A robot joint useless work reduction structure based on elastic potential energy

Abstract

The utility model discloses a robot joint useless work reduction structure based on elastic potential, is connected elastic potential mechanism on the swing component of base, and robot advances, and the swing piece end of swing component rotates from 45 to -45, and the rotation of swing component bottom drive motor drives it, when swing piece reaches 0 and rotates from 0 to -45, the stepping motor in elastic potential mechanism drives slide table to go down, and the spring on connecting rod is compressed, and the spring of compression provides potential for the positive rotation of swing piece, and the drive motor of swing piece rear does not work during swing piece rotates from -45 to 0, and only swing is realized by elasticity, reaches 0, and stepping motor works again, and drive slide table resets, and spring resets, and the drive motor of swing piece rear works again, and drive swing piece rotates to 45 position, and complete once step action, and the potential effect of spring can obviously reduce the energy consumption of robot swing leg action, to reduce the energy consumption of joint useless work.

Description

Technical Field

[0001] This utility model belongs to the field of robot research and development technology, specifically relating to a robot joint wastework reduction structure based on elastic potential energy. Background Technology

[0002] With the widespread application of robots in industrial manufacturing, biomimetic exploration, and service fields, the wasted energy during joint movements has become a key bottleneck restricting their endurance and operating costs. When robot joints brake, decelerate, reverse, or overcome load inertia, the energy originally used for propulsion is dissipated in the form of heat and mechanical energy. Especially under conditions of frequent starts and stops and complex trajectory movements, the wasted energy can account for 30% to 50% of the total energy consumption. In addition, some mechanisms require continuous active control, leading to additional energy consumption. Especially for insect-like multi-legged robots, each step joint needs to swing back and forth, resulting in high energy consumption. It is necessary to reduce the proportion of wasted energy to save energy. Furthermore, some existing robot joints have complex structures and large volumes, making them unsuitable for miniaturized and lightweight robots. Utility Model Content

[0003] The purpose of this invention is to provide a robot joint work-saving structure based on elastic potential energy. By connecting an elastic potential energy mechanism to the swing assembly on the base, when the robot moves forward, the end of the swing component of the swing assembly rotates from 45° to -45°. The entire process is driven by the drive motor at the bottom of the swing assembly. When the swing component rotates from 0° to -45°, the stepper motor in the elastic potential energy mechanism does work, driving the slide to move down, compressing the spring on the connecting rod. The compressed spring provides potential energy for the forward rotation of the swing component. Therefore, during the process of the swing component rotating from -45° to 0°, the drive motor behind the swing component does not need to do work, and the swing can be achieved solely by elastic potential energy. When the swing reaches 0°, the stepper motor of the elastic potential energy mechanism does work again, driving the slide to reset, causing the spring to reset, and the drive motor behind the swing component does work again, driving the swing component to rotate to the 45° position, completing one step.

[0004] This utility model is achieved through the following technical solution: A robot joint energy-saving structure based on elastic potential energy includes a base, a swing assembly, and an elastic potential energy mechanism. The base is connected to the robot body. The swing assembly is disposed in the base and reciprocates within a certain range. The end of the swing assembly is connected to the robot's foot. The elastic potential energy mechanism is connected to the robot body, the base, and the swing assembly. The elastic potential energy mechanism generates elastic potential energy in coordination with the rotation angle of the swing assembly. The elastic potential energy generated by the elastic potential energy mechanism is used to provide rotational power to the swing assembly, reducing the energy consumption of the swing assembly.

[0005] Preferably, the swing assembly includes a swing member and a drive motor. The base has a mounting hole, and a bearing is installed in the mounting hole. One end of the swing member is inserted into the bearing and connected to it. The drive motor is located behind the swing member and drives the swing member to reciprocate. When the end of the swing member faces away from the elastic potential energy mechanism and coincides with the central axis of the base, it is at 0°. The swing member rotates clockwise for positive swing and counterclockwise for negative swing. The rotation angle range of the swing member is 45° to -45°.

