CN219339599U - Energy storage driving structure and robot - Google Patents
Energy storage driving structure and robot Download PDFInfo
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- CN219339599U CN219339599U CN202220538691.0U CN202220538691U CN219339599U CN 219339599 U CN219339599 U CN 219339599U CN 202220538691 U CN202220538691 U CN 202220538691U CN 219339599 U CN219339599 U CN 219339599U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
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Abstract
The utility model relates to the technical field of robot driving, in particular to an energy storage driving structure and a robot, which comprise a fixed base, a rotating disk positioned at the outer edge of the fixed base, a power storage disk connected with the fixed base, and a power storage element arranged in the power storage disk and used for connecting the power storage disk with the rotating disk; the power storage element is a torsion spring, the power storage disc is provided with a limit post, the rotating disc is provided with a limit stop, and the rotating disc rotates to drive the limit stop to limit the power storage disc. The utility model is provided with a power storage driving structure, the power storage disc is arranged on the fixed base and is matched with the power storage element to be connected with the rotating disc, when the rotating disc rotates to a certain angle, the power storage element is a torsion spring, so that the power storage driving structure can play a role in power storage, and when the power storage driving structure returns to the original state, the power storage driving structure plays an auxiliary role.
Description
Technical Field
The utility model relates to the technical field of robot driving, in particular to an energy storage driving structure and a robot.
Background
The robot is an intelligent machine capable of semi-autonomous or fully autonomous working, has basic characteristics of sensing, decision making, executing and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capacity range of the human beings.
With the progress of technology, robots are becoming more and more popular, such as cleaning robots, freight robots, inspection robots, etc., and can realize intelligent control, existing robots generally include a frame and a moving wheel set, some robots include leg structures and moving wheel sets to cooperate to realize various actions, and leg structures and driving elements are required to cooperate to perform various actions during the actions. The existing robot driving structure and joints are directly driven by the motor in various action processes, the load of the motor is small under the action of the gravity of the robot body when the robot is in a sleeping state, the whole body of the robot needs to be jacked up when the robot stands, and the load of the motor is large, so that the robot can be further improved aiming at the existing robot structure.
Disclosure of Invention
In order to solve the problems, the utility model provides the energy storage driving structure and the robot, wherein the energy storage driving structure is provided with the energy storage driving structure, the rotating disc is connected with the rotating disc through the cooperation of the energy storage disc arranged on the fixed base, and when the rotating disc rotates to a certain angle, the energy storage driving structure can play a role in energy storage and the robot can play an auxiliary role when returning to an original state.
The technical scheme adopted by the utility model is as follows: an energy storage driving structure comprises a fixed base, a rotating disk positioned at the outer edge of the fixed base, a power storage disk connected with the fixed base, and a power storage element arranged in the power storage disk and connecting the power storage disk with the rotating disk; the power storage element is a torsion spring, the power storage disc is provided with a limit post, the rotating disc is provided with a limit stop, and the rotating disc rotates to drive the limit stop to limit the power storage disc.
The further improvement of the scheme is that the fixed base is fixedly connected with the force storage disc, and the force storage disc is provided with a cover plate corresponding to the fixed base.
The technical scheme is further improved in that the rotating disc is rotatably arranged on the outer edge of the fixed base.
A further development of the above solution is that the rotary disk is connected with a drive.
The limit stop is fixedly arranged on the rotary disc and rotates along with the rotary disc.
The technical scheme is further improved in that the limit stop is provided with a limit arc groove, and the limit arc groove is used for limiting the limit post.
The force storage disc comprises a connecting column connected with the fixed base, a fixed sleeve arranged on the outer edge of the connecting column and a force storage groove arranged between the connecting column and the fixed sleeve, and the force storage element is arranged in the force storage groove.
The further improvement of the scheme is that the force storage disc is provided with a driving column at the position of the limiting column, the driving column is provided with a rotary connecting piece, and the rotary connecting piece is connected with a connecting rod.
The scheme is further improved in that one end of the force storage element is fixedly connected with the force storage disc, the other end of the force storage element is fixedly connected with the rotating disc, and the force storage element is provided with at least one circle of torsion spring coils.
A robot comprises the energy storage driving structure.
