Elastic potential energy automatic release mechanism of a hopping robot

Abstract

The application belongs to the technical field of robots, and particularly relates to an elastic potential energy automatic release mechanism of a jumping robot, which comprises a lead screw, a locking mechanism, a guide ring, a weight platform, a motor and a spring. The locking mechanism is sleeved on the lead screw and can move up and down along the lead screw to realize connection with the weight platform. The motor is located at the lowermost end of the lead screw and is used for realizing the up-and-down movement of the locking mechanism. The spring is sleeved around the lead screw, one end of the spring is fixed to the weight platform, and the other end of the spring is fixed to the bottom of the inner wall of the shell of the jumping robot. The storage and release of the elastic potential energy of the spring are realized by the same motor, and an additional motor is not needed to control the energy release. The more complicated motor cooperation control is avoided by using a mechanical structure. The locking mechanism can be arranged in the middle of the energy storage spring, so that the structure of the jumping robot is more compact, the additional volume and mass are reduced, and the motion performance is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to an elastic potential energy automatic release mechanism of a jumping robot. BACKGROUND

[0002] As a common robot, the jumping robot needs to use a certain number of drivers, energy release components and the like in order to meet the needs of jumping of the robot. Too many components increase the weight of the robot, and unreasonable arrangement of the components also limits the mobility of the robot. SUMMARY

[0003] In order to solve the problems in the prior art, the main purpose of the present application is to provide an elastic potential energy automatic release mechanism of a jumping robot, which uses fewer motors to drive to achieve more degrees of freedom and realize more functions.

[0004] In order to solve the above technical problems, according to one aspect of the present application, the present application provides the following technical scheme:

[0005] An elastic potential energy automatic release mechanism of a jumping robot comprises:

[0006] a lead screw, a locking mechanism, a guide ring, a weight platform, a motor, a spring and a partition plate;

[0007] The locking mechanism is sleeved on the lead screw and can move up and down along the lead screw to realize connection with the weight platform.

[0008] The partition plate is fixed radially along the inner wall of the jumping robot shell to divide the internal space of the jumping robot shell into an upper part and a lower part.

[0009] The guide ring is sleeved around the lead screw and fixed on the partition plate.

[0010] The motor is located in the lower part of the partition plate and in transmission connection with the lead screw to realize up and down movement of the locking mechanism.

[0011] The spring is sleeved around the lead screw, one end of which is fixed to the weight platform and the other end of which is fixed to the partition plate.

[0012] As a preferred scheme of the elastic potential energy automatic release mechanism of the jumping robot, the locking mechanism comprises a lead screw nut, a locking spring and a piston, the lead screw nut is connected with the lead screw, the side surface of the lead screw nut is provided with a non-through groove, the piston is connected in the groove of the lead screw nut through the locking spring and can axially stretch and contract along the lead screw nut.

[0013] As a preferred scheme of the elastic potential energy automatic release mechanism of the jumping robot, the piston comprises an upper piston part and a lower piston part, the axial length of the upper piston part along the screw nut is greater than the axial length of the lower piston part along the screw nut, and an upper inclined surface is arranged on the upper part of the side of the upper piston part which is not connected with the locking spring, and a lower inclined surface is arranged on the lower part of the side of the lower piston part which is not connected with the locking spring.

[0014] As a preferred scheme of the elastic potential energy automatic release mechanism of the jumping robot, the weight platform is provided with a sliding groove which can move up and down along the shell of the jumping robot, and a locking ring is arranged at the center of the lower end of the weight platform, and the locking ring and the piston are connected to realize the connection of the locking mechanism and the weight platform.

[0015] As a preferred scheme of the elastic potential energy automatic release mechanism of the jumping robot, the inner diameter of the locking ring is less than the sum of the axial length of the upper piston part along the screw nut and the axial length of the locking spring in the relaxed state; and the inner diameter of the locking ring is greater than the sum of the axial length of the lower piston part along the screw nut and the axial length of the locking spring in the compressed state.

