A rope-pulling force-accumulating automatic trigger-releasing omnidirectional bouncing robot

Abstract

The application relates to a rope-pulling and force-storing automatic trigger-releasing omnidirectional bouncing robot, and relates to the field of robots. The existing bouncing robot adopts a connecting rod transmission mechanism, which leads to the overall bulkiness, and is not conducive to the lightweight and compact design. The foot part of the robot can be supported on the ground; the supporting seat is located above the foot part; one end of the ejection mechanism is connected with the supporting seat, and the other end is movably connected with the foot part; the rope driving mechanism is provided with at least two and is uniformly distributed around the ejection mechanism; each rope driving mechanism comprises a winding roller, a wire rope and a first driving motor; the winding roller is rotatably installed on the supporting seat; the first driving motor is slidably installed on the supporting seat and can drive the winding roller to rotate; one end of the wire rope is wound on the winding roller, and the other end is connected with the foot part; in the process that the winding roller is driven by the first driving motor to wind the wire rope, the ejection mechanism continuously stores the force, until the ejection mechanism triggers the first driving motor to be separated from the winding roller, the wire rope is loosened, the ejection mechanism releases the stored elastic potential energy, so that the foot part is driven to bounce.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an omnidirectional bouncing robot that automatically triggers release by storing energy through a rope. Background Technology

[0002] In complex, unstructured environments such as disaster relief and planetary exploration, terrain is often rugged, with dense obstacles and significant elevation changes, posing significant limitations to traditional mobile robots. Wheeled or tracked robots rely on continuous, flat contact surfaces, making them prone to getting stuck when encountering ditches, rocks, or steps. While multi-legged walking robots possess some terrain adaptability, their complex structures, low speeds, and limited obstacle-crossing heights make them inefficient at traversing obstacles taller than themselves. Jumping, as an efficient mode of locomotion, allows robots to traverse obstacles 2-3 times their own size in height, quickly overcoming terrain limitations, making it particularly suitable for rapid assaults and area reconnaissance in the aforementioned scenarios. Among various jumping robots, single-legged jumping robots, due to their simplest structure, fastest response, and relatively simple control, are better suited for performing tasks in narrow, complex spaces, making them a research hotspot in the field of robotics.

[0003] Currently, the driving mechanisms for robot jumping mainly include hydraulic drives, motor-cam drives, and linkage transmissions. Among them, linkage transmission mechanisms are widely used due to their reliable structure and high transmission efficiency. For example, Chinese patent document CN103879470A discloses a linkage-driven single-leg robot jumping mechanism, which achieves robot jumping and directional control by setting up a jumping drive device and a directional drive device, and using a transmission rod to connect the drive device and the lower leg. Although this mechanism solves the problems of jumping in place and adjusting direction to a certain extent, its complex structure and large size, as well as the use of multi-stage linkages and transmission rods, result in a bulky overall mechanism, which is not conducive to the lightweight and compact design of the robot and affects its mobility in narrow environments. Summary of the Invention

[0004] In view of this, the present invention provides an omnidirectional jumping robot with automatic trigger release of stored force via a rope drive mechanism. The rope drive mechanism constrains the launching mechanism and controls the launching mechanism to store force. When the robot needs to jump, the rope drive mechanism releases the constraint of the launching mechanism, causing the launching mechanism to release the stored launching force, thereby driving the robot to perform the jumping action.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0006] An omnidirectional bouncing robot with automatic release triggered by rope pulling and charging includes:

[0007] The feet provide support on the ground;

[0008] Support base, located above the feet;

[0009] The ejection mechanism is connected to the support base at one end and to the foot at the other end.

[0010] There are three rope-driven mechanisms, which are evenly distributed around the catapult mechanism. Each rope-driven mechanism includes a winding roller, a rope, and a first drive motor. The winding roller is rotatably mounted on the support base, and the first drive motor is slidably mounted on the support base and can drive the winding roller to rotate. One end of the rope is wound around the winding roller, and the other end is connected to the foot.

[0011] During the winding process, the first drive motor drives the winding roller to wind up the rope, while the ejector mechanism continuously stores energy until it triggers the first drive motor to separate from the winding roller, the rope loosens, and the ejector mechanism releases the stored elastic potential energy to cause the feet to bounce.

[0012] Furthermore, the ejection mechanism includes an outer tube, a central core rod, an outer spring, an inner spring, a locking block, a return spring, and a linkage block. The linkage block is located above the support base and can control the separation or connection of the first drive motor and the winding roller. The support base has a central through hole. One end of the central core rod is connected to the linkage block, and the other end passes through the central through hole and is inserted into the outer tube. The inner spring is located inside the outer tube and is used to drive the central core rod to move upward and pull downward to reset. The outer spring is sleeved on the outer tube and the central core rod and is used to store force for the ejection mechanism and drive the robot to jump. The locking block is slidably installed in the mounting groove on the central core rod and abuts against the lower surface of the support base to lock the position of the central core rod and support the support base. The return spring connects the locking block and the central core rod and is used to reset the locking block.

[0013] Furthermore, a roller is provided on the intermediate core rod, and a limiting groove is opened along the length direction on the inner wall of the outer sleeve. The intermediate core rod is slidably connected through the cooperation of the roller and the limiting groove.

[0014] Furthermore, the outer tube is connected to the foot via a universal joint, and a return torsion spring is fitted onto the universal joint.

[0015] Furthermore, the first drive motor is connected to the winding roller by a key.

[0016] Furthermore, a camera is installed on the support base to obtain road condition information.

[0017] Furthermore, it also includes a posture balancing mechanism for balancing the robot's posture, which has three parts that are evenly mounted circumferentially on the support base.

[0018] Furthermore, each attitude balancing mechanism includes a second drive motor and a momentum wheel, the second drive motor being able to drive the momentum wheel to rotate.

[0019] Furthermore, it also includes a foot support mechanism, which is installed between the foot and the ejection mechanism. This mechanism provides ground support when the robot is standing and retracts when the robot jumps off the ground.

