Two-stage energy storage jumping robot

Abstract

The utility model discloses a two-stage energy storage jumping robot. The two-stage energy storage jumping robot comprises a rack and a plurality of jumping legs arranged on the rack, each bouncing leg comprises a thigh rod, a shank rod, a first-stage energy storage structure, a second-stage energy storage structure and a bouncing driving mechanism; one end of the thigh rod is hinged to the rack, and the other end is hinged to the shank rod; the primary energy storage structure acts between the thigh rod and the rack; the secondary energy storage structure acts between the thigh rod and the shank rod; the bounce driving mechanism is used for driving deformation to store elastic potential energy; the first-stage energy storage structure and the second-stage energy storage structure are used for correspondingly enabling the thigh rod and the shank rod to swing when elastic potential energy of the first-stage energy storage structure and the second-stage energy storage structure is released, so that the robot jumps upwards, and due to the fact that the second-stage spring is used for storing energy, high jumping height and distance can be provided for the robot.

Description

Technical Field

[0001] The utility model relates to the field of jumping robots, and particularly relates to a two-stage energy storage jumping robot. Background Art

[0002] Jumping robots are a type of robot with unique locomotion capabilities. Jumping robots mainly rely on powerful power devices to achieve jumping movements. This power can come from springs, air pressure, hydraulic pressure, or motors, etc. Through precise control and energy release, jumping robots can generate a huge explosive force instantaneously, thereby achieving long-distance jumps. Compared with traditional wheeled or tracked robots, jumping robots have significant advantages. Firstly, it has extremely high mobility and can easily cross various obstacles, such as ditches, rocks, stairs, etc. This makes jumping robots more adaptable in complex terrain environments and can reach places that are difficult for traditional robots to reach. Secondly, the jumping movement can enable the robot to quickly change its position and improve its reaction speed in emergency situations. In addition, jumping robots usually have a smaller volume and weight, which is convenient for carrying and deployment. In scenarios such as disaster rescue and terrain exploration, robots usually need to move on irregular or rugged terrains. Traditional wheeled or tracked robots may be restricted in these environments. Bionic jumping robots can jump like frogs, cross obstacles, climb slopes or jump over cracks, and have unique advantages when exploring areas that are not easily accessible; in addition, bionic jumping robots have high energy utilization efficiency. By imitating the elastic energy storage mechanism of frogs, bionic jumping robots can reduce energy consumption during the jumping process and achieve long-term autonomous operation. This is of great significance for improving the endurance of robots.

[0003] Existing jumping robots in the prior art usually adopt methods such as spring drive, air pressure drive, hydraulic drive, or motor drive. When using spring drive, the elastic potential energy of the spring is used to store energy. When the energy is released, it pushes the robot to jump. Usually, the spring is compressed to store energy, and then the spring is quickly released through a triggering mechanism to generate an instant explosive force. Existing spring-driven jumping robots usually only have a single-stage spring drive, and the energy that a single-stage spring can store is limited, making it difficult to provide a high jumping height and distance. Summary of the Utility Model

[0004] In view of this, the purpose of the present utility model is to develop a two-stage energy storage jumping robot, which uses a two-stage spring to store energy, thereby providing a high jumping height and distance for the robot.

[0005] The secondary energy storage jumping robot of the utility model comprises a frame and a plurality of bouncing legs arranged on the frame; the bouncing legs comprise a thigh rod, a calf rod, a primary energy storage structure, a secondary energy storage structure and a bouncing driving mechanism; one end of the thigh rod is hinged to the frame, and the other end is hinged to the calf rod; the primary energy storage structure acts between the thigh rod and the frame; the secondary energy storage structure acts between the thigh rod and the calf rod; the bouncing driving mechanism is used for driving deformation to store elastic potential energy; the primary energy storage structure and the secondary energy storage structure are used for respectively swinging the thigh rod and the calf rod when releasing their elastic potential energies, so that the robot jumps upwards.

[0006] Further, the primary energy storage structure is a coil spring; the secondary energy storage structure is a compression spring; one end of the thigh rod is connected to the frame through a thigh rotating shaft fixed thereto; the calf rod is connected to the other end of the thigh rod through a calf rotating shaft fixed thereto; the coil spring is sleeved on the thigh rotating shaft, one end of the coil spring is connected to the thigh rotating shaft, and the other end is connected to the frame; one end of the compression spring is connected to the thigh rod, and the other end is connected to the calf rod.