[0006] Preferably, the elastic potential energy mechanism includes a power component, a spring, a connecting rod, and a limiting component. The power component is connected to the base and the robot body. The limiting component is disposed on one side of the power component and connected to the base and the robot body respectively. The limiting component is used to limit the power component. The connecting rod is movably connected to the end of the power component and the swinging member. The spring is sleeved on the connecting rod. The connecting rod is provided with a limiting part. One end of the spring is connected to the limiting part. When the swinging member rotates from 0° to -45° or 45°, the movement of the power component compresses the spring and provides elastic potential energy for forward or reverse rotation to the swinging member through the connecting rod.

[0007] Preferably, the swing member has a connecting part at its end, and the connecting rod end is sleeved on the connecting part and can rotate on the connecting part.

[0008] Preferably, the power assembly includes a stepper motor, a coupling, a lead screw, a slide, a rotating pin, a first fixing member, and a second fixing member. The lead screw is connected to the stepper motor via the coupling. The first and second fixing members are spaced apart. The first fixing member is mounted on the base and connected to the end of the lead screw. The second fixing member is sleeved on the middle of the lead screw and connected to the robot body. Bearings are provided between the first and second fixing members and the lead screw. One end of the slide is sleeved on the lead screw and located between the first and second fixing members. The other end of the slide is limited by a limiting component. The stepper motor drives the lead screw to rotate, causing the slide to slide up and down along the lead screw and the limiting component. The rotating pin is mounted on the slide. A bearing is provided between the rotating pin and the slide. The rotating pin has a socket. The connecting rod is inserted into and slidably connected to the rotating pin. The slide moves down, causing the rotating pin to abut against a spring.

[0009] Preferably, the height of the rotating pin is the same as the height of the end connection of the swing member.

[0010] Preferably, the limiting component includes a limiting rod, a third fixing member, and a fourth fixing member. The two ends of the limiting rod are connected to the third fixing member and the fourth fixing member, respectively. The third fixing member and the fourth fixing member fix the limiting rod. The third fixing member is connected to the base, and the fourth fixing member is connected to the robot body. The end of the slide table away from the lead screw is sleeved on the limiting rod and slidably connected to the limiting rod.

[0011] Preferably, a bushing is provided between the third and fourth fixing members and the limiting rod.

[0012] Compared with the prior art, this utility model has the following advantages and beneficial effects: 1) In this invention, by connecting an elastic potential energy mechanism to the swing assembly on the base, when the robot moves forward, the end of the swing component of the swing assembly rotates from 45° to -45°. The entire process is driven by a drive motor at the bottom of the swing assembly. When the swing component reaches 0° and rotates from 0° to -45°, the stepper motor in the elastic potential energy mechanism does work, driving the slide to move downward, compressing the spring on the connecting rod. The compressed spring provides potential energy for the forward rotation of the swing component. Therefore, during the process of the swing component rotating from -45° to 0°, the drive motor at the rear of the swing component does not need to... The robot can swing using only elastic potential energy. When it swings to 0°, the stepper motor of the elastic potential energy mechanism does work again, driving the slide to reset and the spring to reset. The drive motor behind the swinging part does work again, driving the swinging part to rotate to the 45° position, completing one step. In the initial stage of the drive motor's movement, the elastic force applied by the spring provides it with a certain initial starting speed, saving its starting energy consumption. When the spring is compressed, the slide moves down through the lead screw. The transmission process of the lead screw consumes less energy. By coordinating these two aspects, the robot's motion energy consumption is reduced.

[0013] 2) In this utility model, the overall structure of the robot joint is simple and compact, suitable for a variety of small robots, and lightweight, which can further save the robot's motion energy consumption. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the overall structure of the robot joint in this utility model.

[0016] Figure 2 This is a schematic diagram of the swing component structure in this utility model.

[0017] Figure 3 This is a schematic diagram of the base structure in this utility model.

[0018] Figure 4 This is a schematic diagram of the assembly structure of the slide table and the rotating pin in this utility model.

