Efficient energy conversion mechanism for jumping robot

Abstract

An efficient energy conversion mechanism for a jumping robot comprises a bottom plate rotationally connected to the right side through a hinge assembly and a mounting plate located above the bottom plate, the hinge assembly is provided with an elastic energy storage part which abuts against the bottom plate and the mounting plate, the mounting plate is provided with a motor, and an output shaft of the motor is located on the left side of the mounting plate; an output shaft of the motor is connected with the left side of the bottom plate through a rotary winding traction assembly. An energy conversion mechanism (the torsional spring stores and quickly releases kinetic energy) of the torsional spring, the rocker arm and the rope is ingeniously designed, and compared with an existing energy conversion mechanism which mainly achieves transmission and jumping through a gear kinematic pair, the robot is simple and reliable in structure and light in weight, and particularly has the advantages of being capable of being used in the unstructured severe environment such as the gravel ground and the like. And the device can still run reliably, and is high in environmental adaptability and cost performance.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a high-efficiency energy conversion mechanism for a jumping robot. Background Art

[0002] Existing jumping robots, such as the bouncing robot disclosed in application number 202310623784.2, mainly use gear kinematic pairs to achieve transmission and jumping, which are complex in structure and difficult to meet the rapid release of energy at the moment of jumping. At the same time, the transmission chain is too long, which increases energy loss and increases its own weight, greatly reducing the jumping distance of the robot. In view of this, it is urgent to innovate the energy transmission, storage and rapid release structure design of the jumping robot. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a high-efficiency energy conversion mechanism for a jumping robot with scientific principle, simple structure, light weight and long jumping distance.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions: an efficient energy conversion mechanism for a jumping robot, comprising a bottom plate and a mounting plate located above the bottom plate, the hinge assembly being rotatably connected on the right side through a hinge assembly, an elastic energy storage member being provided on the hinge assembly for pressing the bottom plate and the mounting plate respectively, a motor being provided on the mounting plate, an output shaft of the motor being located on the left side of the mounting plate, and the output shaft of the motor being connected to the left side of the bottom plate through a rotating winding and pulling assembly;

[0005] The winding and pulling assembly includes a driving rocker arm, a driven rocker arm, a winding shaft, a pulling rope and a positioning screw. A circular hole is provided at one end of the driven rocker arm for clearance assembly on the output shaft. The cross-section of the outer end of the output shaft is a D-shaped structure. A D-shaped hole is provided at one end of the driving rocker arm for interference assembly on the D-shaped structure. The winding shaft is arranged parallel to the output shaft. One end of the winding shaft is vertically fixedly installed on the other end of the driven rocker arm. The center distance between the winding shaft and the output shaft is smaller than the distance from the other end of the driving rocker arm to the center line of the output shaft. An annular winding groove is provided on the outer circle of the other end of the winding shaft and is located on the outside of the driving rocker arm. The positioning screw is threadedly connected to the base plate. The lower end of the pulling rope passes through the base plate and is fixedly connected to the positioning screw. The lower end of the pulling rope is crimped to the base plate through a washer on the positioning screw. The upper end of the pulling rope is fixedly connected to the winding shaft and wound in the annular winding groove.

[0006] The hinge assembly includes a hinge shaft, an upper support plate, a lower support plate and a latch. The upper support plate and the lower support plate are each provided with two pieces. The two upper support plates are fixedly connected to the lower surface of the mounting plate and are spaced apart in front and back. The two lower support plates are fixedly connected to the upper surface of the base plate and are spaced apart in front and back. The two lower support plates are located between the two upper support plates and are rotatably connected through a horizontally arranged hinge shaft. The distance between the two lower support plates plus the thickness of the two lower support plates is equal to the distance between the two upper support plates. A limit plate is provided at one end of the hinge shaft, and the latch is radially inserted at the other end of the hinge shaft.

