Mechanical energy storage mechanism

Abstract

The utility model provides a mechanical energy storage mechanism. The mechanical energy storage mechanism comprises a base; the loading part is arranged opposite to the base; the ball screw is vertically arranged, the bottom end of the ball screw is rotationally connected with the center position of the base, and the top end of the ball screw penetrates through the center position of the load-carrying part and is in sliding connection with the load-carrying part; the ball nut sleeves the outer side of the ball screw and is in threaded connection with the ball screw, and the top end of the ball nut is fixedly connected with the loading part; the supporting rod is vertically arranged, the bottom end of the supporting rod is fixedly connected with the base, and the top end of the supporting rod is slidably connected with the loading part; the elastic piece is wound around the supporting rod, the bottom end of the elastic piece is connected with the base, and the top end of the elastic piece is in lap joint with the loading piece; and the motor is arranged in the base and drives the ball screw to rotate. According to the utility model, the motor load is effectively reduced, the motor volume is reduced, the load flexibility and stability are improved, and the cost is low.

Description

Technical Field

[0001] The embodiments disclosed herein generally relate to the field of energy storage robots, and more specifically, to a mechanical energy storage mechanism. Background Technology

[0002] The excessive weight of the upper body of existing robots not only reduces their flexibility, restricting their joint movements and making it difficult to perform various actions quickly and flexibly, such as squatting or standing up, but also reduces their stability. For actions like squatting and standing up, excessive weight may cause the robot to jam, wobble, or even fall, affecting its operation.

[0003] Furthermore, existing technologies for raising and lowering the center of gravity of the robot's upper body mostly rely on lead screw movement. However, excessive weight leads to an overly large motor connected to the lead screw, which is not conducive to the miniaturization of robot products. Moreover, the cost of an overly large motor is also high, which is not conducive to the mass production of robots. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a mechanical energy storage mechanism that effectively reduces motor load, reduces motor size, improves load flexibility and stability, and has a low cost.

[0005] This disclosure provides a mechanical energy storage mechanism, comprising: a base; a load-bearing component disposed opposite to the base; a ball screw disposed vertically, the bottom end of which is rotatably connected to the center of the base, and the top end which passes through the center of the load-bearing component and is slidably connected to the load-bearing component; a ball nut disposed on the outside of the ball screw and threadedly connected to the ball screw, and the top end of which is fixedly connected to the load-bearing component; a support rod disposed vertically, the bottom end of which is fixedly connected to the base, and the top end of which is slidably connected to the load-bearing component; an elastic element disposed around the periphery of the support rod, the bottom end of which is connected to the base, and the top end of which overlaps with the load-bearing component; and a motor disposed inside the base to drive the ball screw to rotate.

[0006] Furthermore, there are at least two support rods, symmetrically arranged around the ball screw.

[0007] Furthermore, the energy storage mechanism also includes a limiting component, which is sleeved on the outside of the ball screw and fixed to the base, with a specific distance between its inner wall and the ball screw.

[0008] Furthermore, the limiting component includes: a first washer, fixedly disposed on the base, and made of rigid material; a second washer, fixedly disposed on the first washer, and made of elastic material; and a third washer, fixedly disposed on the second washer, and made of rigid material.

[0009] Furthermore, the bottom end of the ball nut has a tapered angle that gradually increases outward from the axis, and the third washer has a groove that matches the tapered angle.

[0010] Furthermore, the elastic element includes a low-elasticity area near the load-bearing component and a high-elasticity area near the base.

[0011] Furthermore, the elastic element is a spring.

[0012] Furthermore, the center diameters of the low-elasticity zone and the high-elasticity zone of the spring are the same.

[0013] The beneficial effects of this disclosure are as follows:

[0014] 1. By storing or releasing elastic potential energy through elastic components, the pressure on the motor is shared, the motor load is reduced, thereby reducing the size and cost of the motor, while increasing the stability of the energy storage mechanism;

[0015] 2. By setting up high-elasticity and low-elasticity zones, the stability of the energy storage mechanism during the lifting or lowering of the load-bearing component is further improved;

[0016] 3. The design of the limit assembly improves the lifespan of the elastic element, ball nut, and ball screw;

[0017] 4. The ball nuts are fixed both circumferentially and axially to ensure flexibility and stability during the lifting or lowering of the load-bearing components.

