Abstract:
The technology is directed to an energy storage and release system that stores energy and enables a repeatable and accurately timed release of energy. A shaft member supports a drive assembly, a locking assembly and a lever member there between. The lever member and locking assembly are attached to the shaft. The drive assembly rotates freely about the shaft and loads energy into a torsion spring in communication with the lever member. The torsion spring connects at one end to the drive assembly and at the other end to the lever member without contacting the shaft member. The locking assembly provides a triggered release mechanism for selective release of stored energy from the torsion spring that accordingly rotates the lever member. The system can automatically reload the torsion spring once a signal is received from any number of events including, when the rotating lever member contacts a stop member or limit sensor that signals the end of travel for the lever member in either rotational directions.

Description:
BACKGROUND 
       [0001]    Energy release mechanisms generally require numerous integrated moving parts to selectively engage and disengage a drive train and thereby release stored energy. Such complex systems include, for example, high energy electromagnetic clutches, large mechanical clutches and transmissions, and complex release and escapement mechanisms. These systems are generally complex and prone to multiple modes of failure because of the complexity of enmeshed and/or selectively engaged moving parts. The high part count and associated complexity of manufacture increases overall system cost. Additionally, most of these systems are large and weighty, thereby further hindering their incorporation into agile, articulated robotic devices. A need exists for a device that enables simple transmission, locking, and release of energy. 
       SUMMARY 
       [0002]    One approach to energy storage and release is a system. The system includes a shaft member having a proximal end and a distal end. The system further includes at least one torsion spring positioned about the shaft member having a first end and a second end. The system further includes a drive assembly positioned about the proximal end of the shaft member and coupled to the first end of the at least one torsion spring, wherein the drive assembly loads the at least one torsion spring with stored energy during rotation in a first direction about the shaft member. The system further includes a locking assembly including a stop member, the locking assembly coupled to the distal end of the shaft member. The system further includes a lever member affixed to the shaft member and coupled to the second end of the at least one torsion spring. The lever member engages the stop member to allow loading, of the at least on torsion spring when the drive assembly is rotated in the first direction. 
         [0003]    Another approach to energy storage and release is a device. The device includes at least one torsion spring positioned about a shaft member having a first end and a second end. The device further includes a drive assembly positioned about the shaft member and coupled to the first end of the at least one torsion spring, wherein the drive assembly loads at least one torsion spring with stored energy during rotation in a first direction about the shaft member. The device further includes a locking assembly including a stop member. The locking assembly is coupled to the shaft member. The device further includes a lever member affixed to the shaft member and coupled to the second end of the at least one torsion spring. The lever member engages the stop member to allow loading of the at least on torsion spring when the drive assembly is rotated in the first direction. 
         [0004]    Another approach to energy storage and release is a system. The system includes means for rotating; means for storing energy connected to the means for rotating; means for loading the means for storing energy with energy during rotation of the means for rotating; means for locking the means for rotating; and means for releasing the stored energy by releasing the means for rotating. 
         [0005]    In other examples, any of the approaches above can include one or more of the following features. 
         [0006]    In some examples, the drive assembly includes a drive pawl/gear assembly that prevents rotation of the drive assembly in a second direction opposite the first direction during loading of the at least one torsion spring. 
         [0007]    In other examples, the locking assembly includes a ratchet pawl/gear assembly that prevents rotation of the lever member in a second direction opposite the first direction during loading of the at least one torsion spring. 
         [0008]    In some examples, the system includes a trigger assembly engaged with the ratchet pawl/gear assembly for selectively enabling rotation of the lever member in the second rotational direction. 
         [0009]    In other examples, the trigger assembly is a pneumatic cylinder coupled to the ratchet pawl. 
         [0010]    In some examples, the system includes a control/monitoring system that actuates the trigger assembly in response to a trigger event. 
         [0011]    In other examples, the trigger event is at least one of an object entering a predetermined proximity limit in spatial relation to the lever member and a predetermined tension limit of the torsion spring. 
         [0012]    In some examples, the control/monitoring system includes at least one of a processor, an encoder and decoder, a pressure sensor, a proximity sensor, and an optical sensor. 
