Robot energy storage and release integrated device capable of moving in same direction
By designing the guide rails and components, the energy storage of the spring tensioning in the jumping robot was separated from the jumping linkage action. This solved the problem of the control unit frequently calculating changes in the center position, reduced energy consumption and cost, and improved the reliability and flexibility of the system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-07
- Publication Date
- 2026-03-24
AI Technical Summary
In existing jumping robots, the control unit needs to frequently calculate changes in the center position during the charging and releasing process, which leads to increased energy consumption and production costs.
The system employs components such as guide rails, slides, limit plates, drive screws, servo motors, energy storage sliders, energy storage springs, and release linkages to separate the energy storage of the energy storage spring from the action of the jumping linkage. Furthermore, it integrates energy storage and release operations through a snap-fit assembly and a release assembly.
The use of control units has been reduced, which has lowered energy consumption and production costs, while improving the reliability and flexibility of the system.
Smart Images
Figure CN224029111U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the technical field of robot bounce energy storage release structure, especially to a kind of motion same direction's robot energy storage and release integrated device. BACKGROUND
[0002] The jumping robot can perform jumping action to cross obstacles (such as water jumping, land jumping or amphibious jumping), thereby efficiently passing through complex terrain, and has broad application prospects in space exploration, battlefield reconnaissance, life rescue and other fields.
[0003] The jumping robot is mostly composed of a shell, a control unit, a balancing assembly, a force storage assembly and bounce legs;
[0004] In the prior art, the jumping robot needs to perform a series of sinking actions when bouncing, so that the force storage assembly and the bounce legs form a force storage mode, and after release, the force storage assembly releases and the bounce legs expand;
[0005] During this sinking process, the center of the jumping robot changes, which affects the landing point and the jumping curve of the jumping robot after jumping. Therefore, the control unit needs to calculate the center of the jumping robot at all times during the sinking process, which increases the energy consumption of the control unit and also increases the production cost of the control unit of the jumping robot. UTILITY MODEL CONTENT
[0006] In view of the deficiencies in the prior art, the utility model aims to provide a motion same direction's robot energy storage and release integrated device to solve the technical problems mentioned in the background.
[0007] The above technical purpose of the utility model is achieved by the following technical scheme:
[0008] A motion same direction's robot energy storage and release integrated device, comprising a guide rail, a sliding slot is formed in the inside of the guide rail, limit plates are arranged at both ends of the sliding slot, a drive screw is arranged between the two limit plates, a servo motor is arranged at one end of the sliding slot, and the output shaft of the servo motor is connected with the drive screw;
[0009] A force storage slider is arranged in the inside of the sliding slot, the force storage slider is threadedly connected with the drive screw, a energy storage connecting rod is arranged at the top end of the force storage slider, force storage springs are arranged at both ends of the energy storage connecting rod, and a release connecting rod is arranged at the end of the two force storage springs away from the energy storage connecting rod.
[0010] A clamping assembly is arranged at the top end of the guide rail, the clamping assembly is used for limiting the release connecting rod, a release assembly is arranged on the side of the force storage slider facing the clamping assembly, and is used for adjusting the release force of the force storage spring.
[0011] Further, the force storage spring comprises a rotating ring, a connecting plate and a tension spring, the rotating ring is sleeved on the outer wall of the energy storage connecting rod and is rotationally connected with the energy storage connecting rod through a bearing, the tension spring is fixedly connected with the rotating ring through the connecting plate, and the rotating ring and the connecting plate are both provided with two groups and are fixedly arranged at two ends of the tension spring.
[0012] Further, the clamping assembly comprises an extension part, two extension parts are arranged on two sides of the guide rail, the top ends of the extension parts are provided with a rotating shaft, and the outer wall of the rotating shaft is fixedly provided with a buckle.
[0013] Further, the two sides of the buckle are both provided with a reset torsion spring, the reset torsion spring is sleeved on the outer wall of the rotating shaft and is fixedly connected with the buckle and the extension part at two ends.
[0014] Further, the release assembly comprises a fixed plate and a sliding plate, the fixed plate is slidingly connected with the sliding plate, one end of the fixed plate and the force storage sliding block is fixedly connected with the buckle, the top end of the fixed plate is provided with a guide groove for mounting the sliding plate, the guide groove is provided with an electric push rod inside, and the telescopic end of the electric push rod is fixedly connected with the sliding plate.