[0020] Furthermore, the foot support mechanism includes a linear actuator, a lever, support rods, and a return torsion spring. At least three support rods are provided and evenly distributed around the foot, and each support rod is configured to flip up and down. The linear actuator can drive the lever to move up and down. When the robot jumps, the linear actuator drives the lever to move down, so as to push the support rods up and off the ground. When the robot stands, the linear actuator can drive the lever to move up, so as to drive the return torsion spring to drive the support rods down and support the ground.

[0021] The beneficial effects of this invention compared to the prior art are:

[0022] 1. This invention, through the design of a rope-driven mechanism, can not only control the energy storage of the launch mechanism but also control the robot's jumping direction, increasing the robot's jumping flexibility and enabling steering control without the need for an additional steering module. Furthermore, compared to the drive method using transmission links, the rope-driven method reduces the overall weight of the robot, achieving a lightweight design.

[0023] 2. The ejection mechanism of this invention, through the coordinated operation of the outer sleeve, intermediate core rod, outer spring, inner spring, locking block, reset spring, linkage block, and connecting rod, can not only store energy but also trigger the separation of the winding roller from the first drive motor when the outer spring has stored a certain amount of energy, thus releasing the constraint of the winding roller on the outer spring. Furthermore, this application has two bouncing modes. The first bouncing mode converts the elastic potential energy stored in the outer spring into continuous bouncing motion of the robot during a single release operation of the winding roller, improving the robot's motion efficiency and avoiding frequent start-stop operations of the first drive motor, thereby effectively reducing the robot's energy consumption. The second bouncing mode allows the robot to first store energy using the gravity of the support base upon landing, and then store energy again by winding up the rope, fully utilizing the impulse generated upon landing to complete another complete bouncing. Compared to rigid drive methods such as transmission links, the rope-driven method of this invention does not exert constraint on the external spring during the initial landing phase. Therefore, it can utilize the gravity of the support base to store energy. In contrast, rigid drive methods require the motor and transmission links to store energy, meaning that the rigid drive method always constrains the spring, preventing it from utilizing the gravity of the support base to store energy and thus failing to achieve energy saving. Furthermore, this bouncing method effectively reduces power consumption and improves the bouncing robot's control over its bouncing motion.

[0024] 3. The attitude balancing mechanism of the present invention works based on the principle of conservation of angular momentum. It compensates for the tipping torque of the bouncing robot by the reaction torque generated by the rate of change of angular momentum of the momentum wheel, thereby maintaining the overall attitude stability of the robot and avoiding imbalance or tipping.

[0025] 4. The foot support mechanism of this invention provides ground support when the robot is standing, maintaining a stable standing state without relying on a posture balancing mechanism, while also saving energy. It retracts and lifts off the ground when the robot jumps, preventing any impact on its jumping performance. Attached Figure Description

[0026] The accompanying drawings, which form part of this application, are provided to further illustrate the invention.

[0027] Figure 1 This is a schematic diagram of the structure of an omnidirectional jumping robot with automatic trigger release based on rope pulling and energy storage, according to the present invention. Figure 1 .

[0028] Figure 2 This is a schematic diagram of the structure of an omnidirectional jumping robot with automatic trigger release based on rope pulling and energy storage, according to the present invention. Figure 2 .

[0029] Figure 3 This is a schematic diagram of the structure of an omnidirectional jumping robot with automatic trigger release based on rope pulling and energy storage, according to the present invention. Figure 3 .

[0030] Figure 4 This is an assembly drawing of the rope-driven mechanism, the catapult mechanism, the foot support mechanism, and the foot.

[0031] Figure 5 This is a schematic diagram of the support base.

[0032] Figure 6 This is a cross-sectional schematic diagram of an omnidirectional bouncing robot with automatic trigger release triggered by rope pulling and accumulating power, according to the present invention.

[0033] Figure 7 for Figure 3 A magnified view of a portion of point A in the middle.

[0034] Figure 8 for Figure 6 A magnified view of a section at point B.

[0035] Figure 9 for Figure 6 A magnified view of a section at point C.

[0036] Figure 10 for Figure 3 A magnified view of a section at point D.

[0037] Figure 11This is an exploded view of the catapult mechanism.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1. Foot; 11. Upper sleeve; 12. Buffer spring; 13. Buffer column; 14. Elastic hemispherical foot; 2. Support base; 21. Roller mounting base; 22. Guide groove; 23. Central through hole; 24. Wedge-shaped limiting groove; 3. Ejection mechanism; 31. Outer sleeve; 311. Limiting ring; 312. First limiting step; 313. Limiting groove; 32. Intermediate core rod; 321. Second limiting step; 322. Mounting groove; 323. Roller; 33. Outer spring; 34. Inner spring; 35. Locking block; 36. Return spring; 37. Linkage 38. Block; 4. Linkage rod; 5. Rope drive mechanism; 6. Winding roller; 7. Rope; 8. First drive motor; 9. First fixed pulley; 10. Second fixed pulley; 11. Rope fixing seat; 12. Motor mounting seat; 13. Limit cover; 14. Slider; 15. Posture balancing mechanism; 16. Second drive motor; 17. Momentum wheel; 18. Foot support mechanism; 19. Support shell; 20. Third drive motor; 10. Lead screw shaft; 11. Pulley; 12. Support rod; 13. Return torsion spring; 14. Universal joint; 15. Return torsion spring; 16. Camera. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0041] See Figures 1 to 5 This embodiment describes an omnidirectional jumping robot with automatic trigger release based on rope tension, comprising a foot 1, a support base 2, a launch mechanism 3, and a rope drive mechanism 4. The foot 1 is supported on the ground, and the support base 2 is located directly above the foot 1. The launch mechanism 3 is positioned between the foot 1 and the support base 2, with one end connected to the support base 2 and used to support it, while the other end is movably connected to the foot 1. Figure 5 The support base 2 adopts a triangular structure to support the rope drive mechanism 4. That is, a roller mounting base 21 is provided at each of the three apex corners of the support base 2, and a rope drive mechanism 4 is installed at each roller mounting base 21. That is, a total of three rope drive mechanisms 4 are provided. These three rope drive mechanisms 4 can constrain the ejection mechanism 3 so that the ejection mechanism 3 can store energy.