[0018] It should be understood that the description in the utility model description section is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0019] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0020] Figure 1 A schematic diagram of the mechanical energy storage mechanism provided in an embodiment of the present invention is shown;

[0021] Figure 2 It shows Figure 1 A schematic diagram of the motor's structure within the base;

[0022] Figure 3 It shows Figure 1 A schematic diagram of the limiting component in the diagram.

[0023] in, Figures 1 to 3 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0024] 1. Base; 2. Load-bearing component; 3. Ball screw; 4. Ball nut; 5. Support rod; 6. Elastic component; 7. Motor; 8. First washer; 9. Second washer; 10. Third washer. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0026] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0027] This disclosure provides a mechanical energy storage mechanism, such as Figure 1-2 As shown, the energy storage mechanism includes a base 1, a load-bearing component 2, a ball screw 3, a ball nut 4, a support rod 5, an elastic element 6, and a motor 7. The base 1 and the load-bearing component 2 are positioned opposite each other, with the base 1 at the bottom and the load-bearing component 2 at the top. The ball screw 3 is vertically positioned between the base 1 and the load-bearing component 2, with its bottom end rotatably connected to the center of the base 1 and its top end passing through the center of the load-bearing component 2 and slidingly connected to it. The ball nut 4 is sleeved on the outside of the ball screw 3 and threadedly connected to it via balls; its top end is fixedly connected to the load-bearing component 2. The support rod 5 is vertically positioned between the base 1 and the load-bearing component 2, with its bottom end fixedly connected to the base 1 and its top end slidingly connected to the load-bearing component 2. The elastic element 6 is wrapped around the periphery of the support rod 5, with its bottom end connected to the base 1 and its top end overlapping the load-bearing component 2. The motor 7 is located inside the base 1 and drives the ball screw 3 to rotate.

[0028] In this embodiment, the bottom end of the ball screw 3 is rotatably connected to the base 1 and coaxially fixedly connected to the output shaft of the motor 7, while the top end is slidably connected to the load-bearing component 2. Furthermore, the ball screw 3 is threadedly connected to a ball nut 4, whose top end is fixedly connected to the load-bearing component 2, forming a linear kinematic pair. Specifically, the bottom end of the ball screw 3 can be rotatably connected to the base 1 via a bearing. The motor 7 is fixedly supported inside the base 1, and its output shaft is connected to and coaxial with the ball screw 3.

[0029] In this embodiment, there are at least two support rods 5, which are symmetrically arranged around the ball screw 3.

[0030] Therefore, by setting two or more support rods 5 and the fixed connection between the ball nut 4 and the load-bearing component 2, the circumferential direction of the ball nut 4 is limited. At this time, the ball screw 3 is driven to rotate by the motor 7, and the ball nut 4 and the load-bearing component 2 move up or down along the ball screw 3. When the ball nut 4 and the load-bearing component 2 move down together, the elastic element 6 is compressed and deformed due to the weight of the load-bearing component 2, storing elastic potential energy and providing a buffer protection for the descent of the load-bearing component 2.

[0031] In this embodiment, the elastic element 6 wound around the support rod 5 includes a low-elasticity zone near the load-bearing component 2 and a high-elasticity zone near the base 1. When subjected to the same force, the deformation of the high-elasticity zone elastic element 6 is smaller than that of the low-elasticity zone elastic element 6. Firstly, this allows the ball nut 4 to support both heavy and light load-bearing components 2 during descent. When supporting a light load-bearing component 2, the high-elasticity zone elastic element 6 undergoes slight deformation, storing less elastic potential energy and providing a minor buffering effect on the load-bearing component 2. Conversely, the low-elasticity zone elastic element 6 undergoes greater deformation, allowing the light load-bearing component 2 to still descend a greater distance and providing better buffering. Secondly, the stepped elasticity zones further enhance the buffering protection of the load-bearing component 2. In particular, the heavy-duty load-bearing component 2 not only improves the stability of its descent but also increases the lifespan of the energy storage mechanism. Thirdly, when the load-bearing component 2 descends from a high position, it possesses significant gravitational potential energy. Therefore, in the initial stage of the descent of the load-bearing component 2, after the motor 7 drives the ball screw 3 to rotate, the gravitational potential energy of the load-bearing component 2, along with the motor 7, acts on the elastic component 6, initially compressing the low-elasticity zone elastic component 6. At this time, the load on the motor 7 is relatively small. As the load-bearing component 2 continues to descend, the high-elasticity zone elastic component 6 begins to be compressed. And store elastic potential energy. At this time, the motor 7 has been rotating stably until all the gravitational potential energy of the load 2 is converted into the elastic potential energy of the elastic element 6. When the load 2 rises from a low position, the elastic element 6 has a large elastic potential energy. Therefore, after the motor 7 drives the ball screw 3 to rotate in the opposite direction, in the initial stage of the ball nut 4 supporting the rise of the load 2, the elastic potential energy of the elastic element 6 and the motor 7 act together on the load 2 and first release the larger elastic potential energy in the high elastic zone. At this time, the load on the motor 7 is small, and because the deformation of the elastic element 6 in the high elastic zone recovers... The return stroke is also relatively short, so the elastic element 6 can maintain a stable state during the ascent of the load-bearing component 2. As the load-bearing component 2 continues to rise, the elastic potential energy of the elastic element 6 in the high elasticity zone is released, and the elastic potential energy of the elastic element 6 in the low elasticity zone also begins to be converted into kinetic energy. At this time, the motor 7 has been rotating stably, and the elastic element 6 in the low elasticity zone gradually deforms and recovers until all the elastic potential energy of the elastic element 6 is converted into kinetic energy. In summary, dividing the elastic element 6 into a low elasticity zone and a high elasticity zone can share the load of the motor 7 in the early stage of motor 7 startup and increase the stability of the energy storage mechanism.

