CN101327817A - Device for storing and releasing elastic potential energy of hopping robot - Google Patents
Device for storing and releasing elastic potential energy of hopping robot Download PDFInfo
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- CN101327817A CN101327817A CNA2008100226290A CN200810022629A CN101327817A CN 101327817 A CN101327817 A CN 101327817A CN A2008100226290 A CNA2008100226290 A CN A2008100226290A CN 200810022629 A CN200810022629 A CN 200810022629A CN 101327817 A CN101327817 A CN 101327817A
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Abstract
The present invention discloses an elastic energy storing and releasing device of bouncing robot, and consists of an elastic component and a fixed component. The elastic component comprises an elastic steel sheet and an elastic contact ball; the elastic contact ball is fixed on the lower side of the elastic steel sheet; the fixed component comprises a transmission mechanism, an end pulley mechanism, a wire rope and a shell; the transmission mechanism comprises a steering engine, an incomplete gear, a gear, a transmission shaft and a winch; the incomplete gear meshes the gear; the steering engine is fixed on the inner side of the shell through a steering engine fixing plate; the incomplete gear is fixed on the output rotating shaft of the steering engine; the gear is fixed on the transmission shaft; the winch is fixed on the transmission shaft through a clamp nut and is arranged on one side of the gear; the end pulley mechanism comprises a pulley, a shaft, a fixing plate and a circlip, and is fixed on the inner side of the shell through the fixing plate; the axial position of the pulley is fixed by the fillet of the shaft and the circlip; one end of the wire rope is connected with the winch, and the other end is connected with the elastic steel sheet; and the wire rope is arranged in the slot of the pulley.
Description
One, technical field
The present invention a kind ofly can store mechanism with abrupt release to elastic potential energy, and especially a kind of elastic energy storage of the robot that is applied to bounce is with release can device.
Two, background technology
Along with the continuous development of Robotics, when facing the landform of rugged environment and complexity, the spring function of utilization robot strengthens its landform and adapts to and paleocinetic ability, is a kind of faster Robotics of development in recent years.At present, the main construction method of spring robot can be summed up as three classes, and a class is a bio-mechanism, and another kind of is that the explosive force that utilizes any particular energy source blast to produce is realized spring, and the 3rd class is to utilize simple mechanism to produce elastic force.The general more complicated of the kinetic model of first kind construction method and parsing algorithm thereof implements relatively difficulty; The spring power resources of the second class construction method are in any particular energy source, and it has increased the hardware cost of spring robot greatly, and are subjected to the long-pending restriction of cylinder block, and this type of spring robot can't be realized long-term field activity.At present, in adopting the 3rd class construction method to realize to bounce the robot of function, the volume of most of springing that adopts is all bigger, the micro-miniaturisation of the robot of can't realizing bouncing.The present invention adopts the partial gear structure, spurs storage and the release that elastic steel sheet is realized elastic potential energy by steel rope, and simple in structure, volume is little, has reduced the cost of spring robot.
Three, technology contents
The elastic energy storage that technical matters the invention provides a kind of robot that is applied to bounce is with release can device, and this apparatus structure is simple, has realized the storage and the abrupt release of elastic potential energy, is easy to control, and is with low cost.
The elastic energy storage of a kind of robot that bounces of technical scheme is made up of elastic parts and fixation kit with release can device.Elastic parts comprises elastic steel sheet and Elastic Contact ball, and the Elastic Contact ball is fixed in the downside of elastic steel sheet.Fixation kit comprises transmission device, leading sheave mechanism, steel rope and shell.Transmission device comprises steering wheel, intermeshing partial gear and gear, transmission shaft and capstan winch, steering wheel is fixed in the inboard of shell by the steering wheel adapter plate, partial gear is fixed on the output revolving shaft of steering wheel, gear is fixed on the transmission shaft, and capstan winch is fixed on the transmission shaft by clamp nut and is positioned at a side of gear.Leading sheave mechanism comprises pulley, axle, adapter plate, circlip, and the inboard of shell is fixed in by its adapter plate in leading sheave mechanism, and the axial location of pulley is fixed by the shaft shoulder and the circlip of axle.One end of described steel rope links to each other with capstan winch, and the other end links to each other with elastic steel sheet, and steel rope is positioned among the race of pulley, and steel rope is connected as a single entity capstan winch and elastic steel sheet under the directional tagging of leading sheave mechanism.
