A bow-shaped jumping robot

Abstract

The application provides a bow-shaped bouncing robot, which is composed of a power device, a bouncing system and a controller. The bouncing system comprises a winding rope mechanism and at least three bow-shaped elastic strips, the bow-shaped elastic strips are provided with bowstrings, the winding rope mechanism is used for pulling the bowstrings to store power for the bow-shaped elastic strips, and the controller is used for controlling the forward and reverse rotation of the power device. The power device drives the winding rope mechanism to realize continuous jumping of the robot. The bow-shaped bouncing robot has the characteristics of rigid body and soft body jumping robots, and has the characteristics of low cost, easy disassembly and assembly, continuous bouncing, small size and flexibility, and adaptability to various complex environments.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a bow-shaped bouncing robot. Background Technology

[0002] Robots are increasingly widely used in modern production and daily life, playing an increasingly important role in replacing humans. As their applications expand, the environments robots face are becoming increasingly harsh and complex. Tasks often involve complex terrain, and robots frequently encounter various obstacles or ditches during their movements, significantly limiting their mobility. While walking or crawling robots have a slightly stronger ability to overcome obstacles, their high degree of freedom and numerous joint actuators make control complex, resulting in slow movement. Furthermore, they struggle to successfully overcome obstacles larger than themselves.

[0003] Jumping robots can overcome obstacles several times or even dozens of times their own size through bouncing motion, and combining this with existing movement methods can greatly increase the robot's range of motion.

[0004] Currently, jumping robots developed both domestically and internationally can be broadly categorized into three types: mechanical, pneumatic, and soft. Rigidly driven jumping robots suffer from problems such as numerous parts, system complexity, poor economic efficiency, low reliability, and weak safety. Most soft jumping robots also face challenges such as the inability to perform rapid, continuous jumps, significantly reducing their flexibility. Summary of the Invention

[0005] The purpose of this invention is to propose a simple jumping robot device with an arc-shaped structure to solve the problems of existing rigid-driven jumping robots and soft jumping robots mentioned in the background art. It has the characteristics of both rigid and soft jumping robots, and greatly reduces the cost and structural complexity.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A bow-shaped bouncing robot comprises a power unit, a bouncing system, and a controller. The bouncing system includes a rope-winding mechanism and at least three bow-shaped springs. Each bow-shaped spring has a bowstring. The rope-winding mechanism is used to pull the bowstring to store force in the bow-shaped springs. The controller is used to control the forward and reverse rotation of the power unit. The power unit drives the rope-winding mechanism to achieve continuous jumping of the robot.

[0008] Furthermore, the rope winding mechanism comprises a rope reel, a turntable, an outer frame, a support rod, a guide device, rope A, and rope B. The turntable is located inside the rope reel and connected to it via a bearing. The rope reel has a circular ring structure with internal teeth on its inner ring. Ropes A are evenly distributed along the circumference of the rope reel in the same number as the bow-shaped spring bars. The other end of rope A passes through the outer frame and is connected to the bowstring via the guide device. The guide device is mounted on the outer frame via the support rod. The turntable consists of a pin, a spring, and a disc. The disc surface has radial guide grooves. One end of rope B is fixed on the axis of the power device, and the other end is fixed on the pin. The pin slides along the guide groove under the action of the spring and rope B to lock and release the rope reel.

[0009] Furthermore, the guide rail groove is a dovetail guide rail groove, the end of the pin near the spring has a dovetail structure, and the end of the pin away from the spring has a toothed structure.

[0010] Furthermore, the rope winding mechanism also includes an upper triangular plate and a lower triangular plate for mounting the power device. The upper triangular plate has a boss at its center for fixing the thin rope B, and the outer ring of the rope winding disc has a groove for accommodating the thin rope A.

[0011] Furthermore, the power unit is a servo motor or a small geared motor.

[0012] Furthermore, the bowstring is a resilient thin rope, and the bow-shaped spring is made of elastic carbon fiber or metal.

[0013] This bouncing robot uses a ratchet-like mechanism to continuously store energy. During the release of the elastic force, the design reduces frictional resistance to ensure that the elastic force is fully released without being restricted by other parts.

[0014] By using a guide device mounted on a support rod on the outer frame to change the direction of rope pulling, the rope can be able to pull the bow-shaped spring bar vertically. Structural improvements increase the rope's contraction degree, achieving greater jumping ability.

[0015] The present invention has the following beneficial effects:

[0016] This bow-shaped bouncing robot combines the characteristics of rigid and soft bouncing robots, while also being low-cost, easy to assemble and disassemble, capable of continuous bouncing, compact and flexible, and adaptable to a variety of complex environments. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the initial state of the bow-shaped bouncing robot.

