CN112572629A - Energy-storage-controllable self-releasing bouncing mechanism - Google Patents
Energy-storage-controllable self-releasing bouncing mechanism Download PDFInfo
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- CN112572629A CN112572629A CN202011588226.XA CN202011588226A CN112572629A CN 112572629 A CN112572629 A CN 112572629A CN 202011588226 A CN202011588226 A CN 202011588226A CN 112572629 A CN112572629 A CN 112572629A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 69
- 238000004146 energy storage Methods 0.000 claims abstract description 25
- 238000005096 rolling process Methods 0.000 claims abstract description 25
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 230000009191 jumping Effects 0.000 description 16
- 238000000034 method Methods 0.000 description 4
- 206010044048 Tooth missing Diseases 0.000 description 3
- 230000036541 health Effects 0.000 description 3
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- 241001465754 Metazoa Species 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The invention discloses a self-releasing bouncing mechanism with controllable energy storage, belonging to the field of robots; comprises a motor, a frame, a clutch mechanism, a bouncing mechanism and an energy storage mechanism; the frame is used for mounting a motor, a clutch mechanism, a bouncing mechanism and an energy storage mechanism and comprises a left frame, a middle frame and a right frame; the left frame, the middle frame and the right frame are 3 flat plates which are parallel and opposite to each other, and the left frame and the right frame are respectively fixed on two sides of the middle frame in parallel through a support stud and a screw; the clutch mechanism is arranged between the left frame and the middle frame and comprises a driving part and a driven part; the energy storage mechanism is coaxial with the ratchet wheel with the shaft and is arranged on the other side of the middle frame, and the motor drives the flat spiral spring to store energy; the bouncing mechanism is arranged between the middle frame and the right frame; the clutch mechanism of the invention enables the rolling ball body to move in the track in a positive and negative rotation mode of the motor to enable the ratchet wheel of the pawl to be separated and meshed, thus realizing the bounce and energy storage of the robot and leading the control of the robot to be simple and easy.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to an energy-storage-controllable self-release bouncing mechanism.
Background
Jumping exercise is exercise requiring a strong explosive power and a high energy density. In nature, many animals rely on a combination of jumping and other movement patterns (e.g., walking, flying, etc.) to address complex external environments. The jumping motion of animals brings a lot of inspiration to the field of bionic engineering, and the current research on jumping mainly focuses on a jumping mechanism and a jumping robot.
The hopping robots are roughly classified into three types of mechanical elastic energy, chemical release energy and field force action energy from the aspect of energy driving. At present, most hopping robots adopt the combination of elastic elements and locking mechanisms to realize intermittent hopping, and rarely can realize hopping at different take-off heights in a complex environment.
Application number 201820557280.X discloses a scheme for realizing continuous jumping of a bouncing robot by means of a tooth-missing gear, and the robot designed by the scheme can realize jumping at different jumping angles and can realize continuous jumping. However, the tooth-missing mechanism used in the scheme limits that the robot can only jump to a fixed height, and cannot jump to different heights according to actual road conditions on complex roads such as gentle steps, much energy is wasted, the robot is unstable in attitude in the air due to too high jumping height, and the service life of the robot is shortened due to hard landing.
Application number 201110114993.1 discloses a bionic bouncing mechanism with adjustable bouncing degree, which realizes the adjustability of the height and the bouncing angle of the bouncing mechanism and can realize the steering function of a bouncing robot. The variable gear set is used for storing different energies of the robot, so that jumping at different heights is realized, but the meshing of the spline shaft and the gear has the defect of inaccurate meshing, the accurate gear set changing process cannot be ensured, the mechanism is complex, the control difficulty is high, the fixed 3-level variable gear set can only realize three jumping heights at different heights, and continuous jumping at different heights cannot be realized.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides the energy storage controllable self-releasing bouncing mechanism, energy is stored according to actual requirements, and robots bouncing at different heights are realized.
