A continuous hopping robot

Abstract

The application discloses a continuous jumping robot, which comprises a base, a shell, an energy storage component and an impact component, the shell is covered on the base, the energy storage component is installed on the base and is configured to accumulate elastic potential energy when being in a first state and release the elastic potential energy when being in a second state; the energy storage component reciprocates between the first state and the second state; the impact component is located in the shell and is installed on an output end of the energy storage component; the impact component impacts the shell when the energy storage component is in the second state. The continuous jumping robot provided by the application can continuously jump to adapt to complex terrains in need of continuous jumping, because the reciprocating energy storage component accumulates elastic potential energy when being in the first state and releases the elastic potential energy when being in the second state, so that the impact component located on the output end of the energy storage component continuously impacts the shell, and one jump is realized after each impact.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a continuous jumping robot. Background Technology

[0002] With the development of technologies such as mechanics, electronics, and computers, the application scope of robots is constantly expanding, and their automation level and environmental adaptability are also improving, playing an important role in various fields. Among them, jumping robots can perform jumping actions to overcome obstacles and traverse distances many times their own height, achieving flexible positional movement. Therefore, they can efficiently traverse complex terrain and have broad application prospects.

[0003] However, existing jumping robots can only achieve single-direction drive once. After completing the jump, they cannot drive autonomously and need to be manually reset. Therefore, they cannot achieve intermittent jumps autonomously and are difficult to apply in complex terrains where continuous jumps are required. Summary of the Invention

[0004] In view of the above problems, the present invention provides a continuous jumping robot that overcomes or at least partially solves the above problems, capable of continuous jumping to adapt to complex terrains that require continuous jumping.

[0005] Specifically, the present invention provides a continuous jumping robot, including a base, a shell, an energy storage component, and an impact component. The shell is disposed on the base, and the energy storage component is mounted on the base and configured to store elastic potential energy in a first state and release the elastic potential energy in a second state. The energy storage component reciprocates between the first state and the second state. The impact component is located inside the shell and is mounted on the output end of the energy storage component. When the energy storage component is in the second state, the impact component impacts the shell.

[0006] Optionally, the energy storage assembly includes a motor, a coupling, a lead screw, and a first spring. The motor has an upward-facing output end. The lead screw is arranged vertically, with its lower end coaxially connected to the output end of the motor via the coupling, and its upper end rotatably connected to the top wall of the housing. The first spring is sleeved on the lead screw. The impact assembly is screwed to the lead screw and abuts against the first spring.

[0007] Optionally, the impact assembly includes an impact block, hooks, and a lead screw nut. The impact block is sleeved on the lead screw, and the roots of at least two hooks are rotatably connected to the impact block. The claws of the hooks abut against the lead screw nut, and the lead screw nut is sleeved on the lead screw.

[0008] Optionally, the impact assembly further includes an elastic ring, a spring seat, and a pull-down hook ring. The two hooks are respectively disposed on both sides of the impact block, and the elastic ring is sleeved on the outside of the hooks. The pull-down hook ring is fixedly connected to the lead screw nut, and the pull-down hook ring is connected to the outer shell through a second spring. The spring seat is fixedly connected to the first spring, and when the energy storage assembly is in the second state, the spring seat is engaged with the hooks.

[0009] Optionally, the upper spring seat is annular; the impact block is fixedly connected to the upper spring seat via a connector.

[0010] Optionally, the energy storage assembly further includes a trigger seat, which is cylindrical and sleeved on the lower end of the lead screw; the trigger seat is used to drive the claw of the hook to separate from the lead screw nut; the inner diameter of the upper spring seat is larger than the diameter of the trigger seat.

[0011] Optionally, the claw portion of the hook is provided with a horizontal surface and an inclined surface, the inner edge of the horizontal surface is connected to the outer edge of the inclined surface; the horizontal surface abuts against the upper spring seat; when the energy storage assembly is in the second state, the inclined surface abuts against the trigger seat.

[0012] Optionally, the continuous jumping robot further includes an upper thrust ball bearing, a lower thrust ball bearing, and an upper pull hook ring. The upper thrust ball bearing is mounted on the top wall of the housing, and the lower thrust ball bearing is mounted on the upper thrust ball bearing. The upper pull hook ring is mounted on the lower thrust ball bearing and is connected to the lower pull hook ring via a second spring.

[0013] Optionally, the upper end of the lead screw is rotatably connected to the upper thrust ball bearing and the lower thrust ball bearing.