[0015] To sum up, the utility model has at least one of the following beneficial technical effects:
[0016] 1. The robot energy storage and release integrated device with the same direction of movement, in the process of force storage, only the force storage spring is stretched and the position of the force storage sliding block is moved, and the relative position of the guide rail and the jumping connecting rod does not change, so that the stretching energy storage process of the force storage spring and the action of the jumping connecting rod are separated during the energy storage process, the relative position of the spring connecting rod and the guide rail remains unchanged during the force storage process, the use of the control unit can be effectively reduced, and the cost is reduced.
[0017] 2. The robot energy storage and release integrated device with the same direction of movement, the stretching energy storage direction of the force storage spring is the same as the contraction and force release direction, and the energy storage and triggering integrated operation is realized through the clamping assembly and the release assembly, the use of additional control elements is reduced, and the reliability and flexibility of the system are improved. DRAWINGS
[0018] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiment description, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to these drawings without creating labor.
[0019] Figure 1This is a schematic diagram of the structure of an integrated energy storage and release device for a robot with unidirectional motion, according to the present invention.
[0020] Figure 2 This is a schematic diagram of the structure of an integrated energy storage and release device for a robot moving in the same direction after energy storage.
[0021] Figure 3 This is a schematic diagram of the structure of the robot energy storage and release integrated device of the present invention after release.
[0022] Figure 4 This is a planar cross-sectional view of the robot energy storage and release integrated device of the present invention after release.
[0023] Figure 5 This utility model relates to an integrated energy storage and release device for robots with unidirectional motion. Figure 4 Enlarged view of the structure at point A.
[0024] In the diagram, 1. Guide rail; 2. Slide groove; 3. Limiting plate; 4. Drive screw; 5. Servo motor; 6. Energy storage slider; 7. Energy storage link; 8. Energy storage spring; 81. Rotary ring; 82. Connecting plate; 83. Tension spring; 9. Release link; 10. Snap-fit assembly; 101. Extension; 102. Rotating shaft; 103. Buckle; 104. Return torsion spring; 11. Release assembly; 111. Fixing plate; 112. Sliding plate; 113. Guide groove; 114. Electric push rod. Detailed Implementation
[0025] The present invention will be further described in detail below with reference to the accompanying drawings.
[0026] Example:
[0027] Reference Figure 1 - Figure 5 The present invention discloses an integrated energy storage and release device for a robot with unidirectional motion, including a guide rail 1, a jumping linkage rotatably arranged on the outer side wall of the guide rail 1, a slide groove 2 opened inside the guide rail 1, a limit plate 3 arranged at both ends of the slide groove 2, a drive screw 4 arranged between the two limit plates 3, a servo motor 5 arranged at one end of the slide groove 2, and the output shaft of the servo motor 5 connected to the drive screw 4.
[0028] The inside of the slide 2 is equipped with a power storage slider 6, which is threadedly engaged with the drive screw 4. The top of the power storage slider 6 is equipped with an energy storage link 7, and both ends of the energy storage link 7 are equipped with power storage springs 8. The ends of the two power storage springs 8 away from the energy storage link 7 are connected to a release link 9. The top of the jump link is rotatably connected to the release link 9.
[0029] The top end of the guide rail 1 is provided with a clamping assembly 10 for limiting the release connecting rod 9, and the side of the force storage slider 6 facing the clamping assembly 10 is provided with a release assembly 11 for adjusting the release force of the force storage spring 8.
[0030] In the embodiment, the guide rail 1 is used to guide the movement of the force storage slider 6, and in the initial state, as shown in the figure, the release connecting rod 9 is located at the top side of the clamping assembly 10. Figure 1 When the driving screw 4 is driven to rotate by the servo motor 5, the force storage slider 6 is pushed to move in thread cooperation with the driving screw 4, thereby stretching the force storage spring 8, as shown in the figure. Figure 2 With the extension of the force storage spring 8, the energy storage purpose is achieved.
[0031] When the force storage slider 6 continues to move and the release assembly 11 is separated from the clamping assembly 10, the force storage spring 8 pulls the release connecting rod 9 to move, as shown in the figure. Figure 3 When the force storage spring 8 is contracted and pulls the release connecting rod 9 to move, the jumping connecting rod can be swung, so that the energy released by the force storage spring 8 acts on the ground to achieve the purpose of jumping.