[0007] The elastic energy storage component is a torsion spring, which is sleeved on the hinge shaft, and two spring arms of the torsion spring are respectively pressed and matched with the bottom plate and the mounting plate.

[0008] Using the above technical solution, the structure of the present invention is further described as follows:

[0009] A battery and a motor control module board are also provided on the mounting plate. The battery supplies power to the motor through the motor control module board. The driven rocker arm and the driving rocker arm are successively installed on the output shaft of the motor. One end of the driving rocker arm with a D-shaped hole is installed on the D-shaped structure of the output shaft, and the driving rocker arm is driven to rotate by the motor; one end of the driven rocker arm with a circular hole is sleeved on the output shaft and matched with the output shaft clearance, and a winding shaft is vertically fixed at the other end of the driven rocker arm, and an annular winding groove is provided on the outer circle of the winding shaft, and a pulling rope is wound and fixed in the annular winding groove, and the lower end of the pulling rope is connected and fixed to the base plate through a washer and a positioning screw.

[0010] Two lower support plates are arranged on the upper side of the bottom plate, and through holes are arranged on the lower support plates to match the hinge shaft; a hole for the pulling rope to pass through is arranged on the lower side of the bottom plate, and a threaded hole is arranged on the side of the hole, and a positioning screw and a washer are installed. After the pulling rope passes through, the lower end head of the pulling rope is directly wrapped around the positioning screw, and the positioning screw is rotated to make the washer press the pulling rope tightly, so as to fix the lower end of the pulling rope.

[0011] Corresponding to the bottom plate, two upper support plates are arranged on the lower side of the mounting plate, and through holes are arranged on the upper support plates to match the hinge shaft; a pulling rope passing hole is arranged at the lower side of the mounting plate for the pulling rope to pass through; 4 mounting holes are arranged on the mounting plate for fixing the motor to realize the installation of the motor.

[0012] The energy of the present invention mainly comes from the strain energy generated by the deformation of the torsion spring. When the centrifugal force generated by the rapid release of the torsion spring is greater than the overall gravity of the robot, the robot starts to jump. Based on the principles of physics, an object is thrown upward at a certain speed and air resistance is ignored. When the elevation angle (the angle between the mounting plate and the base plate) is 45°, the jumping distance is the farthest. The present invention converts the kinetic energy of the motor into the elastic potential energy of the torsion spring. The initial state angle of the torsion spring is designed to be 45°, which is compressed to 30° with a compression stroke of 15° to achieve energy storage and rapid release. The number of torsion springs can be increased or decreased according to the different requirements of the overall design for weight and jumping distance, and at least one torsion spring can be installed.

[0013] The articulated shaft is used to assemble the torsion spring, the base plate and the mounting plate, and a limit plate is arranged at one end thereof, and a radial hole is opened at the other end for installing a latch to realize the axial positioning of the articulated shaft.

[0014] The jumping principle of the present invention is specifically as follows: when the robot is in an initial static state, the mounting plate and the bottom plate are subjected to the top pressure of the torsion spring, the pulling rope is naturally straightened, and the winding shaft on the driven rocker arm is located at the lowest point in the vertical direction; by operating the forward button or reverse button on the wireless remote control, the output shaft of the motor rotates to drive the driving rocker arm to rotate synchronously, and the driving rocker arm drives the driven rocker arm to rotate through the driving winding shaft, and the winding shaft rotates around the output shaft. When the winding shaft rotates to the highest point, the pulling rope is gradually wound into the annular winding groove, and under the action of the pulling force of the pulling rope The angle between the lower mounting plate and the bottom plate is reduced to achieve compression and energy storage of the torsion spring. The angle of the torsion spring (the angle between the mounting plate and the bottom plate) is about 30°. When the driven rocker arm rotates past the highest point, the reaction force of the torsion spring separates the driving rocker arm from the winding shaft. The top pressure of the torsion spring on the mounting plate drives the mounting plate to rotate rapidly with the hinge shaft as the fulcrum. The speed of the mounting plate is much greater than the speed of the driving shaft, and it starts to jump. When the winding shaft returns to the lowest point in the vertical direction, the torsion spring is released from the compressed state. At this time, release the button on the remote control, the motor stops working, and the jump ends.