[0014] Optionally, the upper pull hook ring includes a first connecting block and a plurality of first connecting rings. The first connecting block is ring-shaped and sleeved on the lead screw. The upper end of the first connecting block is connected to the lower thrust ball bearing, and the plurality of first connecting rings are evenly distributed at the lower end of the first connecting block.

[0015] The pull-down hook ring includes a second connecting block and a plurality of second connecting rings. The second connecting block is ring-shaped and sleeved on the lead screw. The lower end of the second connecting block is connected to the lead screw nut, and the plurality of second connecting rings are evenly distributed on the upper end of the second connecting block.

[0016] Each of the first connecting rings is connected to a second connecting ring via a second spring.

[0017] The beneficial effects of this invention are as follows:

[0018] The continuous jumping robot provided by this invention has a reciprocating energy storage component that accumulates elastic potential energy in the first state and releases it in the second state. This causes the impact component located at the output end of the energy storage component to continuously impact the outer shell. Each impact results in one jump, thus enabling continuous jumping to adapt to complex terrains that require continuous jumping.

[0019] Furthermore, since an upper pull hook ring is fixedly installed on the top of the outer shell, the upper pull hook ring is connected to the lower pull hook ring through a second spring; in the first state, the lower pull hook ring moves downward with the lead screw nut, and the second spring is stretched; in the second state, the second spring retracts, pulling the lower pull hook ring and the lead screw nut upward to engage with the claw of the hook, thereby realizing continuous jumping action.

[0020] The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0021] The following sections will describe some specific embodiments of the invention in detail by way of example and not limitation, with reference to the accompanying drawings. The same reference numerals in the drawings denote the same or similar parts or portions. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0022] Figure 1 This is a schematic structural diagram of a continuous jumping robot according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic cross-sectional view of a continuous jumping robot according to an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the motion state of a continuous jumping robot according to an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the motion state of a continuous jumping robot according to an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the motion state of a continuous jumping robot according to an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the motion state of a continuous jumping robot according to an embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of the motion state of a continuous jumping robot according to an embodiment of the present invention;

[0029] Figure 8This is a schematic structural diagram of an upper pull hook ring in a continuous jumping robot according to an embodiment of the present invention;

[0030] Figure 9 This is a schematic partial structural diagram of a continuous jumping robot according to an embodiment of the present invention;

[0031] Figure 10 This is a schematic partial cross-sectional view of a continuous jumping robot according to an embodiment of the present invention.

[0032] In the diagram: 100, base; 200, outer casing; 300, energy storage component; 310, motor; 320, lead screw; 330, first spring; 340, trigger seat; 350, coupling; 400, impact component; 410, impact block; 420, hook; 421, root; 422, claw; 4221, horizontal plane; 4222, inclined plane; 430, lead screw nut; 440, elastic ring; 450, upper spring seat; 460, lower pull hook ring; connecting piece 470; 510, upper thrust ball bearing; 520, lower thrust ball bearing; 530, upper pull hook ring; 531, first connecting block; 532, first connecting ring; 540, second spring. Detailed Implementation

[0033] In the description of this embodiment, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature, that is, include one or more of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. When a feature "includes or contains" one or more of the features it encompasses, unless otherwise specifically described, this indicates that other features are not excluded and may be further included.

[0034] Unless otherwise expressly specified and limited, the terms "set up," "install," "connect," "link," "fix," and "couple" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art should be able to understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0035] Furthermore, in the description of this embodiment, "above" or "below" the second feature can include direct contact between the first and second features, or it can include contact between the first and second features through another feature between them. That is, in the description of this embodiment, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "below" of the second feature can mean the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0036] In the description of this embodiment, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0037] Figure 1 This is a schematic structural diagram of a continuous jumping robot according to an embodiment of the present invention, such as... Figure 1 As shown, and with reference Figures 2 to 9 This invention provides a continuous jumping robot, including a base 100, a shell 200, an energy storage component 300, and an impact component 400. The shell 200 covers the base 100, and the energy storage component 300 is mounted on the base 100. It is configured to accumulate elastic potential energy when it is in a first state and to release elastic potential energy when it is in a second state. The energy storage component 300 reciprocates between the first state and the second state. The impact component 400 is located inside the shell 200 and is mounted on the output end of the energy storage component 300. When the energy storage component 300 is in the second state, the impact component 400 impacts the shell 200.

[0038] In this embodiment of the invention, an energy storage component 300 capable of reciprocating motion is provided. In the first state, it accumulates elastic potential energy and releases elastic potential energy in the second state. This causes the impact component 400 located at the output end of the energy storage component 300 to continuously impact the outer shell 200. Each impact results in a jump, thus enabling continuous jumps to adapt to complex terrains requiring continuous jumps.