[0042] In this embodiment, the rope-driven mechanism 4 can constrain the ejection mechanism 3 and control the ejection mechanism 3 to store force. When the robot needs to jump, the rope-driven mechanism 4 releases the constraint of the ejection mechanism 3, so that the ejection mechanism 3 releases the stored ejection force, thereby driving the robot to perform the jumping action.

[0043] See Figures 1 to 7 Each rope drive mechanism 4 in this embodiment includes a winding roller 41, a rope 42, a first drive motor 43, a first fixed pulley 44, a second fixed pulley 45, a rope fixing seat 46, a motor mounting seat 47, and a limiting cover 48. Combined with... Figure 5 Guide grooves 22 are provided on the support base 2 near each apex corner. Figure 4 The bottom of the motor mounting base 47 is provided with a slider 49 that mates with the guide groove 22. The motor mounting base 47 is slidably mounted on the guide groove 22 of the support base 2 via the slider 49 and can slide along the length of the guide groove 22. The first drive motor 43 is fixedly mounted in the motor mounting base 47 and can move together with the motor mounting base 47. One end of the limiting cover 48 is fixed to the wire roller mounting base 21 by screws, and the other end extends upwards towards the motor mounting base 47 to limit the height of the motor mounting base 47. The winding roller 41 is rotatably mounted on the wire roller mounting base 21 of the support base 2 via bearings. The end of the winding roller 41 facing the first drive motor 43 is provided with a spline groove (not shown in the figure). The motor shaft of the first drive motor 43 is provided with a spline (not shown in the figure) and inserted into the spline groove of the winding roller 41, which can provide rotational power for the winding roller 41. The first drive motor 43 and the winding roller 41 are assembled using splines and spline grooves, which can realize the separation and docking of the two. The first fixed pulley 44 and the second fixed pulley 45 are both rotatably mounted on the support base 2. The rope fixing base 46 is mounted on the foot 1. One end of the rope 42 is wound around the winding roller 41, and the other end passes over the first fixed pulley 44 and the second fixed pulley 45 and is connected to the rope fixing base 46.

[0044] During the bouncing process, the three first drive motors 43 control the corresponding winding rollers 41 to rotate, and the three winding rollers 41 wind up their respective ropes 42. At this time, the distance between the foot 1 and the support base 2 gradually decreases, and the ejection mechanism 3 is compressed and continuously stores force. Until the ejection mechanism 3 triggers the first drive motors 43 to separate from the winding rollers 41, the winding rollers 41 are no longer constrained by the first drive motors 43, and the ejection mechanism 3 is also released, converting the stored ejection force into kinetic energy to drive the foot 1 to complete the bouncing action.

[0045] This embodiment includes three rope-driven mechanisms 4. These three mechanisms 4 not only control the ejection mechanism 3 to charge up and achieve a jumping action, but also control the jumping direction of the robot. Specifically, when the three ropes 42 of the three rope-driven mechanisms 4 are of equal length, the robot is in an upright position. If the robot needs to jump towards a particular rope-driven mechanism 4, the rope 42 of that mechanism is controlled to be shorter than the ropes 42 of the other two mechanisms, while the ropes 42 of the other two mechanisms are controlled to be of equal length. At this time, the ejection mechanism 3 receives a resultant force (driving force) towards the particular rope-driven mechanism 4 and rotates around the universal joint 7 (…). Figure 7 As shown in the diagram, the ejection mechanism 3 rotates relative to the foot 1 in the direction of one of the rope-driven mechanisms 4, thereby controlling the jumping direction. This principle is similar to long jump; before takeoff, the lower leg bends at the ankle joint, causing the body to lean forward to adjust the takeoff direction. If the robot needs to jump in the opposite direction of a rope-driven mechanism 4, the rope 42 of that rope-driven mechanism 4 is controlled to be longer than the other two rope-driven mechanisms 4, while the ropes 42 of the other two rope-driven mechanisms 4 are of the same length. At this time, the ejection mechanism 3 is subjected to a resultant force (driving force) in the opposite direction and rotates around the universal joint 7. The ejection mechanism 3 tilts relative to the foot 1 in the opposite direction, thereby adjusting the robot's jumping direction. If the rope-driven mechanism 4 needs to jump in other directions (other than the direction of the rope-driven mechanism 4 and the opposite direction), the lengths of the three ropes 42 of the three rope-driven mechanisms 4 are all different, ensuring that the ejection mechanism 3 can bend in the direction of the pre-jump under the resultant force of the three ropes 42, thereby achieving adjustment in any other direction. In other words, the bouncing robot of this embodiment can bounce in multiple directions. Therefore, the rope-driven mechanism 4 of this embodiment can not only control the energy storage of the launch mechanism 3, but also control the robot's bouncing direction, increasing the robot's bouncing flexibility and enabling steering control without the need for an additional steering module. Furthermore, compared to the drive method using transmission links, the rope-driven method of this embodiment reduces the overall weight of the robot, achieving a lightweight design.