         [0013]    In other examples, the system includes a second torsion spring positioned about the shaft member and coupled at a first end to the drive assembly and at a second end to the lever member. 
         [0014]    The energy storage and release technology described herein can provide one or more of the following advantages. The technology advantageously provides a simple transmission, locking, and release of energy without requiring an intermediate device (e.g., a clutch) that disengages the drive train to release the stored energy, thereby reducing the manufacturing cost of the technology and increasing the useful working life of the technology by simplification of the internal mechanisms. The technology advantageously provides for automatic and adjustable levels of energy release and/or can allow for output torque to exceed initial input levels, thereby increasing the useful range of uses for the technology while maintaining a high level of output power. 
         [0015]    The technology advantageously provides a simple transmission of power, a simple locking/retention of stored energy, and/or a simple release of energy (i.e., without the need for a clutch), thereby reducing the number of moving parts which decreases break-downs the technology and increases the useful span of the technology. The technology advantageously can provide an instantaneous recovery to restart energy storing cycle, thereby increasing the usage rate for the technology and decreasing the cost per energy release. The technology can advantageously provide an adjustable release and/or an automatic release, thereby increasing the adaptability of the technology by enabling the technology to work with and as part of different machines (e.g., robot, factory machine, etc.). The technology can advantageously provide a parallel stacking of torsion springs for increased torque load, thereby increasing the effective energy output range of the technology while keeping the input energy at a steady state. The technology can advantageously provide an intelligent and programmable release of the stored energy, thereby increasing the adaptability of the technology to work with and as part of different machines. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0016]    One will better understand these and other features, aspects, and advantages of the present invention following a review of the description, appended claims, and accompanying drawings in which: 
           [0017]      FIG. 1  depicts a robot with exemplary energy storage and release components. 
           [0018]      FIG. 2  depicts a perspective view of an exemplary energy storage and release system. 
           [0019]      FIG. 3  depicts a top cross sectional view of the exemplary energy storage and release system of  FIG. 2 . 
           [0020]      FIG. 4A  depicts a perspective view of the exemplary drive assembly of  FIG. 2 . 
           [0021]      FIG. 4B  depicts a top cross sectional view of the drive assembly depicted in  FIG. 4A . 
           [0022]      FIG. 5  depicts an exemplary locking assembly. 
           [0023]      FIG. 6  depicts an exemplary energy storage and release system with a control and/or monitoring system. 
       
    
    
     DETAILED DESCRIPTION 
       [0024]    The energy storage and release technology described herein advantageously simplifies the repeatable and accurately timed storage and release of energy, thereby providing a quick and cost-effective release of energy. The technology can be used, for example, by a machine (e.g., snake robot, wheeled robot with articulated arm, factory machine, human robot, etc.) for the direct application of energy for movement (e.g., jumping, snapping, kicking, biting, hopping, spinning, etc). For example, a robot with a smashing arm utilizes the technology to store energy for the smashing arm and release the stored energy via the smashing arm to hit another item (e.g., a different robot, a door, a window, etc.). As another example, a snake robot with two articulated components utilizes the technology to store energy for the movement of a joint between the two articulated components and release the stored energy via the joint causing the snake robot to jump (e.g., jump over an obstacle, jump up a stair, etc.). 
         [0025]      FIG. 1  depicts a robot  1000  with exemplary energy storage and release components. The robot  1000  includes a plurality of articulated components (in this example, a drive mechanism  1040  and a center connection mechanism  1050 ). The drive mechanism  1040  and the center connection mechanism  1050  are connected by a connection joint  1020 . 
         [0026]    The connection joint  1020  includes an energy storage and release component (not shown). The energy storage and release component of the connection joint  1020  enables the robot  1000  to jump from the surface the robot  1000  is traveling over. For example, the robot  1000  can jump over an obstacle (e.g., rock, branch, etc.) by storing energy in the energy storage and release component and releasing the stored energy once the robot  1000  is in close proximate to the obstacle, thereby causing the robot  1000  to move over the obstacle. 