[0032] In this embodiment, the elastic element 6 is a spring. The spring in the high-elasticity area has a higher elastic coefficient, while the spring in the low-elasticity area has a smaller elastic coefficient.

[0033] In this embodiment, the high-elasticity spring and the low-elasticity spring have the same center diameter. Their elastic coefficient can be changed by setting different wire diameters and effective coil numbers. The same center diameter allows the spring to remain relatively stable when compressed or recovering its deformation, reducing the occurrence of irreversible deformation.

[0034] Specifically, springs in the high-elasticity zone have a larger wire diameter and / or fewer effective coils than springs in the low-elasticity zone.

[0035] In this embodiment, the energy storage mechanism also includes a limiting component, which is sleeved on the outside of the ball screw 3 and fixed to the upper surface of the base 1. A specific distance is left between the inner wall of the limiting component and the inner wall of the ball screw 3. The limiting component restricts the descent height of the ball nut 4 and the load member 2, preventing the load member 2 from excessively compressing the elastic member 6 and increasing the lifespan of the elastic member 6.

[0036] Specifically, such as Figure 3 As shown, the limiting assembly includes a first washer 8, made of rigid material, fixed to the upper surface of the base 1; a second washer 9, made of elastic material, fixed to the upper surface of the first washer 8; and a third washer 10, made of rigid material, fixed to the upper surface of the second washer 9. The first washer 8 and the third washer 10 are set at specific heights to limit the falling height of the load 2. The second washer 9 prevents the ball nut 4 from violently colliding with the third washer 10 during its fall, thus providing a buffering and shock-absorbing effect, indirectly further improving the stability of the load 2 during its falling and rising.

[0037] More specifically, the first washer 8 and the third washer 10 may be made of metal, and the second washer 9 may be made of silicone.

[0038] In this embodiment, the bottom end of the ball nut 4 has a tapered angle that gradually increases from the axis to the outer circumference. Correspondingly, the upper surface of the third washer 10 has a groove that matches the tapered angle of the ball nut 4. When the ball nut 4 descends to a predetermined position, it falls into the groove of the third washer 10. The fit between the groove of the third washer 10 and the tapered angle of the ball nut 4 limits the axial movement of the ball nut 4, ensuring that the axis of the ball nut 4 always coincides with the axis of the ball screw 3. This prevents the ball nut 4 from shifting or jamming when moving up and down on the ball screw 3, increasing the smoothness of the ball screw 3 and the ball nut 4, and also increasing their lifespan.

[0039] The working process of the energy storage mechanism in this embodiment is as follows.

[0040] When the load 2 located above needs to be lowered, the motor 7 is turned on, driving the ball screw 3 to rotate in one direction. At this time, the ball nut 4 moves downward together with the load 2 and stably compresses the spring on the support. The weight of the load 2 is converted into the elastic potential energy of the spring. When the load 2 falls to the specified height, the cone at the bottom of the ball nut 4 just falls into the groove of the third washer 10. At this time, the motor 7 is turned off, the load 2 reaches the specified position, and the spring also stores some elastic potential energy.