The beneficial effects of the utility model are as follows:
compared with the existing robot driving structure, the robot driving structure is provided with the power storage driving structure, the power storage disc is arranged on the fixed base and is matched with the power storage element to be connected with the rotating disc, when the rotating disc rotates to a certain angle, the power storage element is a torsion spring, the power storage effect can be achieved, the auxiliary effect is achieved when the robot driving structure returns to the original state, the driving load is reduced, and the reset efficiency is improved. The power storage device comprises a fixed base, a rotating disk positioned at the outer edge of the fixed base, a power storage disk connected with the fixed base, and a power storage element which is arranged in the power storage disk and connects the power storage disk with the rotating disk; the power storage element is a torsion spring, the power storage disc is provided with a limit post, the rotating disc is provided with a limit stop, and the rotating disc rotates to drive the limit stop to limit the power storage disc. The limiting column on the rotating disk matched with the force storage disk is provided with the stop block, so that the limiting column can play a limiting role in the use of the robot, the force storage auxiliary role can also be played in the resetting process, the structure is reliable, and the device is suitable for the joint movement of the leg structure of the robot.
Drawings
FIG. 1 is a schematic perspective view of an energy storage driving structure according to the present utility model;
FIG. 2 is a schematic diagram of an exploded view of the energy storage drive structure of FIG. 1;
fig. 3 is a schematic diagram of an exploded view of the energy storage driving structure of fig. 1.
Reference numerals illustrate: the device comprises a fixed base 1, a rotating disc 2, a limit stop 21, a limit arc groove 211, a force storage disc 3, a limit column 31, a cover plate 32, a connecting column 33, a fixed sleeve 34, a force storage groove 35, a driving column 36, a rotating connecting piece 37, a connecting rod 38, a force storage element 4 and a torsion spring ring 41.
Detailed Description
In order that the utility model may be readily understood, a more complete description of the utility model will be rendered by reference to the appended drawings. Preferred embodiments of the present utility model are shown in the drawings. This utility model may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.
As shown in fig. 1 to 3, an energy storage driving structure includes a fixed base 1, a rotating disk 2 located at an outer edge of the fixed base 1, a power storage disk 3 connected to the fixed base 1, and a power storage element 4 provided in the power storage disk 3 and connecting the power storage disk 3 with the rotating disk 2; the power storage element 4 is a torsion spring, the power storage disc 3 is provided with a limit post 31, the rotating disc 2 is provided with a limit stop 21, and the rotating disc 2 rotates to drive the limit stop 21 to limit the power storage disc 3.
The fixed base 1 and hold power dish 3 fixed connection, hold power dish 3 and be equipped with apron 32 corresponding fixed base 1, through fixed connection, structural connection is stable, sets up apron 32 simultaneously and is used for decorating inner structure.
The rotary disk 2 is rotatably arranged on the outer edge of the fixed base 1, and the rotary disk 2 is matched with the rotary disk 2, so that the rotary positioning is convenient, and meanwhile, the limit stop 21 and the limit column 31 are convenient to limit.
The rotary disk 2 is connected with a driving device, and the rotary disk 2 is used for being connected with the driving device to perform rotary driving and is matched with the leg action driving of the robot.
The limit stop 21 is fixedly arranged on the rotary disk 2 and rotates along with the rotary disk 2, and further improvement is that the limit stop 21 is provided with a limit arc groove 211, the limit arc groove 211 is used for limiting a limit column 31, the limit arc groove 211 is matched with the limit column 31 for limiting the structure, the force storage element 4 is prevented from rotating excessively, a protection effect is achieved, and a limit effect can be achieved on the movement of a robot joint.
The power storage disc 3 comprises a connecting column 33 connected with the fixed base 1, a fixed sleeve 34 arranged on the outer edge of the connecting column 33 and a power storage groove 35 arranged between the connecting column 33 and the fixed sleeve 34, the power storage element 4 is arranged in the power storage groove 35, the power storage disc 3 formed by the connecting column 33 and the fixed sleeve 34 is reliable in structure, the power storage groove 35 is arranged simultaneously for installing the power storage element 4, when the rotating disc 2 rotates to a certain angle, the power storage element 4 is a torsion spring, the power storage effect can be achieved, and the auxiliary effect is achieved when the rotating disc returns to the original state.
The power storage disc 3 is provided with a driving column 36 at the position of the limiting column 31, the driving column 36 is provided with a rotary connecting piece 37, the rotary connecting piece 37 is connected with a connecting rod 38, the driving column 36 is matched with the rotary connecting piece 37 for connecting the connecting rod 38, the structural connection is convenient, and the power storage disc is suitable for connecting a leg connecting rod 38 of a robot.