[0046] See Figure 1 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8In this embodiment, the ejection mechanism 3, besides storing energy and controlling the robot's jumping, can also act as a trigger mechanism to control the engagement and disengagement of the first drive motor 43 and the winding roller 41, achieving continuous energy release and enabling the robot to perform continuous jumping actions. Specifically, the ejection mechanism 3 in this embodiment includes an outer tube 31, a middle core rod 32, an outer spring 33, an inner spring 34, a locking block 35, a return spring 36, a linkage block 37, and connecting rods 38. The linkage block 37 is a triangular block structure, located above the support base 2 and supported by the support base 2. There are three connecting rods 38 evenly distributed around the linkage block 37, with each rope drive mechanism 4 corresponding to one connecting rod 38. One end of the connecting rod 38 is connected to the motor mounting base 47 via a pin, and the other end is connected to the connecting ear on the linkage block 37 via a pin. One end of the outer tube 31 is movably connected to the foot 1 via a universal joint 7, and the other end extends towards the support base 2. The support base 2 has a central through hole 23. One end of the intermediate core rod 32 is connected to the linkage block 37 and integrally formed, while the other end passes through the central through hole 23 and is inserted into the outer sleeve 31. The intermediate core rod 32 and the outer sleeve 31 are in sliding fit. Figure 8 The outer sleeve 31 has a limiting ring 311 at its top, which is fixed to the upper end face of the outer sleeve 31 with screws. The bottom of the middle core rod 32 has a second limiting step 321, the outer diameter of which is larger than the inner diameter of the limiting ring 311. This ensures that the outer sleeve 31 and the middle core rod 32 will not detach when the robot performs a jumping action, thus guaranteeing the reliability of the ejection mechanism 3. Figure 6 The inner spring 34 is located inside the outer sleeve 31, with one end connected to the bottom of the outer sleeve 31 and the other end connected to the bottom of the intermediate core rod 32, used to drive the intermediate core rod 32 to move upward and downward to reset. The outer spring 33 is sleeved outside the outer sleeve 31 and the intermediate core rod 32, with one end connected to the first limiting step 312 at the bottom of the outer sleeve 31 and the other end connected to the bottom of the support base 2. The outer spring 33 is used to store force for the ejection mechanism 3 and realize the robot's jumping. Figure 8 and Figure 10 The intermediate core rod 32 has a mounting groove 322. The locking block 35 and the return spring 36 are both located within the mounting groove 322. The locking block 35 has a wedge-shaped structure and is slidably connected to the mounting groove 322 of the intermediate core rod 32. One end of the return spring 36 is connected to the intermediate core rod 32, and the other end is connected to the locking block 35, used for resetting the locking block 35. A wedge-shaped limiting groove 24, which mates with the locking block 35, is provided at the central through hole 23 of the support base 2 to limit the upward movement distance of the intermediate core rod 32. In the initial state, the locking block 35 abuts against the lower surface of the support base 2 to lock the position of the intermediate core rod 32 and support the support base 2.

[0047] In this embodiment, the rope-driven mechanism and the ejection mechanism can cooperate to perform two jumping methods when charging up for a jump. One method allows the robot to jump continuously with a single release operation on the winding roller 41. The other method involves charging up for a second jump immediately after the robot jumps once. These two jumping methods are described below:

[0048] The continuous bouncing method of the rope release: During the process of the first drive motor 43 controlling the winding roller 41 to wind up the three ropes 42, the three ropes 42 drive the support seat 2 to move downward. The support seat 2 drives the middle core rod 32 to gradually retract into the outer tube 31 through the locking block 35. During this process, the outer spring 33 and the inner spring 34 are compressed and stored. When the top of the outer tube 31 contacts and presses the locking block 35, the locking block 35 overcomes the elastic force of the return spring 36 and gradually retracts into the mounting groove 322 of the middle core rod 32. When the locking block 35 is completely retracted into the mounting groove 322, the locking of the middle core rod 32 is released. Under the rebound force of the inner spring 34, the middle core rod 32 moves upward along the central through hole 23 of the support seat 2. When the locking block 35 is aligned with the wedge-shaped limiting groove 24, the locking block 35 is inserted into the wedge-shaped limiting groove 24 of the support seat 2 under the rebound force of the return spring 36. The upward distance of the middle core rod 32 relative to the support seat 2 is limited. During the upward movement of the intermediate core rod 32, the support linkage block 37 moves upward. The linkage block 37 drives the three motor mounting seats 47 to move along the length direction of the guide groove 22 through three connecting rods 38. The first drive motor 43 moves with the motor mounting seat 47 and separates from the winding roller 41. At this time, the constraint of the first drive motor 43 on the winding roller 41 is released, thereby releasing the constraint of the winding roller 41 on the ejection mechanism 3. The outer spring 33 gradually unfolds from the compressed state, generating a pushing force on the ground through the foot 1, and driving the support seat 2 and the intermediate core rod 32 to move upward relative to the outer sleeve 31 (foot 1). During the upward movement of the support seat 2, the outer spring 33 drives the foot 1 to leave the ground and jump in a predetermined direction. When the outer spring 33 is extended to its maximum length, the inner spring 34 exerts a pulling force on the middle core rod 32. Under the compression of the wedge-shaped limiting groove 24, the locking block 35 overcomes the elastic force of the return spring 36 and gradually retracts into the mounting groove 322 of the middle core rod 32 until the locking block 35 moves down with the middle core rod 32 to the bottom of the support seat 2. At this time, the locking block 35 extends under the elastic force of the return spring 36 and abuts against the lower surface of the support seat 2. The position of the middle core rod 32 and the support seat 2 is locked again. During the process of the middle core rod 32 moving down relative to the support seat 2, the linkage block 37 pushes the three motor mounting seats 47 and the first drive motor 43 to reset through the three connecting rods 38 respectively. The first drive motor 43 is inserted into the winding roller 41 again, but the first drive motor 43 does not start, so it has no driving force on the winding roller 41. At this time, the length of the rope 42 is the longest and it is in a slack state, and it has no restraining force on the outer spring 33. Because the intermediate core rod 32 and the outer sleeve 31 have a degree of freedom to extend and retract, the outer spring 33 can repeatedly release its elastic force, driving the robot to perform a jumping action. That is, when the foot 1 touches the ground again, the support base 2 presses down on the outer spring 33 and the intermediate core rod 32 under its own gravity. The outer spring 33 stores force again and drives the support base 2 to move upward. The outer spring 33 then drives the foot 1 to leave the ground and jump in the set direction. The above actions are repeated to realize the robot's continuous jumping action.As the elasticity of the outer spring 33 is depleted, the robot's jumping stroke will gradually shorten. When the elasticity of the outer spring 33 is insufficient to drive the robot to jump, the first drive motor 43 drives the winding roller 41 to wind the rope 42 again, causing the ejection mechanism 3 to accumulate power again, thereby achieving the purpose of the robot's remote jumping.