[0039] In some embodiments of the present invention, the energy storage assembly 300 includes a motor 310, a coupling 350, a lead screw 320, and a first spring 330. The motor 310 has an upward-facing output end; the lead screw 320 is arranged vertically, and the lower end of the lead screw 320 is coaxially connected to the output end of the motor 310 through the coupling 350, while the upper end of the lead screw 320 is rotatably connected to the top wall of the housing 200; the first spring 330 is sleeved on the lead screw 320; and the impact assembly 400 is screwed to the lead screw 320 and abuts against the first spring 330. Furthermore, the impact assembly 400 includes an impact block 410, hooks 420, and a lead screw nut 430. The impact block 410 is sleeved on the lead screw 320. The roots 421 of at least two hooks 420 are rotatably connected to the impact block 410. The claw portions 422 of the hooks 420 are engaged with the lead screw nut 430, which is sleeved on the lead screw 320.

[0040] In this embodiment of the invention, in the first state, the motor 310 drives the lead screw 320 to rotate, and the lead screw nut 430, which is screwed to the lead screw 320, moves downward on the lead screw 320. The pawl 420 then drives the impact block 410 downward, continuously compressing the first spring 330 and accumulating elastic potential energy. Until the second state is reached, the claw 422 of the pawl 420 separates from the lead screw nut 430, no longer compressing the first spring 330. The first spring 330 releases its elastic potential energy, pushing the impact block 410 upward. The impact block 410 accelerates upward, impacting the outer casing 200, achieving a single jump.

[0041] In some embodiments of the present invention, the impact assembly 400 further includes an elastic ring 440, a spring seat 450, and a pull-down hook ring 460. Two hooks 420 are respectively disposed on both sides of the impact block 410, and the elastic ring 440 is sleeved on the outside of the hooks 420. The pull-down hook ring 460 is fixedly connected to the lead screw nut 430 and is connected to the outer shell 200 through a second spring 540. The spring seat 450 is fixedly connected to the first spring 330, and when the energy storage assembly 300 is in the second state, the spring seat 450 is engaged with the hooks 420. The impact block 410 is fixedly connected to the spring seat 450 by bolts. The energy storage assembly 300 further includes a trigger seat 340, which is cylindrical and sleeved on the lower end of the lead screw 320. The trigger seat 340 is used to drive the claw portion 422 of the hooks 420 to separate from the lead screw nut 430. The inner diameter of the spring seat 450 is larger than the diameter of the trigger seat 340.

[0042] In this embodiment of the invention, since the elastic ring 440 is sleeved on the outside of the hook 420, the hook 420 receives an inward force and cannot rotate outward, thus it tightly abuts against the lead screw nut 430. When the energy storage assembly 300 moves to the second state, the hook 420 contacts the trigger seat 340, and the trigger seat 340 drives the claw portion 422 of the hook 420 to separate from the lead screw nut 430, so that the first spring 330 can release its elastic potential energy.

[0043] In some embodiments of the present invention, the upper spring seat 450 is annular; the impact block 410 is fixedly connected to the upper spring seat 450 via a connector 470. The inner diameter of the upper spring seat 450 is larger than the diameter of the pull-down hook ring 460, and the inner diameter of the upper spring seat 450 is larger than the diameter of the lead screw nut 430. The claw portion 422 of the hook 420 is provided with a horizontal surface 4221 and an inclined surface 4222, the inner edge of the horizontal surface 4221 is connected to the outer edge of the inclined surface 4222; the horizontal surface 4221 abuts against the upper spring seat 450; when the energy storage assembly 300 is in the second state, the inclined surface 4222 abuts against the trigger seat 340. With this configuration, in the first state, the horizontal surface 4221 abuts against the upper spring seat 450, pressing the first spring 330 downwards; in the second state, the trigger seat 340 presses against the inclined surface 4222, causing the claw portion 422 of the hook 420 to separate from the screw nut 430, thus separating the impact block 410 from the screw nut 430. At this time, the first spring 330 pushes the hook 420 and the impact block 410 upwards through the upper spring seat 450. When the upper spring seat 450 moves upwards, it can pass through the pull-down hook ring 460 and the screw nut 430, avoiding obstruction of movement.

[0044] In some embodiments of the present invention, the continuous jumping robot further includes an upper thrust ball bearing 510, a lower thrust ball bearing 520, and an upper pull hook ring 530. The upper thrust ball bearing 510 is mounted on the top wall of the housing 200, and the lower thrust ball bearing 520 is mounted on the upper thrust ball bearing 510. The upper pull hook ring 530 is mounted on the lower thrust ball bearing 520 and is connected to the lower pull hook ring 460 via a second spring 540. The upper end of the lead screw 320 is rotatably connected to the upper thrust ball bearing 510 and the lower thrust ball bearing 520.