The technical scheme of the invention is as follows: the utility model provides a controllable self-releasing spring mechanism of energy storage which characterized in that: comprises a motor, a frame, a clutch mechanism, a bouncing mechanism and an energy storage mechanism;
the machine frame is used for mounting a motor, a clutch mechanism, a bouncing mechanism and an energy storage mechanism and comprises a left machine frame, a middle machine frame and a right machine frame; the left frame, the middle frame and the right frame are 3 flat plates which are parallel and oppositely arranged, the left frame and the right frame are respectively fixed on two sides of the middle frame in parallel through a support stud and a screw, two through holes formed in the middle frame are respectively coaxial with two through holes in the right frame, a center hole of the left frame is coaxial with first through holes of the middle frame and the right frame, and the through holes in the 3 flat plates are positioned at the same height;
the clutch mechanism is arranged between the left rack and the middle rack and comprises a driving part and a driven part, the driving part comprises a driving sheet, a pawl, a rolling ball body, a cylindrical extension spring and a spring retainer ring for a shaft, and the driven part comprises a ratchet wheel with a shaft; the driving sheet is of a disc structure, a cylindrical boss is arranged at the center of one end face of the driving sheet, a circular boss is arranged at the outer edge of the other end face of the driving sheet, and two cylindrical bulges are arranged at symmetrical positions of the end faces; a motor shaft of the motor sequentially penetrates through a center hole of the left rack and a D-shaped hole in the central shaft of the driving sheet, axial displacement is limited by a spring collar for a shaft arranged at the end of the motor shaft, the driving sheet is driven to rotate by the motor, and one side of a cylindrical boss of the driving sheet faces towards the motor; the pawl is of an arc structure, the center of the pawl is hinged to the cylindrical protrusion of the driving sheet, and one end of the pawl is provided with a hook head; the two pawls are connected end to end and positioned on the same circumferential surface, and the other ends of the pawls are respectively connected with the inner wall of the circular boss of the driving sheet through cylindrical extension springs; the two rolling balls are respectively arranged between the outer cambered surfaces of the two pawls and the inner wall of the circular boss of the driving sheet, and the stroke is between the center of the pawls and the cylindrical extension spring; the ratchet wheel with the shaft is coaxial with the driving sheet, one end of the ratchet wheel with the shaft is a D-shaped section shaft, the other end of the ratchet wheel with the shaft is a ratchet wheel, the ratchet wheel is meshed with the hook heads of the two pawls, and the D-shaped section shaft sequentially penetrates through the first through holes of the middle rack and the right rack and is respectively connected with the first through holes through bearings;
the energy storage mechanism is coaxial with the ratchet wheel with the shaft, is arranged on the other side of the middle frame and comprises a flat spiral spring, a U-shaped buckle and a fixed sleeve; a D-shaped hole is formed in the center of the fixed sleeve and coaxially sleeved on the shaft with the D-shaped section; the planar spiral spring is coaxial with the fixed sleeve, the inner end of the planar spiral spring is fixed on the peripheral surface of the fixed sleeve, and the outer end of the planar spiral spring is fixed on the middle rack through a U-shaped buckle; the fixed sleeve is driven to rotate by the ratchet wheel with the shaft, so that the energy storage and release of the flat spiral spring are realized;
the bouncing mechanism is arranged between the middle rack and the right rack and comprises a shaft, a first straight-tooth cylindrical gear, a second straight-tooth cylindrical gear, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a supporting seat; d-shaped holes are formed in the upper end of the first connecting rod and the center of the first straight-toothed cylindrical gear and are coaxially sleeved on a D-shaped section shaft; the lower end of the first connecting rod is hinged with the upper end of the second connecting rod, and the lower end of the second connecting rod is of a cylindrical gear structure and is hinged on the supporting seat; two ends of the shaft are respectively connected with the second through holes of the middle frame and the right frame through bearings, and the axial direction of the shaft is parallel to the axial direction of the ratchet wheel with the shaft; the upper end of the third connecting rod and the second straight toothed spur gear are coaxially fixed on the shaft, the lower end of the third connecting rod is hinged with the upper end of the fourth connecting rod, and the lower end of the fourth connecting rod is of a spur gear structure, is hinged on the supporting seat and is meshed with the spur gear of the second connecting rod; the second straight-tooth cylindrical gear is meshed with the first straight-tooth cylindrical gear; the belt shaft ratchet wheel drives the first connecting rod, the first straight-tooth cylindrical gear, the second straight-tooth cylindrical gear, the shaft and the third connecting rod to rotate in sequence, and then the first connecting rod and the third connecting rod drive the second connecting rod and the fourth connecting rod to rotate respectively, so that the bouncing of the whole mechanism is realized.