The present invention drives transmission shaft by steering wheel by gear mesh to rotate, and realizes the rotation of capstan winch, and steel rope is tightened up around capstan winch, and the pulling elastic steel sheet makes its flexural deformation, thereby realizes the storage of spring robot elastic potential energy.When steering wheel turned to certain angle, partial gear and gear discharged, and made steel rope lax, thereby made elastic steel sheet in the abrupt release elastic potential energy.
Beneficial effect (1) the present invention is a partial gear with one of them design of gears dexterously, realized the engagement of gear mechanism easily and discharged naturally, thus the storage and the abrupt release of realization elastic potential energy.Utilize steering wheel driven gear mechanism among the present invention, pass through transmission shaft, capstan winch, steel rope, under the directional tagging of pulley gear, realize the storage and the abrupt release of elastic steel sheet elastic potential energy, simple in structure, avoided in other bouncing mechanisms comparatively complicated apparatus, as blocking device, flip flop equipment, equalizing gear and straightening mechanism etc.(2) compare with other bouncing mechanisms, the kinetic model and the parsing algorithm of apparatus of the present invention are simple, avoided setting up, also just simplified the analysis and the control algorithm of this mechanism simultaneously as these type of complicated kinematics models such as sole, shank, thigh, trunk and toe in the bionical bouncing mechanism.Apparatus of the present invention are easy to control, the present invention adopts Noncontinuous control, is not controlled in the spring process, controls adjustment after this device lands again, so just can avoid non-linear and dynamic process control complicated in other bouncing mechanisms, reduce the hardware and software cost of spring robot.
Four, description of drawings
Fig. 1 is the structural representation of the embodiment of the invention.
Fig. 2 is the inner structure scheme drawing of the embodiment of the invention.
Fig. 3 is the transmission device scheme drawing of the embodiment of the invention.
Fig. 4 is the leading sheave structural scheme of mechanism of the embodiment of the invention.
Fig. 5 is the gear mesh scheme drawing of the embodiment of the invention.
Five, specific embodiments
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, a kind of elastic energy storage of the robot that bounces is made up of elastic parts 1 and fixation kit 2 with release can device.Elastic parts 1 comprises elastic steel sheet 101 and Elastic Contact ball 102, and Elastic Contact ball 102 is fixed in the downside of elastic steel sheet 101.Fixation kit 2 comprises transmission device 203, leading sheave mechanism 204, steel rope 205 and shell 206, transmission device comprises steering wheel 2031, intermeshing partial gear 2033 and gear 2034, transmission shaft 2035 and capstan winch 2036, steering wheel 2031 is fixed in the inboard 261 of shell 206 by steering wheel adapter plate 2032, partial gear 2033 is fixed on the output revolving shaft of steering wheel 2031, gear 2034 is fixed on the transmission shaft 2035, capstan winch 2036 is fixed on the transmission shaft 2035 by clamp nut 2037 and is positioned at a side of gear 2034, leading sheave mechanism 204 comprises pulley 2041, axle 2042, adapter plate 2043, circlip 2044, the inboard 261 of shell 206 is fixed in leading sheave mechanism 204 by its adapter plate 2043, the axial location of pulley 2041 is fixing by the shaft shoulder and the circlip 2045 of axle 2042, one end of described steel rope 205 links to each other with capstan winch 2036, the other end links to each other with elastic steel sheet 101, and steel rope 205 is positioned among the race of pulley 2041.Elastic Contact ball 102 in this contrive equipment is located at the end of elastic steel sheet 101.