[0007] Further, the bouncing driving mechanism comprises a motor, a multi-stage gear transmission system and a belt transmission mechanism; the multi-stage gear transmission system is used for transmitting the power of the motor to the thigh rotating shaft; the belt transmission mechanism is used for transmitting the power of the thigh rotating shaft to the calf rotating shaft; an incomplete gear is included in the multi-stage gear transmission system; when the incomplete gear is in the meshing state, the motor can drive the thigh rotating shaft and the calf rotating shaft to rotate simultaneously, so that the coil spring and the compression spring are deformed simultaneously, and when the incomplete gear is in the separated state, the coil spring and the compression spring release the elastic potential energy to make the robot jump.

[0008] Further, the multi-stage gear transmission system comprises a rotating shaft I, a rotating shaft II and a rotating shaft III arranged in parallel; the output shaft of the motor transmits the power to the rotating shaft I through a gear pair I; the rotating shaft I transmits the power to the rotating shaft II through a gear pair II; the incomplete gear is arranged on the rotating shaft II, and a transmission gear meshing with the incomplete gear is arranged on the rotating shaft III; the rotating shaft III transmits the power to the thigh rotating shaft through a bevel gear pair.

[0009] Further, the belt transmission mechanism comprises a driving belt pulley arranged on the thigh rotating shaft, a driven belt pulley arranged on the calf rotating shaft and a transmission belt connecting the driving belt pulley and the driven belt pulley.

[0010] Further, the bouncing legs are arranged in pairs, and each pair of bouncing legs is respectively arranged on both sides of the frame.

[0011] Further, a supporting foot plate is arranged at the bottom of the calf rod.

[0012] Further, the frame includes a support plate, the motor is arranged on the top surface of the support plate, the multi-stage gear transmission system is arranged at the bottom of the support plate, and a strip-shaped opening for the gear to pass through is formed on the support plate.

[0013] Advantages of the present utility model: For the two-stage energy storage jumping robot of the present utility model, when the bouncing leg buckles under the drive of the bouncing drive mechanism, energy is stored. After the energy storage process is completed, the incomplete gear will rotate to the separated state. At this time, the first-stage energy storage structure and the second-stage energy storage structure will be triggered to release the elastic potential energy they store, driving the simultaneous swinging of the thigh rod and the calf rod. The force exerted by the calf on the ground will act on the robot itself in the opposite direction, so that the robot can instantly obtain a large elastic force. Since the present utility model uses two-stage springs to store energy, it can provide a higher jumping height and distance for the robot. Description of the Drawings

[0014] The following further describes the present utility model in conjunction with the drawings and embodiments:

[0015] Figure 1 Schematic diagram of the overall structure of the present utility model Figure Ⅰ .

[0016] Figure 2 Schematic diagram of the structure of the present utility model Figure Ⅱ .

[0017] Figure 3 Schematic installation diagram of the spiral spring of the present utility model.

[0018] Figure 4 Schematic diagram of the structure of the bouncing drive mechanism of the present utility model.

[0019] Figure 5 Schematic diagram of the structure of the belt drive mechanism of the present utility model.

[0020] Figure 6 Rear view of the present utility model.

[0021] Reference numerals: motor fixing bracket - 1, motor - 2, gear Ⅰ - 3, support plate - 4, thigh rod - 5, compression spring - 6, calf rod - 7, calf rotating shaft - 8, driven pulley - 9, transmission belt - 10, incomplete gear - 12, rear baffle - 13, rotating shaft Ⅱ - 14, gear Ⅳ - 15, front baffle - 16, inner baffle - 17, spiral spring - 19, gear Ⅱ - 21, rotating shaft Ⅰ - 22, gear Ⅲ - 23, transmission gear - 24, rotating shaft Ⅲ - 25, driving bevel gear - 26, driven bevel gear 27, thigh rotating shaft - 28. Specific Embodiments

[0022] As Figure 1As shown in the figure, a two-stage energy storage jumping robot according to this embodiment includes a frame and two bouncing legs provided on the frame. The frame includes a support plate 4, a front baffle 16, a rear baffle 13, and an inner baffle 17 fixed to the bottom of the support plate 4. The two spring legs are respectively arranged on both sides of the rear end of the support plate 4, and support legs are also respectively arranged on both sides of the front end.