[0015] In summary, the invention ingeniously designs an energy conversion mechanism of "torsion spring + rocker arm + rope" (torsion spring stores and quickly releases kinetic energy). Compared with the existing energy conversion mechanism that mainly uses gear kinematic pairs to achieve transmission and jumping, the robot of the present invention has a simple and reliable structure and light weight. It can still operate reliably, especially in unstructured harsh environments, such as sandy and gravel ground, has strong environmental adaptability and high cost performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0017] Figure 2 It is a schematic diagram of the top plan structure of the present invention;

[0018] Figure 3 It is a schematic diagram of the left-side planar structure of the present invention;

[0019] Figure 4 yes Figure 1 Schematic diagram of the structure of the middle drive rocker arm;

[0020] Figure 5 yes Figure 1 The structural diagram of the follower rocker arm;

[0021] Figure 6 It is a schematic diagram of the overall structure of the energy storage state;

[0022] Figure 7 It is a schematic diagram of the overall structure in the release state;

[0023] Figure 8 yes Figure 1 Schematic diagram of the structure of the central articulated shaft. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0025] like Figure 1-Figure 8 As shown, a high-efficiency energy conversion mechanism for a jumping robot includes a base plate 1 rotatably connected on the right side by a hinge assembly and a mounting plate 2 located above the base plate 1, the hinge assembly is provided with elastic energy storage parts for pressing the base plate 1 and the mounting plate 2 respectively, a motor is provided on the mounting plate 2, the output shaft 11 of the motor 4 is located on the left side of the mounting plate 2, and the output shaft 11 of the motor 4 is connected to the left side of the base plate 1 through a rotating winding and pulling assembly.

[0026] The winding and pulling assembly includes a driving rocker arm 6, a driven rocker arm 7, a winding shaft 8, a pulling rope 9 and a positioning screw 10. A circular hole is provided at one end of the driven rocker arm 7 for clearance assembly on the output shaft 11. The cross-section of the outer end of the output shaft 11 is a D-shaped structure. A D-shaped hole 12 is provided at one end of the driving rocker arm 6 for interference assembly on the D-shaped structure. The winding shaft 8 is arranged parallel to the output shaft 11. One end of the winding shaft 8 is vertically fixedly installed on the other end of the driven rocker arm 7. The center distance between the winding shaft 8 and the output shaft 11 is less than the distance from the other end of the driving rocker arm 6 to the center line of the output shaft 11. An annular winding groove 14 is provided on the outer circle of the other end of the winding shaft 8 and is located on the outside of the driving rocker arm 6. The positioning screw 10 is threadedly connected to the base plate 1. The lower end of the pulling rope 9 passes through the base plate 1 and is fixedly connected to the positioning screw 10. The positioning screw 10 is used to press the lower end of the pulling rope 9 with the base plate 1 through a washer 13. The upper end of the pulling rope 9 is fixedly connected to the winding shaft 8 and wound in the annular winding groove 14.

[0027] The hinge assembly includes a hinge shaft 15, an upper support plate 16, a lower support plate 17 and a latch 18. The upper support plate 16 and the lower support plate 17 are each provided with two pieces. The two upper support plates 16 are fixedly connected to the lower surface of the mounting plate 2 and are spaced apart in the front and back. The two lower support plates 17 are fixedly connected to the upper surface of the base plate 1 and are spaced apart in the front and back. The two lower support plates 17 are located between the two upper support plates 16 and are rotatably connected through the horizontally arranged hinge shaft 15. The distance between the two lower support plates 17 plus the thickness of the two lower support plates 17 is equal to the distance between the two upper support plates 16. A limit plate is provided at one end of the hinge shaft 15, and the latch 18 is radially inserted at the other end of the hinge shaft 15.