The further technical scheme of the invention is as follows: the left frame is a strip-shaped plate, the middle frame is a flat plate structure with one circular end and the other Y-shaped end, and one end of the right frame is a strip-shaped flat plate structure with the other triangular end; the outer peripheral surface of the round end of the middle rack is symmetrically provided with two lugs, and two ends of the left rack are fixed on the two lugs through a support stud and a screw respectively; two vertex angles on the outer side of the triangular end of the right rack are respectively fixed at the end of the Y-shaped end of the middle rack through a support stud and a screw, and the end of the strip-shaped end of the right rack is fixed at the round end of the middle rack through the support stud and the screw.
The further technical scheme of the invention is as follows: the circular boss of the driving plate is symmetrically provided with two notches, bulges are respectively arranged at the notches, one end of the cylindrical extension spring is fixed on the bulges, and the other end of the cylindrical extension spring is fixed at the other end of the pawl.
The further technical scheme of the invention is as follows: the outer peripheral surface of the end of a motor shaft of the motor is provided with an annular key groove for mounting the spring retainer ring for the shaft.
The further technical scheme of the invention is as follows: a circular groove is formed in the end face, facing the driving sheet, of one side of the middle rack, and a rubber ring is embedded in the circular groove; the rubber ring is coaxial with the first through hole of the middle frame and is in contact with the rolling ball body, and friction force of the rolling ball body rolling in a stroke is increased.
The further technical scheme of the invention is as follows: the driving sheet is in clearance fit with the middle frame, and the clearance is smaller than the diameter of the rolling ball body, so that the rolling ball body is prevented from falling off.
The further technical scheme of the invention is as follows: and a semicircular bulge is arranged at the center of the outer arc surface of the pawl and used for limiting the stroke of the rolling ball body.
The further technical scheme of the invention is as follows: the cylindrical gears of the second connecting rod and the fourth connecting rod have the same tooth number and modulus.
The further technical scheme of the invention is as follows: the first straight-toothed cylindrical gear and the second straight-toothed cylindrical gear have the same number of teeth and module.
The further technical scheme of the invention is as follows: through holes are respectively formed in two sides of the central hole of the left rack, the through holes are arranged opposite to the positioning holes in the motor body, and the left rack and the motor are fixed through bolts which sequentially penetrate through the through holes.
Advantageous effects
The invention has the beneficial effects that:
(1) the energy storage and release process of the clutch mechanism designed by the invention is realized in a manner of separating and meshing the ratchet wheel and the pawl, so that the phenomenon of tooth clamping is avoided, and the problem that a tooth-lacking gear is engaged with the tooth clamping when the energy is stored in a tooth-lacking manner is solved.
(2) The clutch mechanism designed by the invention can enable the rolling ball to move in the track in a positive and negative rotation mode of the motor to enable the ratchet wheel and the pawl to be separated and meshed, so that the bouncing and energy storage of the robot are realized, and the control of the robot is simple and easy.
(3) The clutch mechanism designed by the invention determines the jumping height according to the number of turns of the rotation of the motor shaft, and the mode of controlling the jumping height becomes simpler and more stable.