[0032] In the process of energy storage, as shown in the figure, Figures 1 to 2 only the force storage spring 8 is stretched and the position of the force storage slider 6 is moved, and the relative position of the guide rail 1 and the jumping connecting rod does not change, so that when the mechanism is applied in a jumping robot, the leg mechanism (i.e. the jumping connecting rod) of the robot can always be in a squatting and retracting state and is not affected by the energy storage process.
[0033] The stretching and energy storage direction of the force storage spring 8 is the same as the contraction and energy release direction, and the energy storage and triggering are integrated by the clamping assembly 10 and the release assembly 11, which reduces the use of additional control elements and improves the reliability and flexibility of the system.
[0034] In a further preferred embodiment of the utility model, as shown in the figure, Figure 2 The force storage spring 8 comprises a rotating ring 81, a connecting plate 82 and a stretching spring 83, the rotating ring 81 is sleeved on the outer wall of the energy storage connecting rod 7 and is rotationally connected with the energy storage connecting rod 7 through a bearing, the stretching spring 83 is fixedly connected with the rotating ring 81 through the connecting plate 82, and the rotating ring 81 and the connecting plate 82 are both provided with two groups and are fixedly arranged at the two ends of the stretching spring 83.
[0035] In the embodiment, as shown in the figure, Figure 2As shown, the two groups of rotating rings 81 and the connecting plates 82 are fixedly arranged at the two ends of the tension spring 83 respectively, and the two groups of rotating rings 81 are rotationally connected with the outer peripheral walls of the energy storage connecting rod 7 and the release connecting rod 9, so that when the tension spring 83 is extended, the extension direction of the tension spring 83 can form a straight line, the friction between the tension spring 83 and the energy storage connecting rod 7 and the release connecting rod 9 is reduced, and the stability of energy release of the tension spring 83 is improved.
[0036] In further preferable embodiments of the present application, as shown in Figure 3 and Figure 4 , the clamping assembly 10 comprises two extension portions 101 arranged at the two sides of the guide rail 1 respectively, and the top ends of the extension portions 101 are jointly provided with a rotating shaft 102, and the outer peripheral wall of the rotating shaft 102 is fixedly provided with a buckle 103.
[0037] In the present embodiment, as shown in Figure 1 , Figure 2 and Figure 4 , during the extension of the tension spring 83 to the release, and when the position of the force storage slider 6 is close to the buckle 103, the release assembly 11 is in contact with the bottom end of the buckle 103 for providing a supporting force to the buckle 103, the position of the force storage slider 6 gradually moves away from the buckle 103, and when the force storage slider 6 is away from the buckle 103 by a certain distance, the release assembly 11 moves out of the bottom end of the buckle 103, the supporting force of the release assembly 11 to the bottom end of the buckle 103 disappears, at this time, the potential energy accumulated by the tension spring 83 during the stretching is released, driving the buckle 103 to deflect, as shown in Figure 3 , at this time, the supporting force of the buckle 103 to the release connecting rod 9 disappears, so as to achieve the purpose of deflecting the jumping connecting rod by the contraction of the tension spring 83, and the stretching energy storage direction of the tension spring 83 is the same as the contraction and energy release direction.
[0038] In further preferable embodiments of the present application, as shown in Figure 4 , the two sides of the buckle 103 are provided with reset torsional springs 104, the reset torsional springs 104 are sleeved on the outer peripheral wall of the rotating shaft 102, and the two ends are fixedly connected with the buckle 103 and the extension portion 101 respectively.
[0039] In the present embodiment, through the arrangement of the reset torsional springs 104, after the tension spring 83 is released, as shown in Figure 3 and Figure 4 , at this time, through the arrangement of the torsional springs, the buckle 103 is pulled again to reset, so that it can clamp the release connecting rod 9 again when the force storage slider 6 is reset.