[0028] The elastic energy storage member is a torsion spring 19 , which is sleeved on the hinge shaft 15 , and two spring arms of the torsion spring 19 are respectively pressed and matched with the base plate 1 and the mounting plate 2 .

[0029] The structure of the present invention is further described as follows:

[0030] A battery 3 and a motor control module board 5 are also provided on the mounting plate 2. The battery 3 supplies power to the motor 4 through the motor control module board 5. The follower rocker arm 7 and the driving rocker arm 6 are successively installed on the output shaft 11 of the motor 4. One end of the driving rocker arm 6 with a D-shaped hole 12 is installed on the D-shaped structure of the output shaft 11, and the driving rocker arm 6 is driven to rotate by the motor 4; one end of the follower rocker arm 7 with a circular hole is sleeved on the output shaft 11 and is clearance-matched with the output shaft 11, and a winding shaft 8 is vertically fixed on the other end of the follower rocker arm 7. The outer circle of the winding shaft 8 is provided with an annular winding groove 14, and a pulling rope 9 is wound and fixed in the annular winding groove 14. The lower end of the pulling rope 9 is connected and fixed to the base plate 1 through a washer 13 and a positioning screw 10.

[0031] Two lower support plates 17 are arranged on the upper side of the base plate 1, and a through hole is arranged on the lower support plate 17 to match the hinge axis; a hole for the pulling rope 9 to pass through is arranged on the lower side of the base plate 1, and a threaded hole is arranged on the side of the hole, and a positioning screw 10 and a washer 13 are installed. After the pulling rope 9 passes through, the lower end head of the pulling rope 9 is directly wrapped around the positioning screw 10, and by rotating the positioning screw 10, the washer 13 is pressed against the pulling rope 9 to fix the lower end of the pulling rope 9.

[0032] Corresponding to the base plate 1, two upper support plates 16 are provided on the lower side of the mounting plate 2. Through holes are provided on the upper support plates 16 to match the hinge shaft. The structural dimension e between the two upper support plates 16 is equal to the sum of the three dimensions b, c, and d matching therewith on the base plate 1; a hole for passing the pulling rope 9 is provided at the lower side of the mounting plate 2 for the pulling rope 9 to pass through; four mounting holes for fixing the motor 4 are provided on the mounting plate to realize the installation of the motor 4.

[0033] The energy of the present invention mainly comes from the strain energy generated by the deformation of the torsion spring 19. When the centrifugal force generated by the rapid release of the torsion spring 19 is greater than the overall gravity of the robot, the robot starts to jump. Based on the principles of physics, an object is thrown upward at a certain speed and air resistance is ignored. When the elevation angle (the angle between the mounting plate 2 and the base plate 1) is 45°, the jumping distance is the farthest. The present invention converts the kinetic energy of the motor 4 into the elastic potential energy of the torsion spring 19. The initial state angle of the torsion spring 19 is designed to be 45°, which is compressed to 30° with a compression stroke of 15° to achieve energy storage and rapid release. According to the different requirements of the overall design for weight and jumping distance, the number of torsion springs 19 can be increased or decreased, and at least one torsion spring 19 can be installed.

[0034] The hinge shaft 15 is used to assemble the torsion spring 19, the base plate 1 and the mounting plate 2, and a limit plate is arranged at one end thereof, and a radial hole is opened at the other end for installing the latch 18 to realize the axial positioning of the hinge shaft 15.