[0049] Continuous power-accumulating bouncing method: During the process of the first drive motor 43 controlling the winding roller 41 to wind the three ropes 42, the three ropes 42 drive the support seat 2 to move downward. The support seat 2 drives the middle core rod 32 to gradually retract into the outer tube 31 through the locking block 35. During this process, the outer spring 33 and the inner spring 34 are compressed and power-accumulating. When the top of the outer tube 31 contacts and presses the locking block 35, the locking block 35 overcomes the elastic force of the return spring 36 and gradually retracts into the mounting groove 322 of the middle core rod 32. When the locking block 35 is completely retracted into the mounting groove 322, the locking of the middle core rod 32 is released. Under the rebound force of the inner spring 34, the middle core rod 32 moves upward along the central through hole 23 of the support seat 2. When the locking block 35 is aligned with the wedge-shaped limiting groove 24, the locking block 35 is inserted into the wedge-shaped limiting groove 24 of the support seat 2 under the rebound force of the return spring 36. The upward distance of the middle core rod 32 relative to the support seat 2 is limited. During the upward movement of the intermediate core rod 32, the support linkage block 37 moves upward. The linkage block 37 drives the three motor mounting seats 47 to move along the length direction of the guide groove 22 through three connecting rods 38. The first drive motor 43 moves with the motor mounting seat 47 and separates from the winding roller 41. At this time, the constraint of the first drive motor 43 on the winding roller 41 is released, thereby releasing the constraint of the winding roller 41 on the ejection mechanism 3. The outer spring 33 gradually unfolds from the compressed state, generating a pushing force on the ground through the foot 1, and driving the support seat 2 and the intermediate core rod 32 to move upward relative to the outer sleeve 31 (foot 1). During the upward movement of the support seat 2, the outer spring 33 drives the foot 1 to leave the ground and jump in a predetermined direction. When the outer spring 33 is fully extended, the inner spring 34 exerts a pulling force on the intermediate core rod 32. Under the compression of the wedge-shaped limiting groove 24, the locking block 35 overcomes the elastic force of the return spring 36 and gradually retracts into the mounting groove 322 of the intermediate core rod 32 until the locking block 35 moves down with the intermediate core rod 32 to the bottom of the support seat 2. At this time, the locking block 35 extends under the elastic force of the return spring 36 and abuts against the lower surface of the support seat 2. The position of the intermediate core rod 32 and the support seat 2 is locked again. During the process of the intermediate core rod 32 moving down relative to the support seat 2, the linkage block 37 is connected by three connecting rods 38. The three motor mounting seats 47 and the first drive motor 43 are pushed back to their original positions. The first drive motor 43 is then reconnected to the winding roller 41, but it does not start at this time. When the foot 1 touches the ground again, the support seat 2, under its own weight, presses down on the outer spring 33 and the intermediate core rod 32 a certain distance, and then immediately starts the first drive motor 43. The first drive motor 43 controls the winding roller 41 to wind up the rope 42. Under the pressure of the support seat 2 and the winding of the rope 42, the outer spring 33 stores force again until the outer sleeve 31 triggers the locking block 35 again, causing the outer spring 33 to exert force. This action is repeated to achieve continuous jumping motion of the robot. This control method, based on the storage of force by winding up the rope 42, also utilizes the gravity of the support seat 2 to store force, thereby reducing the system's power consumption.

[0050] Therefore, this embodiment, through the coordinated operation of the outer sleeve 31, the intermediate core rod 32, the outer spring 33, the inner spring 34, the locking block 35, the reset spring 36, the linkage block 37, and the connecting rod 38, can not only store energy, but also trigger the separation of the winding roller 41 from the first drive motor 43 when the outer spring 33 has stored a certain amount of energy, thus releasing the constraint of the winding roller 41 on the outer spring 33. Furthermore, the first bouncing method of this embodiment can convert the elastic potential energy stored in the outer spring 33 into continuous bouncing motion of the robot during a single release operation of the winding roller 41, which not only improves the robot's motion efficiency but also avoids frequent start-stop operations of the first drive motor 43, thereby effectively reducing the robot's energy consumption. The second bouncing method allows the robot to first store energy using the gravity of the support base upon landing, and then store energy again by winding up the rope, fully utilizing the impulse generated upon landing to complete another complete bouncing. Compared to rigid drive methods such as those using transmission links, the rope-driven method of this invention does not exert any constraint on the external spring during the initial landing phase. Therefore, it can utilize the gravity of the support base to store energy. In contrast, rigid drive methods require the motor and transmission links to store energy, meaning the spring is always constrained and cannot utilize the gravity of the support base, thus failing to achieve energy conservation. Furthermore, this bouncing method effectively reduces power consumption and improves the bouncing robot's control over its bouncing motion.

[0051] To ensure the reliability of the engagement and disengagement between the first drive motor 43 and the winding roller 41, see [link to relevant documentation]. Figure 11 In this embodiment, two limiting grooves 313 are formed along the length of the inner wall of the outer sleeve 31. Two rollers 323 are provided at the bottom of the middle core rod 32, and these rollers 323 are respectively located within the two limiting grooves 313. The middle core rod 32 is slidably connected to the limiting grooves 313 through the cooperation of the rollers 323. The design of the limiting grooves 313 and rollers 323 prevents the middle core rod 32 from rotating relative to the outer sleeve 31, thereby preventing the linkage block 37 from generating a torsional force on the motor mounting base 47, which could cause the motor mounting base 47 to detach from the guide groove 22 on the support base 2. Furthermore, the design of the wedge-shaped limiting groove 24 within the support base 2 limits the upward movement distance of the middle core rod 32 relative to the support base 2, thereby preventing the linkage block 37 from moving too high, which could cause the motor mounting base 47 and the first drive motor 43 to detach from the guide groove 22 of the support base 2 and become unable to return to their original positions.

[0052] See Figure 7 In this embodiment, the outer sleeve 31 is connected to the foot 1 via a universal joint 7, and a return torsion spring 8 is fitted onto the universal joint 7. In this embodiment, the universal joint 7 is equivalent to the ankle joint between the foot 1 and the lower leg, enabling the flexing of the ejection mechanism 3 and the foot 1. After the ejected robot completes its jump, the return torsion spring 8 enables the robot's posture angle to self-correct, that is, to return from a tilted state to an upright state.