[0016] As a preferred scheme of the elastic potential energy automatic release mechanism of the jumping robot, the inner diameter of the guiding ring is less than the sum of the axial length of the lower piston part along the screw nut and the axial length of the locking spring in the relaxed state; and the inner diameter of the guiding ring is greater than the sum of the axial length of the lower piston part along the screw nut and the axial length of the locking spring in the compressed state.

[0017] As a preferred scheme of the elastic potential energy automatic release mechanism of the jumping robot, the difference between the inner diameter of the locking ring and the inner diameter of the guiding ring is greater than or equal to the difference between the axial length of the upper piston part along the screw nut and the axial length of the lower piston part along the screw nut.

[0018] To solve the above technical problems, according to another aspect of the present application, the present application provides the following technical scheme:

[0019] A jumping robot comprising the elastic potential energy automatic release mechanism of the jumping robot.

[0020] To solve the above technical problems, according to another aspect of the present application, the present application provides the following technical scheme:

[0021] An action method of the elastic potential energy automatic release mechanism of the jumping robot, comprising the following steps:

[0022] S1, the motor drives the screw rod to rotate, and the locking mechanism is lifted to the weight platform to lock the weight platform;

[0023] S2, the motor reverses, drives the screw rod to rotate reversely, and the weight platform is driven downward by the locking mechanism;

[0024] S3, the latching mechanism contacts the guide ring, pushes the latching mechanism to release the locking of the heavy object platform, releases the heavy object platform, and realizes the automatic release of the elastic potential energy of the jumping robot;

[0025] S4, repeat steps S1-S3 to realize repeated locking and releasing of the latching mechanism and repeated energy storage and release of the heavy object platform.

[0026] As a preferred scheme of the action method of the elastic potential energy automatic release mechanism of the jumping robot, wherein: comprising the following steps:

[0027] S1, the motor drives the screw rod to rotate, the screw rod drives the screw nut to rotate, the piston is lifted to the locking ring of the heavy object platform, the upper inclined surface of the piston is in contact with the lower opening line of the locking ring, the motor continues to lift, the latching spring is compressed, and finally the piston enters the locking ring to lock the heavy object platform;

[0028] S2, the motor reverses, drives the screw rod to rotate reversely, and drives the heavy object platform to move downward by the piston;

[0029] S3, the lower inclined surface of the piston contacts the guide ring, pushes the piston to compress the latching spring to release the locking of the heavy object platform, releases the heavy object platform, and realizes the automatic release of the elastic potential energy of the jumping robot;

[0030] S4, repeat steps S1-S3 to realize repeated locking and releasing of the latching mechanism and repeated energy storage and release of the heavy object platform.

[0031] The beneficial effects of the present application are as follows:

[0032] The present application provides an elastic potential energy automatic release mechanism of a jumping robot, which comprises a lead screw, a latching mechanism, a guide ring, a heavy object platform, a motor and a spring. The latching mechanism is sleeved on the screw rod and can move up and down along the screw rod to realize connection with the heavy object platform. The motor is located at the lowermost end of the lead screw and is used to realize the up and down movement of the latching mechanism. The spring is sleeved around the screw rod, one end of which is fixed to the heavy object platform, and the other end is fixed to the bottom inner wall of the shell of the jumping robot. The storage and release of the elastic potential energy of the spring are realized by the same motor, without the need for an additional motor to control energy release. The mechanical structure is used to avoid more complex motor cooperation control, the latching mechanism and the guide ring can be arranged in the middle of the energy storage spring, so that the structure of the jumping robot is more compact, the additional volume and mass are reduced, and the motion performance is improved. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings in the following description only show some of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from the structures shown in the drawings without creative labor.

[0034] Figure 1 Structure diagram of the elastic potential energy automatic release mechanism of the jumping robot of the present application;

[0035] Figure 2 Structure diagram of the locking mechanism of the present application;

[0036] Figure 3 Action state diagram of the elastic potential energy automatic release mechanism of the jumping robot of the present application.

[0037] 1-screw rod, 2-screw rod nut, 3-locking spring, 4-piston, 5-guide ring, 6-locking ring, 7-spring, 8-motor, 9-piston upper inclined surface, 10-piston lower inclined surface.