One end of the force storage element 4 is fixedly connected with the force storage disc 3, the other end of the force storage element 4 is fixedly connected with the rotating disc 2, the force storage element 4 is provided with at least one torsion spring ring 41, the torsion spring ring 41 is used for storing force, and the force storage is carried out by rotating in a multi-ring structure.
The robot adopts the leg structure of the robot with the structure, can store power for assistance, and reduces the load of a driving structure.
The utility model is provided with a power storage driving structure, the power storage disc 3 is arranged on the fixed base 1 to be matched with the power storage element 4 to be connected with the rotating disc 2, when the rotating disc 2 rotates to a certain angle, the power storage element 4 is a torsion spring, so that the power storage driving structure can play a role in power storage, and when the power storage driving structure returns to the original state, the power storage driving structure plays an auxiliary role, reduces the driving load and improves the resetting efficiency. Specifically, a fixed base 1, a rotary disk 2 positioned at the outer edge of the fixed base 1, a power storage disk 3 connected to the fixed base 1, and a power storage element 4 arranged in the power storage disk 3 and connecting the power storage disk 3 with the rotary disk 2 are arranged; the power storage element 4 is a torsion spring, the power storage disc 3 is provided with a limit post 31, the rotating disc 2 is provided with a limit stop 21, and the rotating disc 2 rotates to drive the limit stop 21 to limit the power storage disc 3. The limiting column 31 which is selected as a stop block and matched with the force storage disc 3 is arranged on the rotating disc 2, so that the limiting effect can be achieved in the use of the robot, the force storage auxiliary effect can be achieved in the resetting process, the structure is reliable, and the device is suitable for the joint movement of the leg structure of the robot.
The foregoing examples illustrate only a few embodiments of the utility model and are described in detail herein without thereby limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.
Claims (10)
1. An energy storage drive structure, its characterized in that: the device comprises a fixed base, a rotating disk positioned at the outer edge of the fixed base, a force storage disk connected with the fixed base, and a force storage element arranged in the force storage disk and connecting the force storage disk with the rotating disk; the power storage element is a torsion spring, the power storage disc is provided with a limit post, the rotating disc is provided with a limit stop, and the rotating disc rotates to drive the limit stop to limit the power storage disc.
2. The energy storage drive structure of claim 1, wherein: the fixed base is fixedly connected with the force storage disc, and the force storage disc is provided with a cover plate corresponding to the fixed base.
3. The energy storage drive structure of claim 1, wherein: the rotary disk is rotatably arranged on the outer edge of the fixed base.
4. The energy storage drive structure of claim 1, wherein: the rotary disk is connected with a driving device.
5. The energy storage drive structure of claim 1, wherein: the limit stop is fixedly arranged on the rotating disc and rotates along with the rotating disc.
6. The energy storage drive structure of claim 5, wherein: the limit stop is provided with a limit arc groove, and the limit arc groove is used for limiting the limit column.
7. The energy storage drive structure of claim 1, wherein: the force storage disc comprises a connecting column connected with the fixed base, a fixed sleeve arranged on the outer edge of the connecting column and a force storage groove arranged between the connecting column and the fixed sleeve, and the force storage element is arranged in the force storage groove.
8. The energy storage drive structure of claim 1, wherein: the power storage disc is provided with a driving column at the position of the limiting column, the driving column is provided with a rotary connecting piece, and the rotary connecting piece is connected with a connecting rod.
9. The energy storage drive structure of claim 1, wherein: one end of the force storage element is fixedly connected with the force storage disc, the other end of the force storage element is fixedly connected with the rotating disc, and the force storage element is provided with at least one torsion spring coil.
10. A robot, characterized in that: comprising an energy storage drive structure according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220538691.0U CN219339599U (en) | 2022-03-10 | 2022-03-10 | Energy storage driving structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220538691.0U CN219339599U (en) | 2022-03-10 | 2022-03-10 | Energy storage driving structure and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219339599U true CN219339599U (en) | 2023-07-14 |
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ID=87097012
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220538691.0U Active CN219339599U (en) | 2022-03-10 | 2022-03-10 | Energy storage driving structure and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219339599U (en) |
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2022
- 2022-03-10 CN CN202220538691.0U patent/CN219339599U/en active Active
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