[0053] See Figure 1 and Figure 2 In this embodiment, a camera 9 is also installed on the support base 2 to obtain road condition information.

[0054] When the bouncing robot adjusts its bouncing direction, it will tilt, causing a shift in the robot's center of gravity. This can easily lead to the robot becoming unbalanced or even tipping over. To maintain the robot's posture stability, this embodiment also includes a posture balancing mechanism 5 for balancing the robot's posture. See also Figure 1 , Figure 3 and Figure 6 The posture balancing mechanism 5 has three parts, each installed at the center of one of the three straight sides of the support base 2. That is, one posture balancing mechanism 5 is installed between every two adjacent rope-driven mechanisms 4. The posture balancing mechanism 5 operates based on the principle of conservation of angular momentum, achieving dynamic balance of the robot's posture through the reaction force of its internal moving parts. Specifically, each posture balancing mechanism 5 in this embodiment includes a second drive motor 51 and a momentum wheel 52. The second drive motor 51 is installed inside the support base 2, and its motor shaft is connected to the momentum wheel 52, driving the momentum wheel 52 to rotate.

[0055] When the bouncing robot tilts forward in a certain direction under the control of three rope-driven mechanisms 4, it gains angular momentum around the universal joint 7. The second drive motor 51 in the three attitude balancing mechanisms 5 drives the corresponding momentum wheel 52 to rotate, and each momentum wheel 52 generates an angular momentum during rotation. The momentum generated by each momentum wheel 52 can be decomposed into components along the tilting direction and perpendicular to the tilting direction. Through coordinated control, the three momentum wheels 52 can combine into a balance momentum opposite to the tilting direction in a plane perpendicular to the tilting direction under the resultant force. The angular momentum of the bouncing robot and the angular momentum of the three momentum wheels 52 are superimposed, making the total angular momentum sum zero, thereby achieving dynamic balance and attitude stability of the robot body. That is, the attitude balancing mechanism in this embodiment works based on the principle of conservation of angular momentum, and compensates for the tilting torque of the bouncing robot by the reaction torque generated by the rate of change of angular momentum of the momentum wheels, maintaining the overall attitude stability of the robot and avoiding imbalance or tilting.

[0056] Since the jumping robot in this embodiment is monopedic, maintaining stability while standing requires adjustment via the posture balancing mechanism 5, increasing the robot's energy consumption. Therefore, this embodiment also includes a foot support mechanism 6, installed between the foot 1 and the universal joint 7. This mechanism provides ground support when the robot is standing, maintaining a stable standing state even without the posture balancing mechanism 5. The foot support mechanism 6 is retracted and lifted off the ground during jumping to avoid affecting the jumping effect. Specifically, see [link to details]. Figure 6 , Figure 7 and Figure 9 The foot support mechanism 6 in this embodiment includes a support shell 61, a linear actuator, a lever 64, a support rod 65, and a return torsion spring 66. A universal joint 7 is connected to the top of the support shell 61, and the foot 1 is connected to the bottom. Three insertion holes are provided along the circumferential direction on the support shell 61. Three support rods 65 are provided, one in each insertion hole. One end of each support rod 65 is rotatably mounted in the corresponding insertion hole via a pivot and is located within the support shell 61. The other end of each support rod 65 extends towards the ground. The linear actuator includes a third drive motor 62, a lead screw shaft 63, and a lead screw nut. The third drive motor 62 is mounted on the support shell 61, and its motor shaft is inserted into the support shell 61 and connected to the lead screw shaft 63, providing torque for the rotation of the lead screw shaft 63. To reduce the size of the foot support mechanism 6, the lever 64 can be used as a lead screw nut. The lever 64 has an internal thread and is screwed to the lead screw shaft 63. The lever 64 is slidably connected to the inner wall of the support shell 61, allowing the support shell 61 to limit the lever 64. A reset torsion spring 66 connects the support rod 65 to the support shell 61 and is used to reset the support rod 65 when it is tilted down.

[0057] When the robot, in a standing position, pre-jumps, the third drive motor 62 drives the lead screw 63 to rotate. The lever 64 moves downwards under the constraint of the support shell 61. The lever 64 contacts and gradually presses the ends of the three support rods 65 inside the support shell 61, causing the support rods 65 to flip upwards around the pivot, thus retracting them off the ground. When the robot has finished jumping and needs to stand on the ground, the third drive motor 62 drives the lead screw 63 to rotate in the opposite direction. The lever 64 moves upwards under the constraint of the support shell 61, no longer pressing the ends of the three support rods 65 inside the support shell 61. Under the restoring force of the return torsion spring 66, the support rods 65 flip downwards around the pivot, and the ends of the support rods 65 outside the support shell 61 contact the ground and support the robot, thus achieving stable standing.

[0058] See Figure 9 In this embodiment, the foot 1 includes an upper sleeve 11, a buffer spring 12, a buffer post 13, and an elastic hemispherical foot 14. The bottom of the support shell 61 is provided with a threaded post, and the upper end of the upper sleeve 11 is provided with an internal thread. The upper sleeve 11 is screwed to the bottom of the support shell 61. The buffer spring 12 is located inside the upper sleeve 11. One end of the buffer post 13 is located inside the upper sleeve 11 and can be slidably connected to the upper sleeve 11, while the other end is provided with a threaded post. The elastic hemispherical foot 14 is screwed to the buffer post 13.

[0059] When the bouncing robot performs a bouncing action, the elastic hemispherical foot 14 touches the ground and compresses the buffer spring 12 through the buffer column 13. The buffer spring 12 is compressed, thereby reducing the impact force between the elastic hemispherical foot 14 and the ground and extending the service life of the foot 1.

[0060] The following further explains the working process of the present invention to further demonstrate its working principle and advantages:

[0061] The bouncing robot in this embodiment pre-realizes the bouncing action in three stages: adjusting the bouncing direction, retracting the foot support mechanism 6, and bouncing.