Drawings
FIG. 1 is an isometric view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is an exploded view of the clutch mechanism;
FIG. 4 is an exploded view of the bouncing and energy-storing mechanism;
FIG. 5 is a partial view of the driving plate of the clutch mechanism;
FIG. 6 is a view of the motor 100;
FIG. 7 is a schematic view of the intermediate housing 202;
FIG. 8 is a schematic view of an active sheet 300;
FIG. 9 is a schematic view of pawl 305;
FIG. 10 is a schematic view of a ratchet 302 with a shaft;
FIG. 11 is a schematic view of a retaining sleeve 502;
FIG. 12 is a schematic view of the first link 406;
FIG. 13 is a schematic view of a fourth link 403;
FIG. 14 is a schematic view of a first spur gear 400;
FIG. 15 is a schematic view of the right frame 204;
FIG. 16 is a schematic view of the support base 404;
FIG. 17 is a schematic view of a U-shaped clasp 500;
FIG. 18 is a schematic view of a spring collar 306 for the shaft;
FIG. 19 is a schematic view of a cylindrical extension spring 303;
FIG. 20 is a schematic view of a support stud 201;
FIG. 21 is a schematic view of the left housing 200;
FIG. 22 is a schematic view of rubber ring 301;
FIG. 23 is a schematic view of shaft 407;
description of reference numerals: 100. a motor; 101. a motor shaft; 102. a keyway; 103. positioning holes; 200. a left frame; 201. a support stud; 202. a middle frame; 203. a deep groove ball bearing; 204. a right frame; 205. angular contact ball bearings; 300. an active sheet; 301. a rubber ring; 302. a ratchet wheel with a shaft; 303. a cylindrical extension spring; 304. rolling a ball body; 305. a pawl; 306. a spring collar for the shaft; 307, a U-shaped button hole; 400. a first spur gear; 401. a second spur gear; 402. a third link; 403. a fourth link; 404. a supporting seat; 405. a second link; 406. a first link; 407. a shaft; 500, U-shaped buckle; 501. a flat spiral spring; 502. and fixing the sleeve.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Referring to fig. 1, the energy storage controllable self-releasing bouncing mechanism of the invention comprises a motor 100, a frame, a clutch mechanism, a bouncing mechanism and an energy storage mechanism; the machine frame is used for mounting a motor, a clutch mechanism, a bouncing mechanism and an energy storage mechanism and comprises a left machine frame 200, a middle machine frame 202 and a right machine frame 204; the left frame 200, the middle frame 202 and the right frame 204 are 3 flat plates which are parallel and opposite to each other, the left frame 200 and the right frame 204 are respectively fixed on two sides of the middle frame 202 in parallel through a support stud 201 and a screw, two through holes formed in the middle frame 202 are respectively coaxial with two through holes formed in the right frame, a center hole of the left frame 200 is coaxial with first through holes of the middle frame 202 and the right frame 204, and the through holes in the 3 flat plates are located at the same height. Through holes are respectively formed in two sides of the central hole of the left frame 200, are arranged opposite to the positioning holes 103 on the body of the motor 100, and sequentially penetrate through the through holes through bolts to fix the left frame 200 and the motor 100.
The clockwise and counterclockwise directions are defined as viewed from the motor direction.
Referring to fig. 1, 3, 4 and 5, the clutch mechanism comprises a driving plate 300, a rubber ring 301, a ratchet 302 with a shaft, a cylindrical extension spring 303, a rolling ball body 304, a pawl 305, a spring collar 306 for the shaft and a U-shaped buckle hole 307. The driving sheet is arranged on the motor shaft 100, the left side of the driving sheet is tightly attached to the shaft shoulder of the motor shaft, and the right side of the driving sheet is axially fixed through a shaft elastic retainer ring 306 arranged at the end of the motor shaft; the axial hole of the driving plate 300 is a D-shaped hole and is in clearance fit with a motor shaft, and the outer edge of the end face of one side of the driving plate is provided with a circular boss to surround the pawl 305, the rolling ball body 304 and the cylindrical extension spring 303; the pawl 305 is hinged on a cylindrical bulge on the end face of the driving sheet, and the tail end of the pawl 305 is provided with a hole; one end of a cylindrical extension spring 303 is connected with the tail end of the pawl, and the other end of the cylindrical extension spring is connected with a circular boss on the outer edge of the driving sheet; the rolling ball body 304 is arranged in an interlayer between the outer edge of the pawl and the cylindrical extension spring, and the movement of the rolling ball body can only be from the tail end of the pawl to the fixed point of the pawl; the rubber ring 301 is arranged in a circular groove of the middle frame (refer to fig. 7); a deep groove ball bearing and an angular contact bearing are sequentially arranged on a D-shaped shaft of the ratchet wheel with shaft 302, the deep groove ball bearing is arranged in a first through hole of the middle frame, and the angular contact bearing is arranged in a first through hole of the right frame;
referring to fig. 1 and 4, the bouncing mechanism includes a first spur gear 400, a second spur gear 401, a first link 406, a second link 405, a third link 402, a fourth link 403, a shaft 407, and a support base 404. The first connecting rod 406 and the first straight-tooth cylindrical gear 400 are arranged on the ratchet wheel with the shaft, the first straight-tooth cylindrical gear 400 is arranged on the ratchet wheel with the shaft, a D-shaped hole is formed in the axis of the gear and is in interference fit with the ratchet wheel with the shaft, one side of the shaft extension is tightly attached to the right rack 204, and the other side of the shaft extension is tightly attached to the first connecting rod; the third connecting rod 402 and the second straight-toothed spur gear 401 are arranged on a shaft, the third connecting rod 402 and the second straight-toothed spur gear 401 are both D-shaped holes, the shaft 407 is a D-shaped shaft, the shaft hole is in interference fit, one side of the second straight-toothed spur gear 401 with a shaft extension is tightly attached to the right rack 204, the left side of the second straight-toothed spur gear 401 is tightly attached to the third connecting rod 402, and the first straight-toothed spur gear 400 and the second straight-toothed spur gear 401 are in external engagement; the toothed ends of the second link 405 and the fourth link 403 are hinged in the slots on the support base 404, and the toothed sides are engaged with the outside, and the other ends are hinged with the first link 406 and the third link 402 respectively.