[0040] In further preferable embodiments of the present application, as shown in Figure 4 and Figure 5As shown, the release assembly 11 comprises a fixed plate 111 and a sliding plate 112, the fixed plate 111 is in sliding connection with the sliding plate 112, the fixed plate 111 is fixedly connected with one end of the force storage slider 6 towards the buckle 103, the top end of the fixed plate 111 is provided with a guide groove 113 for installing the sliding plate 112, the inside of the guide groove 113 is provided with an electric push rod 114, the telescopic end of the electric push rod 114 is fixedly connected with the sliding plate 112.
[0041] In the embodiment, as shown in Figure 4 and Figure 5 the sliding plate 112 is moved by the electric push rod 114, the distance between the end of the sliding plate 112 and the force storage slider 6 can be changed, so that the force released by the force storage spring 8 can be changed according to the length of the release assembly 11.
[0042] The implementation principle of the above embodiment is that when the servo motor 5 drives the driving screw 4 to rotate, the force storage slider 6 threaded with the driving screw 4 is moved, and the force storage spring 8 is stretched, so that the energy storage purpose is achieved.
[0043] When the force storage slider 6 continuously moves and the release assembly 11 is separated from the clamping assembly 10, the force storage spring 8 pulls the release connecting rod 9 to move, when the force storage spring 8 contracts and pulls the release connecting rod 9 to move, the jump connecting rod is swung, so that the energy released by the force storage spring 8 acts on the ground, and the purpose of jumping is achieved.
[0044] The embodiments of the specific embodiment are the preferred embodiments of the utility model, and are not limited to the protection scope of the utility model, so that: any equivalent changes made according to the structure, shape and principle of the utility model should be covered in the protection scope of the utility model.
Claims
1. A robot energy storage and release integrated device with unidirectional motion, characterized in that, Includes a guide rail (1), the inside of the guide rail (1) is provided with a slide groove (2), both ends of the slide groove (2) are provided with limit plates (3), a drive screw (4) is provided between the two limit plates (3), a servo motor (5) is provided at one end of the slide groove (2), and the output shaft of the servo motor (5) is connected to the drive screw (4). The inside of the slide (2) is provided with a power storage slider (6), which is threadedly engaged with the drive screw (4). The top of the power storage slider (6) is provided with an energy storage link (7), and both ends of the energy storage link (7) are provided with power storage springs (8). The ends of the two power storage springs (8) away from the energy storage link (7) are provided with a release link (9). A locking assembly (10) is provided at the top of the guide rail (1). The locking assembly (10) is used to limit the release link (9). A release assembly (11) is provided on the side of the power storage slider (6) facing the locking assembly (10) to adjust the release force of the power storage spring (8).
2. The integrated energy storage and release device for a robot with unidirectional motion according to claim 1, characterized in that, The energy storage spring (8) includes a rotating ring (81), a connecting plate (82), and a tension spring (83). The rotating ring (81) is sleeved on the outer peripheral wall of the energy storage link (7) and is rotatably connected to the energy storage link (7) through a bearing. The tension spring (83) is fixedly connected to the rotating ring (81) through the connecting plate (82). Both the rotating ring (81) and the connecting plate (82) are provided in two sets and are fixedly installed at both ends of the tension spring (83).
3. The integrated energy storage and release device for a robot with unidirectional motion according to claim 2, characterized in that, The snap-fit assembly (10) includes an extension (101), two extensions (101) are provided and are respectively provided on both sides of the guide rail (1), and a rotating shaft (102) is provided at the top of the extensions (101), and a buckle (103) is fixedly provided on the outer peripheral wall of the rotating shaft (102).
4. The integrated energy storage and release device for a robot with unidirectional motion according to claim 3, characterized in that, Both sides of the buckle (103) are provided with a reset torsion spring (104). The reset torsion spring (104) is sleeved on the outer peripheral wall of the rotating shaft (102), and its two ends are fixedly connected to the buckle (103) and the extension (101) respectively.
5. The integrated energy storage and release device for a robot with unidirectional motion according to claim 4, characterized in that, The release assembly (11) includes a fixed plate (111) and a sliding plate (112). The fixed plate (111) and the sliding plate (112) are slidably connected. The fixed plate (111) is fixedly connected to one end of the power storage slider (6) facing the buckle (103). The top of the fixed plate (111) is provided with a guide groove (113) for installing the sliding plate (112). An electric push rod (114) is provided inside the guide groove (113). The telescopic end of the electric push rod (114) is fixedly connected to the sliding plate (112).