[0062] Adjusting the jumping direction: When the jumping direction is determined, the lengths of the three ropes 42 of the three rope-driven mechanisms 4 are controlled so that the launching mechanism 3 can rotate around the universal joint 7 and tilt forward in the pre-jump direction under the resultant force of the three ropes 42. At the same time, the second drive motors 51 in the three attitude balancing mechanisms 5 will drive the corresponding momentum wheels 52 to rotate. Through algorithm control, the three momentum wheels 52 can synthesize a balance momentum opposite to the forward tilt in a plane perpendicular to the forward tilt direction under the resultant force. The angular momentum of the jumping robot is superimposed with the angular momentum of the three momentum wheels 52, making the total angular momentum sum zero. At this time, the jumping robot is in a stable forward tilt state.

[0063] Foot support mechanism 6 retraction phase: When the robot is in a standing position and about to bounce, the third drive motor 62 drives the lead screw shaft 63 to rotate, and the lever 64 moves downward under the limit of the support shell 61. The lever 64 contacts and gradually squeezes one end of the three support rods 65 inside the support shell 61, and the support rods 65 flip up around the aforementioned pivot so that the support rods 65 retract and leave the ground.

[0064] Jumping phase:

[0065] The continuous bouncing method of the rope release: During the bouncing process, three first drive motors 43 control the winding rollers 41 to wind up three ropes 42. The three ropes 42 drive the support seat 2 to move downward. The support seat 2 drives the middle core rod 32 to gradually retract into the outer tube 31 through the locking block 35. During this process, the outer spring 33 and the inner spring 34 are compressed and stored. When the top of the outer tube 31 contacts and presses the locking block 35, the locking block 35 overcomes the elastic force of the return spring 36 and gradually retracts into the mounting groove 322 of the middle core rod 32. When the locking block 35 is completely retracted into the mounting groove 322, the locking of the middle core rod 32 is released. Under the rebound force of the inner spring 34, the middle core rod 32 moves upward along the central through hole 23 of the support seat 2. When the locking block 35 is aligned with the wedge-shaped limiting groove 24, the locking block 35 is inserted into the wedge-shaped limiting groove 24 of the support seat 2 under the rebound force of the return spring 36. The upward distance of the middle core rod 32 relative to the support seat 2 is limited. During the upward movement of the intermediate core rod 32, the support linkage block 37 moves upward. The linkage block 37 drives the three motor mounting seats 47 to move along the length direction of the guide groove 22 through three connecting rods 38. The first drive motor 43 moves with the motor mounting seat 47 and separates from the winding roller 41. At this time, the constraint of the first drive motor 43 on the winding roller 41 is released, thereby releasing the constraint of the winding roller 41 on the ejection mechanism 3. The outer spring 33 gradually unfolds from the compressed state, generating a pushing force on the ground through the foot 1, and driving the support seat 2 and the intermediate core rod 32 to move upward relative to the outer sleeve 31 (foot 1). During the upward movement of the support seat 2, the outer spring 33 drives the foot 1 to leave the ground and jump in a predetermined direction. When the outer spring 33 is extended to its maximum length, the inner spring 34 exerts a pulling force on the middle core rod 32. Under the compression of the wedge-shaped limiting groove 24, the locking block 35 overcomes the elastic force of the return spring 36 and gradually retracts into the mounting groove 322 of the middle core rod 32 until the locking block 35 moves down with the middle core rod 32 to the bottom of the support seat 2. At this time, the locking block 35 extends under the elastic force of the return spring 36 and abuts against the lower surface of the support seat 2. The position of the middle core rod 32 and the support seat 2 is locked again. During the process of the middle core rod 32 moving down relative to the support seat 2, the linkage block 37 pushes the three motor mounting seats 47 and the first drive motor 43 to reset through the three connecting rods 38 respectively. The first drive motor 43 is inserted into the winding roller 41 again, but the first drive motor 43 does not start, so it has no driving force on the winding roller 41. At this time, the length of the rope 42 is the longest and it is in a slack state, and it has no restraining force on the outer spring 33. Because the intermediate core rod 32 and the outer sleeve 31 have a degree of freedom to extend and retract, the outer spring 33 can repeatedly release its elastic force, driving the robot to perform a jumping action. That is, when the foot 1 touches the ground again, the support base 2 presses down on the outer spring 33 and the intermediate core rod 32 under its own gravity. The outer spring 33 stores force again and drives the support base 2 to move upward. The outer spring 33 then drives the foot 1 to leave the ground and jump in the set direction. The above actions are repeated to realize the robot's continuous jumping action.As the elasticity of the outer spring 33 is depleted, the robot's jumping stroke will gradually shorten. When the elasticity of the outer spring 33 is insufficient to drive the robot to jump, the first drive motor 43 drives the winding roller 41 to wind the rope 42 again, causing the ejection mechanism 3 to accumulate power again, thereby achieving the purpose of the robot's remote jumping.