[0023] As shown in the figure, the bouncing leg includes a thigh rod 5, a calf rod 7, a primary energy storage structure, a secondary energy storage structure, and a bouncing drive mechanism; one end of the thigh rod 5 is hinged to the frame by a thigh rotating shaft 28, and the other end is hinged to the calf rod 7 by a calf rotating shaft 8. A support foot plate is provided at the bottom of the calf rod 7 for contacting the ground; the thigh rotating shaft 28 is fixedly connected to the thigh rod 5, and the calf rotating shaft 8 is fixedly connected to the calf rod 7. The primary energy storage structure acts between the thigh rod 5 and the frame; the secondary energy storage structure acts between the thigh rod 5 and the calf rod 7; in this embodiment, the primary energy storage structure uses a coil spring 19; the secondary energy storage structure uses a compression spring 6; the coil spring 19 is sleeved on the thigh rotating shaft 28, one end of the coil spring 19 is connected to the thigh rotating shaft 28, and the other end is connected to the frame; one end of the compression spring 6 is connected to the thigh rod 5, and the other end is connected to the calf rod 7. The bouncing drive mechanism is used to drive deformation (coil spring 19 winding / compression spring 6 compression) to store elastic potential energy; the primary energy storage structure (coil spring 19) and the secondary energy storage structure (compression spring 6) are used to swing the thigh rod 5 and the calf rod 7 respectively when releasing their elastic potential energy, so that the robot jumps upward.

[0024] As Figure 1 , 2, as shown in FIGS. 4, the bouncing drive mechanism includes a motor 2, a multi-stage gear transmission system, and a belt drive mechanism; the motor 2 is fixedly installed on the support plate 4 through a motor fixing bracket 2, the multi-stage gear transmission system is arranged at the bottom of the support plate 4, and a strip-shaped opening for the gear to pass through is formed on the support plate 4. The multi-stage gear transmission system is used to transmit the power of the motor 2 to the thigh rotating shaft 28; the belt drive mechanism is used to transmit the power of the thigh rotating shaft 28 to the calf rotating shaft 8; an incomplete gear 12 is included in the multi-stage gear transmission system; when the incomplete gear 12 is in the meshing state, the motor 2 can drive the thigh rotating shaft 28 and the calf rotating shaft 8 to rotate simultaneously, so that the coil spring 19 and the compression spring 6 are deformed simultaneously. When the incomplete gear 12 is in the separated state, the coil spring 19 and the compression spring 6 release elastic potential energy to make the robot jump. The multi-stage gear transmission system includes a rotating shaft I 22, a rotating shaft II 14, and a rotating shaft III arranged in parallel; among them, the rotating shaft I 22 is installed between two inner baffles 17 through bearings; the rotating shaft II 14 is installed between the front baffle 16 and the rear baffle 13 through bearings; the rotating shaft III is installed between the inner baffle 17 and the front baffle 16 through bearings; the output shaft of the motor 2 transmits power to the rotating shaft I 22 through a gear pair I (including a gear I 3 and a gear II 21 that mesh with each other); the rotating shaft I 22 transmits power to the rotating shaft II 14 through a gear pair II (including a gear III 23 and a gear IV 15 that mesh with each other); the incomplete gear 12 is arranged on the rotating shaft II 14, and a transmission gear 24 that meshes with the incomplete gear 12 is provided on the rotating shaft III; the rotating shaft III transmits power to the thigh rotating shaft 28 through a bevel gear pair (including a driving bevel gear 26 and a driven bevel gear 27 that mesh with each other).

[0025] In this embodiment, the belt drive mechanism includes a driving pulley arranged on the thigh rotating shaft 28, a driven pulley 9 arranged on the calf rotating shaft 8, and a transmission belt 10 connecting the driving pulley and the driven pulley 9. When the motor 2 drives the thigh rotating shaft 28 to rotate through the gear transmission system, the calf rotating shaft 8 rotates simultaneously under the drive of the belt drive mechanism, so that the thigh rod 5 and the calf rod 7 swing simultaneously.