[0045] In this embodiment of the invention, since an upper pull hook ring 530 is fixedly installed on the top of the outer casing 200, the upper pull hook ring 530 is connected to a lower pull hook ring 460 through a second spring 540; in the first state, the lower pull hook ring 460 moves downward with the lead screw nut 430, and the second spring 540 is stretched; in the second state, the second spring 540 retracts, pulling the lower pull hook ring 460 and the lead screw nut 430 upward to engage with the claw portion 422 of the hook 420.

[0046] like Figure 8 , Figure 9As shown, specifically, the upper pull hook ring 530 includes a first connecting block 531 and a plurality of first connecting rings 532. The first connecting block 531 is annular and sleeved on the lead screw 320. The upper end of the first connecting block 531 is connected to the lower thrust ball bearing 520, and the plurality of first connecting rings 532 are evenly distributed at the lower end of the first connecting block 531. The structure of the lower pull hook ring 460 is the same as that of the upper pull hook ring 530. The lower pull hook ring 460 includes a second connecting block and a plurality of second connecting rings. The second connecting block is annular and sleeved on the lead screw 320. The lower end of the second connecting block is connected to the lead screw nut 430, and the plurality of second connecting rings are evenly distributed at the upper end of the second connecting block. Each first connecting ring 532 is connected to a second connecting ring via a second spring 540.

[0047] When the continuous jumping robot provided in this embodiment of the invention is applied, such as... Figure 1 , Figure 2 As shown, the impact block 410 is in the initial position. Due to the constraint of the elastic ring 440, the claw 422 of the hook 420 is engaged with the lead screw nut 430. The lead screw nut 430 is connected to the outer casing 200 through the pull-down hook ring 460, multiple second springs 540, and the pull-up hook ring 530. The multiple second springs 540 cause the lead screw nut 430 to move up and down against the torsional frictional force. Figure 10 As shown, the impact block 410 and the upper spring seat 450 are fixedly connected by a connector 470. The connector 470 is spaced from the lead screw 320 to avoid interfering with the movement of the lead screw nut 430. Alternatively, the upper spring seat 450 and the connector 470 are integrally formed and connected to the impact block 410 by bolts.

[0048] like Figure 3 As shown, in the first state, the motor 310 is started, and the motor 310 rotates forward and drives the lead screw 320 to rotate through the coupling 350. The lead screw nut 430 and the hook 420 drive the impact block 410 to move downward. The spring seat 450, which is fixedly connected to the impact block 410, presses the first spring 330 downward, causing the first spring 330 to contract. At the same time, the lead screw nut 430 drives the pull-down hook ring 460 to move downward, and the second spring 540 is stretched.

[0049] like Figure 4 As shown, in the second state, the lead screw nut 430 drives the upper spring seat 450 to move until the upper spring seat 450 is fitted onto the trigger seat 340. The trigger seat 340 contacts and presses against the inclined surface 4222 of the hook 420, causing the hook 420 to overcome the restraint of the elastic ring 440 and rotate outward, thus disengaging from the lead screw nut 430. Figure 5As shown, after the hook 420 disengages from the lead screw nut 430, the impact block 410 and the hook 420 are no longer pulled down by the lead screw nut 430. Therefore, the upper spring seat 450 no longer presses down on the first spring 330. The first spring 330 releases its elastic potential energy and pushes the upper spring seat 450, the impact block 410 and the hook 420 upward. After the hook 420 moves upward and separates from the trigger seat 340, the hook 420 is bound by the elastic ring 440 and once again presses against the impact block 410. The first spring 330 continues to push the upper spring seat 450, the hook 420 and the impact block 410 upward, causing the impact block 410 to impact the top wall of the outer shell 200, thus driving the robot to achieve a jumping motion.

[0050] like Figure 6 As shown, after the hook 420 disengages from the lead screw nut 430, the motor 310 reverses direction, and the lead screw nut 430 is no longer restricted by the hook 420 and the impact block 410. The second spring 540 retracts, causing the lead screw nut 430 to move upward. The upper thrust ball bearing 510 and the lower thrust ball bearing 520 provide additional degrees of freedom for the rotational yaw axis. The corresponding annular holes of the upper pull hook ring 530 and the lower pull hook ring 460 remain relatively stationary and close together in the z-axis direction, causing the lower pull hook ring 530 and the lead screw nut 430 to rotate upward against torsional friction.