[0019] Figure 2 This is a schematic diagram of an explosion of a bow-shaped bouncing robot structure.

[0020] Figure 3 This is a partial sectional view of the rope winch mechanism;

[0021] Figure 4 This is a schematic diagram of the rope mechanism in its retracted state.

[0022] Figure 5 This is a schematic diagram of the initial state of the rope winch mechanism;

[0023] Figure 6 A schematic diagram of the bow-shaped bouncing robot in its charging state.

[0024] In the attached diagram, the components represented by each label are as follows:

[0025] Rope winch-1, bow-shaped spring clip-2, thin rope B-3, power unit-4;

[0026] Rope winch-11, turntable-12, outer frame-13, support rod-14, guide wheel-15, upper triangular plate-16, lower triangular plate-17, bearing-18, fixing block-19;

[0027] Internal teeth-111, groove-112, through hole-113;

[0028] Pin-121, Spring-122, Disc-123;

[0029] Guide hole-131;

[0030] Surface protrusion -161;

[0031] Dovetail guide rail groove-1231;

[0032] Bowstring-21. Detailed Implementation

[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] See Figure 1-6 As shown, a bow-shaped bouncing robot consists of a power unit 4, a bouncing system, and a controller (not shown). The bouncing system includes a rope-winding mechanism 1 and at least three bow-shaped springs 2, each with a bowstring 21. The bow-shaped springs 2 can deform under the pull of the rope-winding mechanism 1 to generate momentum for bouncing. The bowstring 21 is a resilient thin rope, and the bow-shaped springs 2 are made of elastic carbon fiber or metal.

[0035] The rope winding mechanism 1 comprises a rope winding disc 11, a turntable 12, an outer frame 13, a support rod 14, a guide device, an upper triangular plate 16, a lower triangular plate 17, a thin rope A (not shown in the figure), and a thin rope B3. The rope winding disc 11 has a circular ring structure with internal teeth 111 on its inner ring and grooves 112 on its outer ring for accommodating the thin rope. Through holes 113, the same number as the bow-shaped elastic bar, are evenly distributed along the ring. These through holes 113 are used to fix one end of the thin rope A. The turntable 12 consists of a pin 121, a spring 122, and a disc 123. The surface of the disc 123 has a dovetail guide groove 1231 radially arranged. The pin 121 and the spring 122 are placed within the dovetail guide groove 1231, and the pin 121 slides along the dovetail guide groove 1231 under the action of the spring 122. The pin 121 has a dovetail structure at the end near the spring 122 and a toothed structure at the end away from the spring 122, facilitating insertion between the internal teeth 111. The turntable 12 is located inside the rope reel 11 and is connected to the rope reel 11 via a bearing 18. A thin rope B3 is connected to the end of the pin 121 near the spring 122, and the other end of the thin rope B3 is connected to the boss 161 at the center of the upper triangular plate 16. When the turntable 12 rotates, the thin rope B3 coils around the boss 161, pulling the pin 121 into the dovetail guide groove 1231 and disengaging it from the internal teeth 111.

[0036] The outer frame 13 is used to install the upper triangular plate 16, the lower triangular plate 17, the support rod 14, and the bow-shaped elastic bar 2. The bow-shaped elastic bar 2 is installed by fixing blocks 19 and is evenly distributed around the circumference of the outer frame 13. A guide hole 131 is provided at the position on the circumference of the outer frame 13 where the bow-shaped elastic bar 2 is installed for the thin rope A to pass through. Support rods 14 are installed on both sides of the bow-shaped elastic bar 2. A guide device is installed at the end of the support rod 14 away from the outer frame 13, and the thin rope A passes through the guide device and connects to the bowstring 21. The guide device can be two guide wheels 15.

[0037] The power unit 4 is a servo motor or a small geared motor. The motor is fixed to the lower triangular plate 17, which is fixed to the bottom of the outer frame 13. The motor shaft passes through the lower triangular plate 17 and the outer frame 13 and is fixedly connected to the turntable 12 to drive the turntable 12 to rotate forward and backward.

[0038] The upper triangular plate 16 is installed on the top of the outer frame 13 to fix the controller, which is electrically connected to the power unit 4.

[0039] The working process of this bouncing robot is as follows:

[0040] In the initial state, the pin 121 inside the turntable 12 extends out under the action of the spring 122 and engages between the internal teeth 111 (e.g., Figure 5 As shown in the figure, at this time the turntable 12 is locked to the winch reel 11.