[0026] When the jumping robot of the present utility model is in the preparation stage of jumping, the incomplete gear 12 meshes with the transmission gear 24. The power output by the motor 2 is sequentially transmitted to the thigh rotating shaft 28 through the gear pair I, the gear pair II, the incomplete gear 12, the transmission gear 24, and the bevel gear pair. The thigh rotating shaft 28 transmits the power to the calf rotating shaft 8 through the belt drive mechanism, so that the thigh rod 5 and the calf rod 7 swing simultaneously to wind up the coil spring 19 and compress the compression spring 6 respectively. When the incomplete gear 12 rotates to be separated from the transmission gear 24, the thigh rotating shaft 28 and the calf rotating shaft 8 are both in a free state. The thigh rod 5 and the calf rod 7 quickly swing back under the action of the coil spring 19 and the compression spring 6 respectively, so that the robot jumps.

[0027] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, various modifications and variations can be made to the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model are included within the protection scope of the present utility model.

Claims

1. A two-stage energy storage jumping robot, characterized in that: The invention comprises a frame and a plurality of bouncing legs arranged on the frame; the bouncing legs comprise a thigh rod, a shank rod, a primary energy storage structure, a secondary energy storage structure and a bouncing driving mechanism; one end of the thigh rod is hinged to the frame, and the other end is hinged to the shank rod; the primary energy storage structure acts between the thigh rod and the frame; the secondary energy storage structure acts between the thigh rod and the shank rod; the bouncing driving mechanism is used for driving deformation to store elastic potential energy; the primary energy storage structure and the secondary energy storage structure are used for respectively correspondingly causing the thigh rod and the shank rod to swing when releasing their elastic potential energy, so as to make the robot jump upward.

2. The two-level energy storage jumping robot according to claim 1, characterized in that: The primary energy storage structure is a coil spring; the secondary energy storage structure is a compression spring; one end of the thigh rod is connected to the frame through a thigh rotating shaft fixed thereto; the calf rod is connected to the other end of the thigh rod through a calf rotating shaft fixed thereto; the coil spring is sleeved on the thigh rotating shaft, one end of the coil spring is connected to the thigh rotating shaft, and the other end is connected to the frame; one end of the compression spring is connected to the thigh rod, and the other end is connected to the calf rod.

3. The two-level energy storage jumping robot according to claim 2, characterized in that: The bouncing drive mechanism includes a motor, a multi-stage gear transmission system and a belt transmission mechanism; the multi-stage gear transmission system is used to transmit the power of the motor to the thigh shaft; the belt transmission mechanism is used to transmit the power of the thigh shaft to the calf shaft; the multi-stage gear transmission system includes an incomplete gear; when the incomplete gear is in a meshing state, the motor can drive the thigh shaft and the calf shaft to rotate simultaneously, thereby deforming the coil spring and the compression spring at the same time, and when the incomplete gear is in a disengaged state, the coil spring and the compression spring release elastic potential energy to make the robot jump.

4. The two-level energy storage jumping robot according to claim 3 is characterized in that: The multi-stage gear transmission system includes a rotating shaft I, a rotating shaft II and a rotating shaft III arranged in parallel; the motor output shaft transmits power to the rotating shaft I through the gear pair I; the rotating shaft I transmits power to the rotating shaft II through the gear pair II; the incomplete gear is arranged on the rotating shaft II, and the rotating shaft III is provided with a transmission gear meshing with the incomplete gear; the rotating shaft III transmits power to the thigh rotating shaft through the bevel gear pair.

5. The two-level energy storage jumping robot according to claim 4 is characterized in that: The belt transmission mechanism comprises a driving pulley arranged on the thigh rotating shaft, a driven pulley arranged on the calf rotating shaft and a transmission belt connected to the driving pulley and the driven pulley.

6. The two-level energy storage jumping robot according to claim 5, characterized in that: The bouncing legs are arranged in pairs, and each pair of bouncing legs is respectively arranged on both sides of the frame.

7. The two-level energy storage jumping robot according to claim 6, characterized in that: A supporting foot plate is provided at the bottom of the calf rod.

8. The two-level energy storage jumping robot according to claim 7, characterized in that: The frame comprises a support plate, the motor is arranged on the top surface of the support plate, the multi-stage gear transmission system is arranged on the bottom of the support plate, and a strip-shaped opening for the gears to pass through is opened on the support plate.

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