[0038] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments will be described clearly and completely below. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0040] The main purpose of the present application is to provide an elastic potential energy automatic release mechanism of a jumping robot, which uses fewer motors to drive to achieve more degrees of freedom and realize more functions.

[0041] As shown in the drawings, Figures 1-2 An embodiment of the present application provides an elastic potential energy automatic release mechanism of a jumping robot, which comprises:

[0042] screw rod 1, locking mechanism, guide ring 5, weight platform, motor 8, spring 7, partition plate;

[0043] The locking mechanism is sleeved on the screw rod 1 and can move up and down along the screw rod 1 to realize the connection with the weight platform;

[0044] The partition plate is fixed radially along the inner wall of the jumping robot shell to divide the internal space of the jumping robot shell into an upper part and a lower part;

[0045] The guide ring 5 is sleeved around the lead screw 1 and fixed to the partition plate;

[0046] The motor 8 is located at the lower part of the partition plate and in transmission connection with the lead screw 1, for realizing the up-down movement of the locking mechanism;

[0047] The spring 7 is sleeved around the lead screw 1, one end of which is fixed to the weight platform and the other end is fixed to the partition plate;

[0048] The locking mechanism and the guide ring 5 are arranged in the middle of the spring 7, so that the structure of the jumping robot is more compact and the extra volume is reduced.

[0049] In an embodiment of the present application, the locking mechanism comprises the lead screw nut 2, the locking spring 3 and the piston 4, and the connection with the lead screw 1 is realized through the lead screw nut 2; the side surface of the lead screw nut 2 is provided with a non-through groove, and the piston 4 is connected to the groove of the lead screw nut 2 through the locking spring 3 and can be axially extended and retracted along the lead screw nut 2.

[0050] In an embodiment of the present application, the piston 4 comprises an upper piston part and a lower piston part, the length of the upper piston part along the axial direction of the lead screw nut 2 is greater than the length of the lower piston part along the axial direction of the lead screw nut 2, and the upper side of the upper piston part which is not connected to the locking spring 3 is provided with an upper piston inclined surface 9, and the lower side of the lower piston part which is not connected to the locking spring 3 is provided with a lower piston inclined surface 10.

[0051] In an embodiment of the present application, the weight platform is provided with a sliding groove which can move up and down along the shell of the jumping robot, and the lower end center of the weight platform is provided with the locking ring 6, and the connection of the locking mechanism and the weight platform is realized through the locking ring 6 and the piston 4.

[0052] In an embodiment of the present application, the inner diameter of the locking ring 6 is less than the sum of the length of the locking spring 3 in the relaxed state and the length of the upper piston part along the axial direction of the lead screw nut 2; the inner diameter of the locking ring 6 is greater than the sum of the length of the locking spring 3 in the compressed state and the length of the upper piston part along the axial direction of the lead screw nut 2, so as to realize the locking of the locking mechanism and the weight platform.

[0053] In an embodiment of the present application, the inner diameter of the guide ring 5 is less than the sum of the length of the locking spring 3 in the relaxed state and the length of the lower piston part along the axial direction of the lead screw nut 2; the inner diameter of the guide ring 5 is greater than the sum of the length of the locking spring 3 in the compressed state and the length of the lower piston part along the axial direction of the lead screw nut 2, so as to realize the unlocking of the locking mechanism and the weight platform.

[0054] In an embodiment of the present application, the difference between the inner diameter of the locking ring 6 and the inner diameter of the guide ring 5 is greater than or equal to the difference between the length of the upper piston part along the axial direction of the lead screw nut 2 and the length of the lower piston part along the axial direction of the lead screw nut 2.