Referring to fig. 4, the energy storage mechanism includes a clevis 500, a flat spiral spring 501, and a fixing sleeve 502. The U-shaped buckle 500 is arranged on the right end face of the middle frame and is fixed through a screw; the flat spiral spring 501 is tightly attached to the middle frame and is arranged on the right side of the middle frame, the inner edge stop hook is inserted into the groove of the fixed sleeve 502, the outer edge stop hook is clamped into the U-shaped buckle, and the rotation direction of energy storage of the flat spiral spring 501 is clockwise; the fixed sleeve 502 is installed on the ratchet wheel with the shaft, the shaft hole is D-shaped, and the matching mode is interference fit.
During the working process of the invention, firstly, the robot is placed in a working environment, the motor 100 is controlled to rotate anticlockwise through the control system, the driving sheet 300 rotates synchronously along with the motor shaft 101, the rolling ball body 304 rolls towards the convex part of the pawl along the track direction, the tail end of the pawl 305 is pulled up by the cylindrical extension spring 303, the hook head is put down and meshed with the ratchet wheel, and the ratchet wheel 302 with the shaft is driven to rotate clockwise; the fixed sleeve 502 drives the flat spiral spring to rotate clockwise through the groove on the outer edge to store energy, and the first connecting rod 406 and the first straight-tooth cylindrical gear 400 on the D-shaped shaft of the ratchet wheel 302 with the shaft rotate clockwise; the second spur gear 401 is externally engaged with the first spur gear to drive the shaft 407 to rotate counterclockwise, the first connecting rod and the third connecting rod move in opposite directions to increase an included angle therebetween, similarly, the included angle between the second connecting rod and the fourth connecting rod increases, when the motor 100 reaches a predetermined number of take-off height cycles, the motor 100 is powered off, and the energy storage phase is ended. The motor 100 is controlled to rotate reversely, the driving sheet 300 rotates synchronously along with the motor shaft 101, the rolling ball body 304 rolls to the tail end of the pawl 305 along the track direction, the cylindrical extension spring 303 extends, the gap between the tail end of the pawl 305 and the outer edge of the driving sheet 300 is gradually increased, the hook head is lifted, the ratchet wheel is in a free state, the energy stored in the flat spiral spring 501 is released, the ratchet wheel 302 with the shaft, the first connecting rod 406 and the second straight-tooth cylindrical gear 400 rotate anticlockwise, and the first connecting rod 406 drives the second connecting rod 405 to rotate clockwise; the first straight toothed spur gear 400 drives the second straight toothed spur gear 401 to rotate clockwise, the third connecting rod 402 on the shaft 407 rotates clockwise to drive the fourth connecting rod to rotate anticlockwise, when the energy of the flat spiral spring 501 is completely released, the whole mechanism returns to the lowest energy state again, and the whole bouncing stage is finished.