[0041] When the load-bearing component 2 located below needs to rise, the motor 7 is activated, driving the ball screw 3 to rotate in the opposite direction. At this time, the ball nut 4 carries the load-bearing component 2 upward. Simultaneously, the spring returns to its original deformation, and its stored elastic potential energy is converted into kinetic energy, directly driving the load-bearing component 2 upward. During the upward movement of the load-bearing component 2, the elastic potential energy of the spring and the driving force provided by the motor 7 together drive the load-bearing component 2 upward, thereby reducing the output torque of the motor 7. Specifically, the spring converts its elastic potential energy into kinetic energy to directly drive the load-bearing component 2 upward, while the driving force of the motor 7 directly drives the ball screw 3 to rotate, and ultimately indirectly drives the load-bearing component 2 upward until it rises to the specified height.

[0042] According to the embodiments of this disclosure, the following technical effects are achieved:

[0043] By setting support rods 5 symmetrically along the ball screw 3 and ball nuts 4 fixedly connected to the load 2, the ball nuts 4 are restricted in the circumferential direction, allowing the motor 7 to drive the ball nuts 4 to carry the load 2 and move it vertically up and down, thus defining the movement path of the load 2. By setting elastic elements 6, the load 2 and gravitational potential energy can be converted into elastic potential energy of the elastic elements 6, which is then converted into kinetic energy acting on the load 2, distributing the pressure on the motor 7, effectively reducing the output torque of the motor 7, thereby reducing the size of the motor 7, lowering its weight and cost, and providing some driving force and buffering force for the descent and ascent of the load 2, improving the stability of the entire energy storage mechanism. By setting low-elasticity zones and high-elasticity zones, This allows the entire energy storage mechanism to remain stable during the initial startup of the motor 7 until the motor 7 rotates steadily, further improving the stability of the entire energy storage mechanism. By setting a limiting component, the descent distance of the load-bearing component 2 is specified, preventing the elastic component 6 from being over-compressed and causing irreversible deformation, thereby improving the lifespan of the elastic component 6 and the energy storage mechanism. Furthermore, the second washer 9 is made of elastic material, which plays a role in buffering and shock absorption. By setting the cone angle at the bottom of the ball nut 4 and the corresponding groove on the third washer 10, the ball nut 4 is axially limited, preventing the ball nut 4 from shifting or jamming when moving up and down on the ball screw 3. This increases the smoothness of the ball screw 3 and the ball nut 4, while also increasing their lifespan.

[0044] In the description of this specification, the terms "connection," "installation," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0045] In the description of this specification, the terms "one embodiment," "some embodiments," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0046] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A mechanical energy storage mechanism, characterized in that, include: Base; A load-bearing component, which is disposed opposite to the base; A ball screw is vertically arranged, with its bottom end rotatably connected to the center of the base, and its top end passing through the center of the load-bearing component and slidingly connected to the load-bearing component; A ball nut is sleeved and installed on the outside of the ball screw and threadedly connected to the ball screw, with its top end fixedly connected to the load-bearing component; A support rod is vertically arranged, with its bottom end fixedly connected to the base and its top end slidably connected to the load-bearing component. An elastic element is wrapped around the periphery of the support rod, with its bottom end connected to the base and its top end overlapping the load-bearing component. and An electric motor, located inside the base, drives the ball screw to rotate.

2. The energy storage mechanism according to claim 1, characterized in that: The support rods are at least two in number and are symmetrically arranged around the ball screw.

3. The energy storage mechanism according to claim 1, characterized in that, Also includes: A limiting component is sleeved on the outside of the ball screw and fixed to the base, with a specific distance between its inner sidewall and the ball screw.

4. The energy storage mechanism according to claim 3, characterized in that, The limiting component includes: The first washer, fixedly mounted on the base, is made of a rigid material; The second washer, fixedly mounted on the first washer, is made of an elastic material; and The third washer, fixedly mounted on the second washer, is made of rigid material.

5. The energy storage mechanism according to claim 4, characterized in that: The ball nut has a tapered angle at its bottom end that gradually increases outward from the axis. The third washer has a groove that matches the cone angle.

6. The energy storage mechanism according to claim 1, characterized in that, The elastic element includes a low-elasticity area near the load-bearing component and a high-elasticity area near the base.

7. The energy storage mechanism according to claim 6, characterized in that, The elastic element is a spring.

8. The energy storage mechanism according to claim 7, characterized in that, The spring has the same center diameter in its low-elasticity zone and high-elasticity zone.

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