[0066] Continuous power-accumulating bouncing method: During the process of the first drive motor 43 controlling the winding roller 41 to wind the three ropes 42, the three ropes 42 drive the support seat 2 to move downward. The support seat 2 drives the middle core rod 32 to gradually retract into the outer tube 31 through the locking block 35. During this process, the outer spring 33 and the inner spring 34 are compressed and power-accumulating. When the top of the outer tube 31 contacts and presses the locking block 35, the locking block 35 overcomes the elastic force of the return spring 36 and gradually retracts into the mounting groove 322 of the middle core rod 32. When the locking block 35 is completely retracted into the mounting groove 322, the locking of the middle core rod 32 is released. Under the rebound force of the inner spring 34, the middle core rod 32 moves upward along the central through hole 23 of the support seat 2. When the locking block 35 is aligned with the wedge-shaped limiting groove 24, the locking block 35 is inserted into the wedge-shaped limiting groove 24 of the support seat 2 under the rebound force of the return spring 36. The upward distance of the middle core rod 32 relative to the support seat 2 is limited. During the upward movement of the intermediate core rod 32, the support linkage block 37 moves upward. The linkage block 37 drives the three motor mounting seats 47 to move along the length direction of the guide groove 22 through three connecting rods 38. The first drive motor 43 moves with the motor mounting seat 47 and separates from the winding roller 41. At this time, the constraint of the first drive motor 43 on the winding roller 41 is released, thereby releasing the constraint of the winding roller 41 on the ejection mechanism 3. The outer spring 33 gradually unfolds from the compressed state, generating a pushing force on the ground through the foot 1, and driving the support seat 2 and the intermediate core rod 32 to move upward relative to the outer sleeve 31 (foot 1). During the upward movement of the support seat 2, the outer spring 33 drives the foot 1 to leave the ground and jump in a predetermined direction. When the outer spring 33 is fully extended, the inner spring 34 exerts a pulling force on the intermediate core rod 32. Under the compression of the wedge-shaped limiting groove 24, the locking block 35 overcomes the elastic force of the return spring 36 and gradually retracts into the mounting groove 322 of the intermediate core rod 32 until the locking block 35 moves down with the intermediate core rod 32 to below the support base 2. At this time, the locking block 35 extends under the elastic force of the return spring 36 and abuts against the lower surface of the support base 2. The position of the intermediate core rod 32 and the support base 2 is locked again. During the process of the intermediate core rod 32 moving down relative to the support base 2, the linkage block 37 is connected by three connecting rods. Rod 38 pushes the three motor mounting seats 47 and the first drive motor 43 to reset respectively. The first drive motor 43 is then reconnected to the winding roller 41, but it does not start at this time. When foot 1 touches the ground again, support seat 2, under its own weight, presses down on the outer spring 33 and the middle core rod 32 a certain distance, and then immediately starts the first drive motor 43. The first drive motor 43 controls the winding roller 41 to wind up the rope 42. Under the pressure of support seat 2 and the winding of rope 42, the outer spring 33 stores force again until the outer sleeve 31 triggers the locking block 35 to exert force again. Repeating the above actions, the robot's continuous jumping action is achieved.

[0067] When the robot finishes jumping and needs to stand on the ground, the third drive motor 62 drives the lead screw shaft 63 to rotate in the opposite direction. The lever 64 moves upward under the limit of the support shell 61. The lever 64 no longer presses the end of the three support rods 65 inside the support shell 61. Under the rebound force of the reset torsion spring 66, the support rods 65 flip down around the pivot. The end of the support rod 65 outside the support shell 61 contacts the ground and supports the ground, thereby realizing the robot's stable standing.

[0068] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the concept of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An omnidirectional bouncing robot with automatic release triggered by rope-pull charging, characterized in that, include: The feet provide support on the ground; Support base, located above the feet; The ejection mechanism is connected to a support base at one end and movably connected to the foot at the other end. The ejection mechanism includes an outer tube, a central core rod, an outer spring, an inner spring, a locking block, a return spring, and a linkage block. The linkage block is located above the support base and can control the separation or connection of the first drive motor and the winding roller. A central through hole is provided on the support base. One end of the central core rod is connected to the linkage block, and the other end passes through the central through hole and is inserted into the outer tube. The inner spring is located inside the outer tube and is used to drive the central core rod to move upwards and pull downwards to reset. The outer spring is sleeved on the outer tube and the central core rod and is used to store force for the ejection mechanism and drive the robot to jump. The locking block is slidably installed in the mounting groove on the central core rod and abuts against the lower surface of the support base to lock the position of the central core rod and support the support base. The return spring connects the locking block and the central core rod and is used to reset the locking block. There are three rope-driven mechanisms, which are evenly distributed around the catapult mechanism. Each rope-driven mechanism includes a winding roller, a rope, and a first drive motor. The winding roller is rotatably mounted on the support base, and the first drive motor is slidably mounted on the support base and can drive the winding roller to rotate. One end of the rope is wound around the winding roller, and the other end is connected to the foot. During the winding process, the first drive motor drives the winding roller to wind up the rope, while the ejector mechanism continuously stores energy until it triggers the first drive motor to separate from the winding roller, the rope loosens, and the ejector mechanism releases the stored elastic potential energy to cause the feet to bounce.

2. The omnidirectional jumping robot with automatic trigger release triggered by rope pulling and energy storage as described in claim 1, characterized in that, The intermediate core rod is equipped with rollers, and a limiting groove is opened along the length direction on the inner wall of the outer sleeve. The intermediate core rod is slidably connected by the cooperation of the rollers and the limiting groove.

3. The omnidirectional jumping robot with automatic trigger release triggered by rope pulling and energy storage as described in claim 1, characterized in that, The outer tube is connected to the foot via a universal joint, and a return torsion spring is fitted on the universal joint.

4. The omnidirectional jumping robot with automatic trigger release triggered by rope pulling and energy storage as described in claim 1, characterized in that, The first drive motor is connected to the winding roller by a key.

5. The omnidirectional jumping robot with automatic trigger release triggered by rope pulling and energy storage as described in claim 1, characterized in that, A camera is installed on the support base to obtain road condition information.

6. The omnidirectional jumping robot with automatic trigger release triggered by rope pulling and energy storage as described in claim 1, characterized in that, It also includes a posture balancing mechanism for balancing the robot's posture, which has three parts that are evenly mounted on the support base in a circumferential direction.

7. The omnidirectional bouncing robot with automatic trigger release triggered by rope pulling and energy storage as described in claim 6, characterized in that, Each attitude balancing mechanism includes a second drive motor and a momentum wheel, the second drive motor driving the momentum wheel to rotate.

8. The omnidirectional jumping robot with automatic trigger release triggered by rope pulling and energy storage as described in claim 1, characterized in that, It also includes a foot support mechanism, which is installed between the foot and the ejection mechanism. This mechanism provides ground support when the robot is standing and retracts when the robot jumps.

9. The omnidirectional jumping robot with automatic trigger release triggered by rope pulling and energy storage as described in claim 8, characterized in that, The foot support mechanism includes a linear actuator, a lever, support rods, and a return torsion spring. There are at least three support rods evenly distributed around the foot, and each support rod is configured to flip up and down. The linear actuator can drive the lever to move up and down. When the robot jumps, the linear actuator drives the lever to move down, so that the lever presses the support rod up and off the ground. When the robot stands, the linear actuator can drive the lever to move up, so that the return torsion spring drives the support rod to flip down and support the ground.

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