Because there is the tooth-missing meshing at the connecting rod tip that follows the support seat and connect, so the health gesture is definite at energy storage and release in-process, and the drawing that this design provided only gives a health gesture, can realize different health gestures through adjusting the drive ratio of second straight-tooth spur gear, first straight-tooth spur gear and the pole length and the angle of first, second, third, fourth connecting rod.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (10)
1. The utility model provides a controllable self-releasing spring mechanism of energy storage which characterized in that: comprises a motor, a frame, a clutch mechanism, a bouncing mechanism and an energy storage mechanism;
the machine frame is used for mounting a motor, a clutch mechanism, a bouncing mechanism and an energy storage mechanism and comprises a left machine frame, a middle machine frame and a right machine frame; the left frame, the middle frame and the right frame are 3 flat plates which are parallel and oppositely arranged, the left frame and the right frame are respectively fixed on two sides of the middle frame in parallel through a support stud, two through holes formed in the middle frame are respectively coaxial with two through holes in the right frame, a center hole of the left frame is coaxial with first through holes of the middle frame and the right frame, and the through holes in the 3 flat plates are positioned at the same height;
the clutch mechanism is arranged between the left rack and the middle rack and comprises a driving part and a driven part, the driving part comprises a driving sheet, a pawl, a rolling ball body, a cylindrical extension spring and a spring retainer ring for a shaft, and the driven part comprises a ratchet wheel with a shaft; the driving sheet is of a disc structure, a cylindrical boss is arranged at the center of one end face of the driving sheet, a circular boss is arranged at the outer edge of the other end face of the driving sheet, and two cylindrical bulges are arranged at symmetrical positions of the end faces; a motor shaft of the motor sequentially penetrates through a center hole of the left rack and a D-shaped hole in the central shaft of the driving sheet, axial displacement is limited by a spring collar for a shaft arranged at the end of the motor shaft, the driving sheet is driven to rotate by the motor, and one side of a cylindrical boss of the driving sheet faces towards the motor; the pawl is of an arc structure, the center of the pawl is hinged to the cylindrical protrusion of the driving sheet, and one end of the pawl is provided with a hook head; the two pawls are connected end to end and positioned on the same circumferential surface, and the other ends of the pawls are respectively connected with the inner wall of the circular boss of the driving sheet through cylindrical extension springs; the two rolling balls are respectively arranged between the outer cambered surfaces of the two pawls and the inner wall of the circular boss of the driving sheet, and the stroke is between the center of the pawls and the cylindrical extension spring; the ratchet wheel with the shaft is coaxial with the driving sheet, one end of the ratchet wheel with the shaft is a D-shaped section shaft, the other end of the ratchet wheel with the shaft is a ratchet wheel, the ratchet wheel is meshed with the hook heads of the two pawls, and the D-shaped section shaft sequentially penetrates through the first through holes of the middle rack and the right rack and is respectively connected with the first through holes through bearings;
the energy storage mechanism is coaxial with the ratchet wheel with the shaft, is arranged on the other side of the middle frame and comprises a flat spiral spring, a U-shaped buckle and a fixed sleeve; a D-shaped hole is formed in the center of the fixed sleeve and coaxially sleeved on the shaft with the D-shaped section; the planar spiral spring is coaxial with the fixed sleeve, the inner end of the planar spiral spring is fixed on the peripheral surface of the fixed sleeve, and the outer end of the planar spiral spring is fixed on the middle rack through a U-shaped buckle; the fixed sleeve is driven to rotate by the ratchet wheel with the shaft, so that the energy storage and release of the flat spiral spring are realized;
the bouncing mechanism is arranged between the middle rack and the right rack and comprises a shaft, a first straight-tooth cylindrical gear, a second straight-tooth cylindrical gear, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a supporting seat; d-shaped holes are formed in the upper end of the first connecting rod and the center of the first straight-toothed cylindrical gear and are coaxially sleeved on a D-shaped section shaft; the lower end of the first connecting rod is hinged with the upper end of the second connecting rod, and the lower end of the second connecting rod is of a cylindrical gear structure and is hinged on the supporting seat; two ends of the shaft are respectively connected with the second through holes of the middle frame and the right frame through bearings, and the axial direction of the shaft is parallel to the axial direction of the ratchet wheel with the shaft; the upper end of the third connecting rod and the second straight toothed spur gear are coaxially fixed on the shaft, the lower end of the third connecting rod is hinged with the upper end of the fourth connecting rod, and the lower end of the fourth connecting rod is of a spur gear structure, is hinged on the supporting seat and is meshed with the spur gear of the second connecting rod; the second straight-tooth cylindrical gear is meshed with the first straight-tooth cylindrical gear; the belt shaft ratchet wheel drives the first connecting rod, the first straight-tooth cylindrical gear, the second straight-tooth cylindrical gear, the shaft and the third connecting rod to rotate in sequence, and then the first connecting rod and the third connecting rod drive the second connecting rod and the fourth connecting rod to rotate respectively, so that the bouncing of the whole mechanism is realized.