[0035] The jumping principle of the present invention is as follows: when the robot is in the initial static state, the mounting plate 2 and the base plate 1 are subjected to the top pressure of the torsion spring 19, the pulling rope 9 is naturally straightened, and the winding shaft 8 on the driven rocker arm 7 is at the lowest point in the vertical direction, such as Figure 3 As shown; by operating the forward button or reverse button on the wireless remote control, the output shaft 11 of the motor 4 rotates to drive the driving rocker arm 6 to rotate synchronously, and the driving rocker arm 6 drives the driven rocker arm 7 to rotate by driving the winding shaft 8, and the winding shaft 8 rotates around the output shaft 11. When the winding shaft 8 rotates to the highest point, the pulling rope 9 is gradually wound into the annular winding groove 14. Under the pulling force of the pulling rope 9, the angle between the mounting plate 2 and the bottom plate 1 is reduced, so that the torsion spring 19 is compressed and energy is stored, as shown in FIG. Figure 6 As shown, the angle of the torsion spring 19 (the angle between the mounting plate 2 and the bottom plate 1) is about 30°; when the driven rocker arm 7 rotates past the highest point, under the reaction force of the torsion spring 19, the driving rocker arm 6 is separated from the winding shaft 8, and the top pressure of the torsion spring 19 on the mounting plate 2 drives the mounting plate 2 to rotate rapidly with the hinge shaft 15 as the fulcrum. The rotation speed of the mounting plate 2 is much greater than the rotation speed of the driving shaft, and it starts to jump. When the winding shaft 8 returns to the lowest point in the vertical direction, the torsion spring 19 is released from the compressed state. At this time, the remote control button is released, the motor 4 stops working, and the jumping ends.

Claims

1. A high-efficiency energy conversion mechanism for a jumping robot, characterized in that: It includes a bottom plate rotatably connected on the right side by a hinge assembly and a mounting plate located above the bottom plate, the hinge assembly is provided with elastic energy storage parts for pressing the bottom plate and the mounting plate respectively, a motor is provided on the mounting plate, the output shaft of the motor is located on the left side of the mounting plate, and the output shaft of the motor is connected to the left side of the bottom plate by a rotating winding and pulling assembly; The winding and pulling assembly includes a driving rocker arm, a driven rocker arm, a winding shaft, a pulling rope and a positioning screw. A circular hole is provided at one end of the driven rocker arm for clearance assembly on the output shaft. The cross-section of the outer end of the output shaft is a D-shaped structure. A D-shaped hole is provided at one end of the driving rocker arm for interference assembly on the D-shaped structure. The winding shaft is arranged parallel to the output shaft. One end of the winding shaft is vertically fixedly installed on the other end of the driven rocker arm. The center distance between the winding shaft and the output shaft is smaller than the distance from the other end of the driving rocker arm to the center line of the output shaft. An annular winding groove is provided on the outer circle of the other end of the winding shaft and is located on the outside of the driving rocker arm. The positioning screw is threadedly connected to the base plate. The lower end of the pulling rope passes through the base plate and is fixedly connected to the positioning screw. The lower end of the pulling rope is crimped to the base plate through a washer on the positioning screw. The upper end of the pulling rope is fixedly connected to the winding shaft and wound in the annular winding groove.

2. The high-efficiency energy conversion mechanism for a jumping robot according to claim 1, characterized in that: The hinge assembly includes a hinge shaft, an upper support plate, a lower support plate and a latch. The upper support plate and the lower support plate are each provided with two pieces. The two upper support plates are fixedly connected to the lower surface of the mounting plate and are spaced apart in front and back. The two lower support plates are fixedly connected to the upper surface of the base plate and are spaced apart in front and back. The two lower support plates are located between the two upper support plates and are rotatably connected through a horizontally arranged hinge shaft. The distance between the two lower support plates plus the thickness of the two lower support plates is equal to the distance between the two upper support plates. A limit plate is provided at one end of the hinge shaft, and the latch is radially inserted at the other end of the hinge shaft.

3. The high-efficiency energy conversion mechanism for a jumping robot according to claim 2, characterized in that: The elastic energy storage component is a torsion spring, which is sleeved on the hinge shaft, and two spring arms of the torsion spring are respectively pressed and matched with the bottom plate and the mounting plate.

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