With reference to the accompanying drawings, specific embodiments of the present invention is made explanation in more detail:
With reference to Fig. 1, a kind of elastic energy storage of the robot that bounces is made up of elastic parts 1 and fixation kit 2 with release can device.Elastic parts 1 is made up of elastic steel sheet 101 and Elastic Contact ball 102, and Elastic Contact ball 102 is fixed in the downside of elastic steel sheet 101, and elastic steel sheet 101 is landed for any when discharging elastic potential energy.With reference to Fig. 1, Fig. 2, fixation kit 2 comprises transmission device 203, leading sheave mechanism 204, steel rope 205 and shell 206.With reference to Fig. 3, transmission device comprises steering wheel 2031, partial gear 2033, gear 2034, transmission shaft 2035 and capstan winch 2036, steering wheel 2031 is fixed in the inboard 261 of shell 206 by steering wheel adapter plate 2032, partial gear 2033 is fixed on the output revolving shaft of steering wheel 2031, gear 2034 is fixed on the transmission shaft 2035, and capstan winch 2036 is fixed on the transmission shaft 2035 by clamp nut 2037 and is positioned at a side of gear 2034.With reference to Fig. 4, leading sheave mechanism comprises pulley 2041, axle 2042, adapter plate 2043, circlip 2044, the inboard 261 of shell 206 is fixed in by its adapter plate 2043 in leading sheave mechanism, and the axial location of pulley 2041 is fixing by the shaft shoulder and the circlip 2045 of axle 2042.One end of steel rope 205 links to each other with capstan winch 2036, and the other end links to each other with elastic steel sheet 101, and steel rope 205 is connected as a single entity capstan winch 2036 and elastic steel sheet 101 under the directional tagging of leading sheave mechanism 204.
In the present embodiment, steering wheel 2031 is by the engagement of partial gear 2033 with gear 2034, driving transmission shaft 2035 rotates, thereby realize the rotation of capstan winch 2036, make steel rope 205 at the drop-down dynamic elasticity steel disc 101 of the directional tagging of leading sheave mechanism 204, make its flexural deformation, realize the storage of elastic potential energy.When steering wheel 2031 turned to certain angle, partial gear 2033 discharged with gear 2034, made that steel rope 205 is lax, thereby made elastic steel sheet 101 in the abrupt release elastic potential energy.
In the present embodiment, the slewing area of steering wheel 2031 output shafts is the 0-180 degree, with reference to Fig. 5, and when it turns to the processes of 175 degree from 0 degree, partial gear 2033 and gear 2034 engagements, this moment, whole device was in the storing state of elastic potential energy.When it turns to the processes of 180 degree from 175 degree, partial gear 2033 discharges with gear 2034, and gear 2034 is in no restrained condition, makes that steel rope 205 is lax, and elastic steel sheet 101 discharges elastic potential energys.When steering wheel 2031 output shafts reverse, spend-180 in the process of-175 degree, partial gear 2033 still is in release position with gear 2034, spend in the process of 0 degree-175, partial gear 2033 and gear 2034 engagements, drive steel rope 205 and tighten up, make elastic steel sheet 101 flexural deformations, reach the purpose of storage elasticity potential energy around capstan winch 2036.
Claims (2)
1, a kind of elastic energy storage of the robot that bounces is with release can device, form by elastic parts (1) and fixation kit (2), elastic parts (1) comprises elastic steel sheet (101) and Elastic Contact ball (102), Elastic Contact ball (102) is fixed in the downside of elastic steel sheet (101), it is characterized in that fixation kit (2) comprises transmission device (203), leading sheave mechanism (204), steel rope (205) and shell (206), transmission device comprises steering wheel (2031), intermeshing partial gear (2033) and gear (2034), transmission shaft (2035) and capstan winch (2036), steering wheel (2031) is fixed in the inboard (261) of shell (206) by steering wheel adapter plate (2032), partial gear (2033) is fixed on the output revolving shaft of steering wheel (2031), gear (2034) is fixed on the transmission shaft (2035), capstan winch (2036) is fixed in the side that gear (2034) was gone up and be positioned to transmission shaft (2035) by clamp nut (2037), leading sheave mechanism (204) comprises pulley (2041), axle (2042), adapter plate (2043), circlip (2044), the inboard (261) of shell (206) is fixed in leading sheave mechanism (204) by its adapter plate (2043), the axial location of pulley (2041) is fixing by the shaft shoulder and the circlip (2045) of axle (2042), one end of described steel rope (205) links to each other with capstan winch (2036), the other end links to each other with elastic steel sheet (101), and steel rope (205) is positioned among the race of pulley (2041).