2. The energy-storing controllable self-releasing bouncing mechanism of claim 1, wherein: the left frame is a strip-shaped plate, the middle frame is a flat plate structure with one circular end and the other Y-shaped end, and one end of the right frame is a strip-shaped flat plate structure with the other triangular end; the outer peripheral surface of the round end of the middle rack is symmetrically provided with two lugs, and two ends of the left rack are fixed on the two lugs through support studs respectively; two vertex angles on the outer side of the triangular end of the right rack are respectively fixed at the end head of the Y-shaped end of the middle rack through a support stud, and the end head of the strip-shaped end of the right rack is fixed at the circular end of the middle rack through a support stud.
3. The energy-storing controllable self-releasing bouncing mechanism of claim 1, wherein: the circular boss of the driving plate is symmetrically provided with two notches, bulges are respectively arranged at the notches, one end of the cylindrical extension spring is fixed on the bulges, and the other end of the cylindrical extension spring is fixed at the other end of the pawl.
4. The energy-storing controllable self-releasing bouncing mechanism of claim 1, wherein: the outer peripheral surface of the end of a motor shaft of the motor is provided with an annular key groove for mounting the spring retainer ring for the shaft.
5. The energy-storing controllable self-releasing bouncing mechanism of claim 1, wherein: a circular groove is formed in the end face, facing the driving sheet, of one side of the middle rack, and a rubber ring is embedded in the circular groove; the rubber ring is coaxial with the first through hole of the middle frame and is in contact with the rolling ball body, and friction force of the rolling ball body rolling in a stroke is increased.
6. The energy-storing controllable self-releasing bouncing mechanism of claim 1, wherein: the driving sheet is in clearance fit with the middle frame, and the clearance is smaller than the diameter of the rolling ball body, so that the rolling ball body is prevented from falling off.
7. The energy-storing controllable self-releasing bouncing mechanism of claim 1, wherein: and a semicircular bulge is arranged at the center of the outer arc surface of the pawl and used for limiting the stroke of the rolling ball body.
8. The energy-storing controllable self-releasing bouncing mechanism of claim 1, wherein: the cylindrical gears of the second connecting rod and the fourth connecting rod have the same tooth number and modulus.
9. The energy-storing controllable self-releasing bouncing mechanism of claim 1, wherein: the first straight-toothed cylindrical gear and the second straight-toothed cylindrical gear have the same number of teeth and module.
10. The energy-storing controllable self-releasing bouncing mechanism of claim 1, wherein: through holes are respectively formed in two sides of the central hole of the left rack, the through holes are arranged opposite to the positioning holes in the motor body, and the left rack and the motor are fixed through bolts which sequentially penetrate through the through holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN102050157A (en) * | 2009-11-05 | 2011-05-11 | 西北工业大学 | Energy storage and release device of hopping robot |
| US20160347387A1 (en) * | 2015-05-29 | 2016-12-01 | Oregon State University | Leg configuration for spring-mass legged locomotion |
| CN108791557A (en) * | 2018-06-13 | 2018-11-13 | 东北大学 | A kind of adjustable motor-driven of jumping degree leaps on one leg mechanism |
| CN214241025U (en) * | 2020-12-29 | 2021-09-21 | 西北工业大学 | Energy-storage-controllable self-releasing bouncing mechanism |
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| CN102050157A (en) * | 2009-11-05 | 2011-05-11 | 西北工业大学 | Energy storage and release device of hopping robot |
| US20160347387A1 (en) * | 2015-05-29 | 2016-12-01 | Oregon State University | Leg configuration for spring-mass legged locomotion |
| CN108791557A (en) * | 2018-06-13 | 2018-11-13 | 东北大学 | A kind of adjustable motor-driven of jumping degree leaps on one leg mechanism |
| CN214241025U (en) * | 2020-12-29 | 2021-09-21 | 西北工业大学 | Energy-storage-controllable self-releasing bouncing mechanism |
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