[0019] Wherein: 1-base, 11-mounting hole, 2-swinging component, 21-connecting part, 3-stepper motor, 31-coupling, 4-lead screw, 41-first fixing component, 42-second fixing component, 5-slide table, 51-rotating pin, 511-insertion hole, 6-connecting rod, 61-limiting part, 62-spring, 7-limiting rod, 71-third fixing component, 72-fourth fixing component, 8-drive motor. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0021] Example 1: A structure for reducing the useless work of robot joints based on elastic potential energy, such as Figure 1 , Figure 2 and Figure 3 As shown, this structure is mainly used for insect-like multi-legged robots. The structure is usually arranged horizontally. The structure mainly includes a base 1, a swing assembly, and an elastic potential energy mechanism. The base 1 is connected to the robot body. The swing assembly is set in the base 1 and rotates back and forth within a certain range. The end of the swing assembly is connected to the robot's foot. The elastic potential energy mechanism is connected to the robot body, the base 1, and the swing assembly. The elastic potential energy mechanism and the rotation angle of the swing assembly are matched to generate elastic potential energy. The elastic potential energy generated by the elastic potential energy mechanism is used to provide rotational power for the swing assembly and reduce the energy consumption of the swing assembly. The swing assembly includes a swing member 2 and a drive motor 8. A mounting hole 11 is provided in the base 1, and a bearing is provided in the mounting hole 11. One end of the swing member 2 passes through the bearing and is fixed to the bearing by an elastic retaining ring on the outside of the bearing. The inner ring of the bearing rotates with the swing member 2. The drive motor 8 is located behind the swing member 2 and drives the swing member 2 to reciprocate. When the end of the swing member 2 is away from the elastic potential energy mechanism and coincides with the central axis of the base 1, it is at 0°. The swing member 2 rotates clockwise for positive swing and counterclockwise for negative swing. The rotation angle range of the swing member 2 is from 45° to -45°. The swing of the swing member 2 within the range of 45° to -45° corresponds to the robot's stepping action.

[0022] The elastic potential energy mechanism includes a power component, a spring 62, a connecting rod 6, and a limiting component. The power component is connected to the base 1 and the robot body respectively. The limiting component is located on the side of the power component and is connected to the base 1 and the robot body respectively. The limiting component is used to limit the power component. The connecting rod 6 is movably connected to the end of the power component and the swinging member 2. The spring 62 is sleeved on the connecting rod 6. The connecting rod 6 is provided with a limiting part 61. One end of the spring 62 is connected to the limiting part 61, and the other end of the spring 62 is a free end that only abuts against the power component. When the robot moves forward, the swing member 2 rotates from 0° to -45°. This rotation is achieved through the drive motor 8 located below it. At this time, the power unit compresses the spring 62, which provides elastic potential energy for forward rotation to the swing member 2 via the connecting rod 6, thus conserving energy for forward rotation. Conversely, when the robot moves backward, the swing member 2 rotates from 0° to 45°. Again, this rotation is achieved through the drive motor 8 located below it. The power unit compresses the spring 62, which provides elastic potential energy for reverse rotation to the swing member 2 via the connecting rod 6, thus conserving energy for reverse rotation. The swing member 2 has a connecting part 21 at its end. The end of the connecting rod 6 is fitted onto the connecting part 21 and can rotate on it. The movement trajectory of the connecting rod 6 during the rotation of the swing member 2 is fan-shaped.