[0055] As Figures 1-2As shown, one embodiment of the present invention provides a jumping robot, including the above-described automatic elastic potential energy release mechanism for the jumping robot, the automatic elastic potential energy release mechanism comprising:

[0056] 1. Lead screw, 2. Locking mechanism, 3. Guide ring, 4. Weight platform, 5. Motor, 6. Spring, 7. Partition;

[0057] The locking mechanism is sleeved on the lead screw 1 and can move up and down along the lead screw 1 to connect with the heavy object platform;

[0058] The partition is fixed radially along the inner wall of the jumping robot's shell, dividing the internal space of the jumping robot's shell into an upper and lower part;

[0059] Guide ring 5 is fitted around lead screw 1 and fixed to partition plate;

[0060] The motor 8 is located at the bottom of the partition and is connected to the lead screw 1 for transmission, and is used to realize the up and down movement of the locking mechanism;

[0061] Spring 7 is sleeved around lead screw 1, with one end fixed to the heavy platform and the other end fixed to the partition.

[0062] like Figures 1-3 As shown, one embodiment of the present invention provides an operation method for an automatic release mechanism of elastic potential energy of a jumping robot, comprising the following steps:

[0063] S1, Motor 8 drives Lead Screw 1 to rotate, lifting the locking mechanism to the heavy platform and locking the heavy platform, such as... Figure 3 As shown in (a);

[0064] S2, Motor 8 reverses, driving Lead Screw 1 to rotate in the opposite direction, which in turn causes the heavy platform to move downwards via the locking mechanism. Figure 3 As shown in (b);

[0065] S3, the locking mechanism contacts the guide ring 5, pushing the locking mechanism to release the heavy platform, releasing the heavy platform, and realizing the automatic release of the elastic potential energy of the jumping robot;

[0066] S4. Repeat steps S1-S3 to achieve repeated locking and unlocking of the locking mechanism and repeated energy storage and release of the heavy platform.

[0067] In one embodiment of the present invention, the method for automatically releasing the elastic potential energy of a jumping robot includes the following steps:

[0068] S1. Motor 8 drives lead screw 1 to rotate, lead screw 1 drives lead screw nut 2 to rotate, lifting the piston to the locking ring 6 of the heavy platform. The upper inclined surface 9 of the piston contacts the lower opening line of the locking ring 6. Motor 8 continues to lift, compressing the locking spring 3. Finally, the piston 4 enters the locking ring 6 to lock the heavy platform.

[0069] S2, the motor 8 reverses, drives the screw rod 1 to reverse, drives the piston 4 to drive the heavy platform to move downward;

[0070] S3, the piston lower inclined surface 10 contacts the guide ring 5, pushes the piston 4 to compress the locking spring 3 to release the locking of the heavy platform, releases the heavy platform, realizes the elastic potential automatic release of the jumping robot;

[0071] S4, repeat S1-S3 steps, realize the repeated locking-unlocking of the locking mechanism, and the repeated energy storage-release of the heavy platform.

[0072] The elastic potential automatic release mechanism of the jumping robot comprises a screw rod, a locking mechanism, a guide ring, a heavy platform, a motor and a spring. The locking mechanism is sleeved on the screw rod and can be moved up and down along the screw rod to realize the connection with the heavy platform. The motor is located at the lowermost end of the screw rod and is used to realize the up-down movement of the locking mechanism. The spring is sleeved around the screw rod, one end of which is fixed to the heavy platform, and the other end is fixed to the bottom of the inner wall of the shell of the jumping robot. The storage and release of the elastic potential of the spring are realized by the same motor, and no additional motor is needed to control the energy release. The locking mechanism can be arranged in the middle of the energy storage spring, so that the structure of the jumping robot is more compact, the additional volume and mass are reduced, and the motion performance is improved.

[0073] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made by using the content of the present application, or direct / indirect application in other related technical fields under the inventive concept of the present application is included in the patent protection scope of the present application.