[0051] like Figure 7 As shown, after the lead screw nut 430 passes through the upper spring seat 450, it contacts the inclined surface 4222 of the hook 420. Under the action of the lead screw 320, the inclined surface 4222 is pressed, causing the hook 420 to overcome the restraint of the elastic ring 440 and rotate outward. Therefore, the lead screw nut 430 and the hook 420 are engaged again.

[0052] By repeating the above process, continuous jumping can be achieved, enabling the continuous jumping robot provided by this invention to adapt to complex terrains that require continuous jumping.

[0053] The technical solutions of the present invention have been described in conjunction with several embodiments above. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Without departing from the technical principles of the present invention, those skilled in the art can disassemble and combine the technical solutions in the above embodiments, and can also make equivalent changes or substitutions to related technical features. Any changes, equivalent substitutions, improvements, etc., made within the technical concept and / or technical principles of the present invention will fall within the scope of protection of the present invention.

Claims

1. A continuous jumping robot, characterized in that, The device includes a base, a housing, an energy storage component, and an impact component. The housing is mounted on the base, and the energy storage component is mounted on the base and configured to store elastic potential energy in a first state and release the elastic potential energy in a second state. The energy storage component reciprocates between the first state and the second state. The impact component is located inside the housing and is installed on the output end of the energy storage component; when the energy storage component is in the second state, the impact component impacts the housing. The energy storage assembly includes a motor, a coupling, a lead screw, and a first spring. The motor has an upward-facing output end. The lead screw is arranged vertically, with its lower end coaxially connected to the output end of the motor via the coupling, and its upper end rotatably connected to the top wall of the housing. The first spring is sleeved on the lead screw. The impact assembly is screwed to the lead screw and abuts against the first spring. The impact assembly includes an impact block, hooks, and a lead screw nut. The impact block is sleeved on the lead screw, and the roots of at least two hooks are rotatably connected to the impact block. The claws of the hooks abut against the lead screw nut, and the lead screw nut is sleeved on the lead screw. The impact assembly further includes an elastic ring, a spring seat, and a pull-down hook ring. The two hooks are respectively disposed on both sides of the impact block, and the elastic ring is sleeved on the outside of the hooks. The pull-down hook ring is fixedly connected to the lead screw nut and is connected to the outer shell through a second spring. The spring seat is fixedly connected to the first spring, and when the energy storage assembly is in the second state, the spring seat is engaged with the hooks. The continuous jumping robot also includes an upper thrust ball bearing, a lower thrust ball bearing, and an upper pull hook ring. The upper thrust ball bearing is mounted on the top wall of the outer shell, and the lower thrust ball bearing is mounted on the upper thrust ball bearing. The upper pull hook ring is mounted on the lower thrust ball bearing and is connected to the lower pull hook ring via a second spring.

2. The continuous jumping robot according to claim 1, characterized in that, The upper spring seat is ring-shaped; the impact block is fixedly connected to the upper spring seat by a connector.

3. The continuous jumping robot according to claim 1, characterized in that, The energy storage assembly also includes a trigger seat, which is cylindrical and sleeved on the lower end of the lead screw; the trigger seat is used to drive the claw of the hook to separate from the lead screw nut; the inner diameter of the upper spring seat is larger than the diameter of the trigger seat.

4. The continuous jumping robot according to claim 3, characterized in that, The claw portion of the hook has a horizontal surface and an inclined surface, with the inner edge of the horizontal surface connected to the outer edge of the inclined surface; the horizontal surface abuts against the upper seat of the spring; when the energy storage assembly is in the second state, the inclined surface abuts against the trigger seat.

5. The continuous jumping robot according to claim 1, characterized in that, The upper end of the lead screw is rotatably connected to the upper thrust ball bearing and the lower thrust ball bearing.

6. The continuous jumping robot according to claim 1, characterized in that, The upper pull hook ring includes a first connecting block and a plurality of first connecting rings. The first connecting block is ring-shaped and sleeved on the lead screw. The upper end of the first connecting block is connected to the lower thrust ball bearing, and the plurality of first connecting rings are evenly distributed at the lower end of the first connecting block. The pull-down hook ring includes a second connecting block and a plurality of second connecting rings. The second connecting block is ring-shaped and sleeved on the lead screw. The lower end of the second connecting block is connected to the lead screw nut, and the plurality of second connecting rings are evenly distributed on the upper end of the second connecting block. Each of the first connecting rings is connected to a second connecting ring via a second spring.

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