[0023] Example 2: This embodiment further defines the power component based on the above embodiments, such as... Figure 1 , Figure 3 and Figure 4As shown, the power assembly includes a stepper motor 3, a coupling 31, a lead screw 4, a slide table 5, a rotating pin 51, a first fixing member 41, and a second fixing member 42. The lead screw 4 is connected to the stepper motor 3 via the coupling 31. The first fixing member 41 and the second fixing member 42 are spaced apart, and each of the first fixing member 41 and the second fixing member 42 has a insertion hole in its middle, with an elastic gap above the insertion hole. The first fixing member 41 is mounted on the base 1 and connected to the end of the lead screw 4. The second fixing member 42 is sleeved on the middle of the lead screw 4 and connected to the robot body. Bearings are provided between the first fixing member 41 and the second fixing member 42 and the lead screw 4. Threaded pins are provided on the insertion holes, and the bearings in the first fixing member 41 and the second fixing member 42 are locked by the threaded pins. The bearings in the first fixing member 41 and the second fixing member 42 ensure the smooth rotation of the lead screw 4. One end of the slide 5 is fitted onto the lead screw 4 and located between the first fixing member 41 and the second fixing member 42. The other end of the slide 5 is limited by the limiting component. The lead screw 4 and the slide 5 are threaded together. The stepper motor 3 drives the lead screw 4 to rotate, causing the slide 5 to slide up and down along the lead screw 4 and the limiting component. The rotating pin 51 is set on the slide 5, and a bearing is also provided between the rotating pin 51 and the slide 5. The rotating pin 51 is provided with a socket 511. The connecting rod 6 is inserted into and slidably connected to the rotating pin 51. As the swinging member 2 swings, the connecting rod 6 can move up and down in the socket 511 of the rotating pin 51. However, due to the length limitation of the connecting rod 6, the connecting rod 6 will not come out of the socket 511 of the rotating pin 51. When the stepper motor 3 drives the lead screw 4 to rotate, the slide 5 moves down. The rotating pin 51 abuts against the spring 62 and squeezes the spring 62, thereby compressing the spring 62 to store energy. The height of the rotating pin 51 is the same as the height of the end connection part 21 of the swing member 2, and the movement trajectory of the connecting rod 6 remains parallel to the surface of the base 1.

[0024] The limiting assembly includes a limiting rod 7, a third fixing member 71, and a fourth fixing member 72. A bushing is provided between the third fixing member 71 and the fourth fixing member 72 and the limiting rod 7. Both ends of the limiting rod 7 are connected to the bushings in the third fixing member 71 and the fourth fixing member 72, respectively. The third fixing member 71 and the fourth fixing member 72 also have elastic gaps. The third fixing member 71 and the fourth fixing member 72 lock the limiting rod 7 in place using threaded pins. The third fixing member 71 is connected to the base 1, and the fourth fixing member 72 is connected to the robot body. The end of the slide table 5 furthest from the lead screw 4 is sleeved on the limiting rod 7 and slidably connected to it. The limiting rod 7 serves as a limiting and guiding element for the slide table 5, enabling it to slide smoothly up and down.

[0025] Normally, the starting energy consumption of a motor is relatively large. In this application, during the initial stage of the drive motor 8's movement, a certain initial starting speed is applied to it by the elastic force of the spring 62, thus saving its starting energy consumption. When the spring 62 is compressed, the slide table 5 is driven to move down by the rotation of the lead screw 4. The transmission process of the lead screw 4 consumes less energy. By coordinating these two aspects, the energy consumption of the robot's leg movement is reduced.

[0026] As the robot moves forward, the end of the swinging component 2 rotates from 45° to -45°. This rotation is driven by the drive motor 8 at the bottom of the swinging component 2. When the swinging component 2 reaches 0° and rotates from 0° to -45°, the stepper motor 3 performs work, driving the slide 5 downwards. This compresses the spring 62 on the connecting rod 6. The compressed spring 62 provides potential energy for the forward rotation of the swinging component 2. Therefore, during the rotation from -45° to 0°, the drive motor 8 at the rear of the swinging component 2 does not need to perform any work; it can swing using only elastic potential energy. When it swings to 0°... At this time, the stepper motor 3 of the elastic potential energy mechanism performs work again, driving the slide to reset and the spring 62 to reset, avoiding a reverse force on the drive motor 8. Then, the drive motor 8 behind the swing member 2 performs work again, driving the swing member 2 to rotate from 0° to 45°, completing one step. The robot's backward movement is similar to its forward movement. During backward movement, the stepper motor 3 performs work and compresses the spring 62 when the swing member 2 rotates from 0° to 45°, providing the swing member 2 with potential energy for reverse rotation, thus saving energy consumption of the drive motor 8. The potential energy of the spring 62 can significantly reduce the energy consumption of the robot's leg swinging motion, thereby reducing unnecessary energy consumption of the joints. Other parts of this embodiment are the same as those in the above embodiment and will not be repeated here.

