring is coaxial with the first through hole of the middle frame and contacts the ball body, so as to increase the friction force of the ball body rolling within the stroke.

4. The energy storage controllable self-release bouncing mechanism according to claim 1, characterized in that: The active sheet and the middle frame are clearance matched, and the clearance is smaller than the diameter of the rolling ball, so as to prevent the rolling ball from falling off.

5. The energy storage controllable self-release bouncing mechanism according to claim 1, characterized in that: A semicircular protrusion is arranged at the center of the outer arc surface of the pawl, which is used to limit the travel of the rolling ball.

6. The energy storage controllable self-release bouncing mechanism according to claim 1, characterized in that: The cylindrical gears of the second connecting rod and the fourth connecting rod have the same number of teeth and module.

7. The energy storage controllable self-release bouncing mechanism according to claim 1, characterized in that: The first spur gear and the second spur gear have the same number of teeth and module.

8. The energy storage controllable self-release bouncing mechanism according to claim 1, characterized in that: Through holes are respectively opened on both sides of the central hole of the left frame, which are arranged opposite to the positioning holes on the motor body. Bolts pass through in sequence to fix the left frame and the motor.

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