Claims

1. An automatic release mechanism for the elastic potential energy of a jumping robot, characterized in that, include: Lead screw, locking mechanism, guide ring, load platform, motor, spring, partition; The locking mechanism is sleeved on the lead screw and can move up and down along the lead screw to connect with the heavy object platform; The partition is fixed radially along the inner wall of the jumping robot's shell, dividing the internal space of the jumping robot's shell into an upper and lower part; The guide ring is sleeved around the lead screw and fixed to the partition plate; The motor is located at the bottom of the partition and is connected to the lead screw drive to realize the up and down movement of the locking mechanism; A spring is sleeved around the lead screw, with one end fixed to the heavy platform and the other end fixed to the partition. The locking mechanism includes a lead screw nut, a locking spring, and a piston. The lead screw nut connects the piston to the lead screw. The lead screw nut has a non-through groove on its side. The piston is connected to the groove of the lead screw nut through the locking spring and can extend and retract along the axial direction of the lead screw nut. The piston includes an upper part and a lower part. The length of the upper part along the axial direction of the lead screw nut is greater than the length of the lower part along the axial direction of the lead screw nut. The upper part of the upper part is provided with an upper inclined surface on the side not connected to the locking spring, and the lower part of the lower part is provided with a lower inclined surface on the side not connected to the locking spring. The heavy platform is equipped with a slide that can move up and down along the shell of the jumping robot, and a locking ring is set at the center of the lower end of the heavy platform. The locking mechanism and the heavy platform are connected through the locking ring and the piston.

2. The automatic release mechanism for the elastic potential energy of the jumping robot according to claim 1, characterized in that, The inner diameter of the locking ring is smaller than the sum of the lengths of the locking spring and the upper part of the piston in the relaxed state along the axial direction of the lead screw and nut; the inner diameter of the locking ring is larger than the sum of the lengths of the locking spring and the upper part of the piston in the compressed state along the axial direction of the lead screw and nut.

3. The automatic release mechanism for the elastic potential energy of the jumping robot according to claim 2, characterized in that, The inner diameter of the guide ring is smaller than the sum of the lengths of the locking spring and the lower part of the piston in the relaxed state along the axial direction of the lead screw nut; the inner diameter of the guide ring is larger than the sum of the lengths of the locking spring and the lower part of the piston in the compressed state along the axial direction of the lead screw nut.

4. The automatic release mechanism for the elastic potential energy of the jumping robot according to claim 3, characterized in that, The difference between the inner diameter of the locking ring and the inner diameter of the guide ring is greater than or equal to the difference between the length of the upper part of the piston along the axial direction of the lead screw nut and the length of the lower part of the piston along the axial direction of the lead screw nut.

5. A jumping robot, characterized in that, The automatic release mechanism for the elastic potential energy of the jumping robot as described in any one of claims 1-4.

6. A method for operating the elastic potential energy automatic release mechanism of the jumping robot according to any one of claims 1-4, characterized in that, Includes the following steps: S1. The motor drives the lead screw to rotate, lifting the locking mechanism to the heavy platform and locking the heavy platform. S2. The motor reverses, causing the lead screw to rotate in the opposite direction, and the locking mechanism drives the heavy platform to move downwards. S3. The locking mechanism contacts the guide ring, pushing the locking mechanism to release the heavy platform, releasing the heavy platform, and realizing the automatic release of the elastic potential energy of the jumping robot; S4. Repeat steps S1-S3 to achieve repeated locking and unlocking of the locking mechanism and repeated energy storage and release of the heavy platform.

7. The method for automatically releasing the elastic potential energy of the jumping robot according to claim 6, characterized in that, Includes the following steps: S1. The motor drives the lead screw to rotate, and the lead screw drives the lead screw nut to rotate, raising the piston to the locking ring of the heavy platform. The upper inclined surface of the piston contacts the lower opening line of the locking ring. The motor continues to raise the piston, compressing the locking spring. Finally, the piston enters the locking ring and locks the heavy platform. S2. The motor reverses, causing the lead screw to rotate in the opposite direction, which in turn drives the piston to move the heavy platform downwards. S3. The lower inclined surface of the piston contacts the guide ring, pushing the piston to compress the locking spring to release the locking of the heavy platform, releasing the heavy platform and realizing the automatic release of the elastic potential energy of the jumping robot; S4. Repeat steps S1-S3 to achieve repeated locking and unlocking of the locking mechanism and repeated energy storage and release of the heavy platform.

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