[0027] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", and "outer" used to indicate the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use. They are only used to facilitate the description of this utility model and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0028] Furthermore, the use of terms such as "horizontal" or "vertical" in the description of this utility model does not imply that the component is required to be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0029] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0030] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present utility model shall fall within the protection scope of the present utility model.

Claims

1. A robot joint wasting energy reduction structure based on elastic potential energy, characterized in that, The system includes a base, a swing assembly, and an elastic potential energy mechanism. The base is connected to the robot body. The swing assembly is disposed in the base and reciprocates within a certain range. The end of the swing assembly is connected to the robot's foot. The elastic potential energy mechanism is connected to the robot body, the base, and the swing assembly. The elastic potential energy mechanism generates elastic potential energy in coordination with the rotation angle of the swing assembly. The elastic potential energy generated by the elastic potential energy mechanism is used to provide rotational power to the swing assembly, reducing the energy consumption of the swing assembly.

2. The robot joint work reduction structure based on elastic potential energy as described in claim 1, characterized in that, The swing assembly includes a swing element and a drive motor. The base has a mounting hole, and a bearing is installed in the mounting hole. One end of the swing element is inserted into the bearing and connected to it. The drive motor is located behind the swing element and drives the swing element to reciprocate. When the end of the swing element faces away from the elastic potential energy mechanism and coincides with the central axis of the base, it is at 0°. The swing element rotates clockwise for positive swing and counterclockwise for negative swing. The rotation angle range of the swing element is 45° to -45°.

3. The robot joint work reduction structure based on elastic potential energy as described in claim 2, characterized in that, The elastic potential energy mechanism includes a power component, a spring, a connecting rod, and a limiting component. The power component is connected to the base and the robot body. The limiting component is located on one side of the power component and is connected to both the base and the robot body. The limiting component is used to limit the movement of the power component. The connecting rod is movably connected to the end of the power component and the swinging member. The spring is sleeved on the connecting rod, and a limiting part is provided on the connecting rod. One end of the spring is connected to the limiting part. When the swinging member rotates from 0° to -45° or 45°, the movement of the power component compresses the spring and provides elastic potential energy for forward or reverse rotation to the swinging member through the connecting rod.

4. The robot joint work reduction structure based on elastic potential energy as described in claim 3, characterized in that, The swing member has a connecting part at its end, and the end of the connecting rod is sleeved on the connecting part and can rotate on the connecting part.

5. The robot joint work reduction structure based on elastic potential energy as described in claim 3, characterized in that, The power assembly includes a stepper motor, a coupling, a lead screw, a slide, a rotating pin, a first fixing member, and a second fixing member. The lead screw is connected to the stepper motor via the coupling. The first and second fixing members are spaced apart. The first fixing member is mounted on the base and connected to the end of the lead screw. The second fixing member is sleeved on the middle of the lead screw and connected to the robot body. Bearings are provided between the first and second fixing members and the lead screw. One end of the slide is sleeved on the lead screw and located between the first and second fixing members. The other end of the slide is limited by a limiting component. The stepper motor drives the lead screw to rotate, causing the slide to slide up and down along the lead screw and the limiting component. The rotating pin is mounted on the slide. A bearing is provided between the rotating pin and the slide. The rotating pin has a socket. The connecting rod is inserted into and slidably connected to the rotating pin. When the slide moves down, the rotating pin abuts against a spring.

6. The robot joint work reduction structure based on elastic potential energy as described in claim 5, characterized in that, The height of the rotating pin is the same as the height of the end connection of the swing component.

7. The robot joint work reduction structure based on elastic potential energy as described in claim 5, characterized in that, The limiting assembly includes a limiting rod, a third fixing member, and a fourth fixing member. The two ends of the limiting rod are connected to the third fixing member and the fourth fixing member, respectively. The third fixing member and the fourth fixing member fix the limiting rod. The third fixing member is connected to the base, and the fourth fixing member is connected to the robot body. The end of the slide table away from the lead screw is sleeved on the limiting rod and slidably connected to the limiting rod.

8. The robot joint work reduction structure based on elastic potential energy as described in claim 7, characterized in that, A bushing is provided between the third and fourth fixing members and the limiting rod.

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