2, the elastic energy storage of spring robot according to claim 1 is characterized in that with release can device described Elastic Contact ball (102) is located at the end of elastic steel sheet (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100226290A CN100569577C (en) | 2008-07-18 | 2008-07-18 | The elastic energy storage of spring robot is with release can device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100226290A CN100569577C (en) | 2008-07-18 | 2008-07-18 | The elastic energy storage of spring robot is with release can device |
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| Publication Number | Publication Date |
|---|---|
| CN101327817A true CN101327817A (en) | 2008-12-24 |
| CN100569577C CN100569577C (en) | 2009-12-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2008100226290A Expired - Fee Related CN100569577C (en) | 2008-07-18 | 2008-07-18 | The elastic energy storage of spring robot is with release can device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102050164A (en) * | 2010-11-12 | 2011-05-11 | 上海大学 | Continuously-jumping movement mechanism for bionic robot |
| CN102267502A (en) * | 2011-05-05 | 2011-12-07 | 西北工业大学 | Bionic jumping mechanism with adjustable jumping degree |
| CN104139809A (en) * | 2013-05-10 | 2014-11-12 | 上海灵钥机械设计有限公司 | Un-powered transport vehicle |
| US9004201B2 (en) | 2012-04-18 | 2015-04-14 | Board Of Trustees Of Michigan State University | Jumping robot |
| CN107826173A (en) * | 2017-11-01 | 2018-03-23 | 齐鲁工业大学 | A kind of robot bouncing mechanism and its method of work |
| CN111360876A (en) * | 2018-12-26 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Energy storage buffer structure |
| CN116176721A (en) * | 2023-04-25 | 2023-05-30 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Continuous jumping robot with adjustable jumping track |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085886B (en) * | 2011-01-11 | 2012-06-27 | 东南大学 | Folding hopping robot |
-
2008
- 2008-07-18 CN CNB2008100226290A patent/CN100569577C/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102050164A (en) * | 2010-11-12 | 2011-05-11 | 上海大学 | Continuously-jumping movement mechanism for bionic robot |
| CN102050164B (en) * | 2010-11-12 | 2012-07-04 | 上海大学 | Continuously-jumping movement mechanism for bionic robot |
| CN102267502A (en) * | 2011-05-05 | 2011-12-07 | 西北工业大学 | Bionic jumping mechanism with adjustable jumping degree |
| US9004201B2 (en) | 2012-04-18 | 2015-04-14 | Board Of Trustees Of Michigan State University | Jumping robot |
| CN104139809A (en) * | 2013-05-10 | 2014-11-12 | 上海灵钥机械设计有限公司 | Un-powered transport vehicle |
| CN104139809B (en) * | 2013-05-10 | 2017-04-05 | 上海灵钥机械设计有限公司 | A kind of unpowered transport vehicle |
| CN107826173A (en) * | 2017-11-01 | 2018-03-23 | 齐鲁工业大学 | A kind of robot bouncing mechanism and its method of work |
| CN111360876A (en) * | 2018-12-26 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Energy storage buffer structure |
| CN111360876B (en) * | 2018-12-26 | 2022-07-26 | 沈阳新松机器人自动化股份有限公司 | Energy storage buffer structure |
| CN116176721A (en) * | 2023-04-25 | 2023-05-30 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Continuous jumping robot with adjustable jumping track |
| CN116176721B (en) * | 2023-04-25 | 2023-07-18 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Continuous jumping robot with adjustable jumping track |
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| CN100569577C (en) | 2009-12-16 |
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Owner name: SOWTHEAST UNIV. Effective date: 20131016 Owner name: JIANGSU SHUANGSHUANG HI-TECH CO., LTD. Free format text: FORMER OWNER: SOWTHEAST UNIV. Effective date: 20131016 |
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Effective date of registration: 20131016 Address after: 226600, No. 188 West Coast Road, Haian County, Nantong, Jiangsu Patentee after: JIANGSU SHUANGSHUANG HI-TECH CO., LTD. Patentee after: Southeast University Address before: 210096 Jiangsu city Nanjing Province four pailou No. 2 Patentee before: Southeast University |
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