[0041] The motor is started, driving the turntable 12 and the rope reel 11 to rotate. During rotation, the thin rope A is wound around the outer groove 112 of the rope reel 11, thereby pulling the bowstring 21 along the guide wheel 15 toward the outer frame 13, completing the power storage process of the bow-shaped spring clip 2 (e.g., Figure 6 (As shown); at the same time, the thin rope B3 begins to wrap around the boss 161 of the upper triangular plate 16, and the pin 121, pulled by the thin rope B3, gradually retracts into the disc 123 along the dovetail guide groove 1231.

[0042] After the motor rotates a certain number of revolutions, the pin 121 disengages from the internal gear 111 and fully retracts into the disk 123 (as shown). Figure 3 , 4 As shown in the diagram, the winch disc 11 is in a free state at this time and rotates in the opposite direction under the elastic potential energy of the bow-shaped elastic bar 2. The bow-shaped elastic bar 2 releases its elastic force, completing the jump.

[0043] The controller controls the motor to reverse, so that the pin 121 extends out of the dovetail guide groove 1231 under the action of the spring 122 and is locked back into the internal teeth 111, restoring the initial state.

[0044] By repeating this process and using the controller to control the forward and reverse rotation of the motor, the bow-shaped spring bar 2 can continuously store and release elastic force, thus completing continuous jumping.

[0045] This bouncing robot uses a ratchet-like mechanism to continuously store energy. During the release of the elastic force, the design reduces frictional resistance to ensure that the elastic force is fully released without being restricted by other parts.

[0046] By installing a guide device on the outer frame 13 using a support rod 14, the direction of rope pulling is changed, allowing the rope to pull the bow-shaped spring bar 2 vertically. This structural improvement increases the rope's contraction degree, achieving greater jumping ability.

[0047] The bouncing robot described above features low cost, easy assembly and disassembly, continuous bouncing, small size and flexibility, and adaptability to various complex environments.

[0048] Overall structure as Figure 1 As shown, the overall height of the machine is approximately 500mm, the diameter of the central disc is approximately 100mm, the diameter when bent is approximately 280mm, and the weight of the bare machine is approximately 360g when the material of the bow-shaped spring bar 2 is elastic carbon fiber.

[0049] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

[0050] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

Claims

1. A bow-shaped bouncing robot, comprising a power unit (4), a bouncing system, and a controller, characterized in that, The jumping system includes a rope mechanism (1) and at least three bow-shaped springs (2). The bow-shaped springs (2) are provided with bowstrings (21). The rope mechanism (1) is used to pull the bowstrings (21) to store force on the bow-shaped springs (2). The controller is used to control the forward and reverse rotation of the power device (4). The power device (4) is fixed to the rope mechanism (1) and drives the rope mechanism (1) to realize continuous jumping of the robot. The rope mechanism (1) includes a rope disc (11), a turntable (12), an outer frame (13), thin ropes A and B (3). The turntable (12) is located inside the rope disc (11) and is connected to the rope disc (11) through a bearing (18). The rope disc (11) is a circular structure with internal teeth (111) on its inner ring. Thin ropes A are evenly distributed along the circumference of the rope disc (11) in the same number as the bow-shaped springs (2). The other end passes through the outer frame (13) and is connected to the bowstring (21). The turntable (12) is composed of a pin (121), a spring (122) and a disc (123). The surface of the disc (123) is provided with a guide groove along the radial direction. The end of the pin (121) away from the spring (122) has a toothed structure. One end of the thin rope B (3) is fixed on the axis of the power device (4), and the other end of the thin rope B (3) is fixed on the pin (121). The pin (121) slides along the guide groove under the action of the spring (122) and the thin rope B (3) to lock and release the winch disc (11).

2. The bow-shaped bouncing robot according to claim 1, characterized in that, The rope winding mechanism (1) further includes a support rod (14) and a guide device, the guide device being mounted on the outer frame (13) via the support rod (14).

3. The bow-shaped bouncing robot according to claim 1, characterized in that, The guide rail groove is a dovetail guide rail groove (1231), and the pin (121) near the spring (122) has a dovetail structure.

4. The bow-shaped bouncing robot according to claim 2, characterized in that, The rope winding mechanism (1) also includes an upper triangular plate (16) and a lower triangular plate (17) for mounting the power device (4). The upper triangular plate (16) has a boss (161) at its center for fixing the thin rope B (3), and the outer ring of the rope winding disc (11) has a groove (112) for accommodating the thin rope A.

5. A bow-shaped bouncing robot according to any one of claims 1-4, characterized in that, The power unit (4) is a servo motor or a small geared motor.

6. A bow-shaped bouncing robot according to any one of claims 1-4, characterized in that, The bowstring (21) is a tough thin rope, and the bow-shaped spring clip (2) is made of elastic carbon fiber or metal.

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