         [0027]    The robot  1000  includes a swinging arm  1010 . The swinging arm  1010  includes an energy storage and release component (not shown). The energy storage and release component of the swinging arm  1010  enables the robot  1000  to move and/or hit items (e.g., break a window, flip a rock, etc.). 
         [0028]      FIG. 2  depicts a perspective view of an exemplary energy storage and release system  10 .  FIG. 3  depicts a top cross sectional view of the exemplary system  10  depicted in  FIG. 2 .  FIG. 4A  depicts a perspective view of the drive assembly  300  of the system  10  depicted in  FIGS. 1 and 2 .  FIG. 4B  depicts a top cross sectional view of the drive assembly  300  depicted in  FIG. 4A .  FIG. 5  depicts an exemplary locking assembly  400  of the system  10 . For ease of reference,  FIGS. 2 ,  3 ,  4 A,  4 B, and  5  are described together as follows. Although  FIGS. 2 ,  3 ,  4 A,  4 B, and  5  are described together, in some examples, the system  10  can include one or more of the following components. 
         [0029]    The system  10  includes a shaft member  100 , a torsion spring  200 , a drive assembly  300 , a locking assembly  400 , and a lever member  500 . The shaft member  100  couples the drive assembly  300 , the locking assembly  400 , and the lever assembly  500  together and has a proximal end  105  and a distal end  110 . The torsion spring  200  stores energy from the drive assembly  300  and releases the stored energy to the lever assembly  500 . The drive assembly  300  rotates the torsion spring  200  to store energy in the torsion spring  200 . The locking assembly  400  locks the level member  500  to control the release of the stored energy from the torsion spring  200 . The level member  500  releases the stored energy from the torsion spring  200  upon release by the locking assembly  400 . 
         [0030]    The torsion spring  200  floats freely about the shaft member  100  without making any direct contact with the shall member  100 , which enables the torsion spring  200  to store and release energy without frictional interface from the shaft member  100 . The torsion spring  200  is positioned about the shaft member  100  and has a first end  205  and a second end  210 . The drive assembly  300  is positioned about the proximal end  105  of the shaft member  100  and is coupled to the first end  205  of the torsion spring  200 . The drive assembly  300  is rotated by a motor (not shown) and the rotation of the drive assembly  300  compresses the torsion spring  200  via the coupling of the drive assembly  300  to the first end  205  of the torsion spring  200 . The compression of the torsion spring  200  stores energy in the torsion spring  200  via the mechanical compression of the torsion spring  200  through this coupling of the drive assembly  300  to the first end  205  of the torsion spring  200 . In other words, once the first end  205  of the torsion spring  200  engages securely with the drive assembly  300 , the drive assembly  300  loads the torsion spring  200  with stored energy during rotation in a first direction  115  about the shaft member  100 . 
         [0031]    The drive assembly  300  includes a drive gear  305  that engages with a motor for rotating the drive assembly  300 . The rotation of the drive assembly  300  via the motor loads the torsion spring  200  with energy. The drive gear  305  is fixedly secured to a first planar surface  312  of a drive hub  310  to engage the torsion spring  200  and positioned adjacent the proximal end  105  of the shaft member  100 . A drive ratchet assembly  315  is disposed on a second planar surface  314  of the drive hub  310  which is opposite the first planar surface  312  and prevents the drive assembly  300  from prematurely releasing the stored energy in the torsion spring  200 . A drive pawl  320  is hingedly secured to the second planar surface  314  of the drive hub  310  and engages the drive ratchet assembly  315 . The engagement of the drive pawl  320  to the drive ratchet assembly  315  transfers/transmits the torque to the torsion spring  200  and prevents the premature release of the stored energy in the torsion spring  200 . 
         [0032]    The locking assembly  400  is coupled to the distal end  110  of the shaft member  100  and prevents and/or selectively initiates rotation in the second direction  120 . The locking assembly includes a stop member  405  that further enables loading the torsion spring  200  for transferring torque to the lever member  500  by stopping the lever member  500  from rotating in the first direction  115 . The locking assembly  400  includes a locking ratchet  410  and a locking pawl  415  that engages with the teeth of the locking ratchet  410  and prevents rotation of the lever member  500  in the second direction  120  while the drive assembly  300  loads energy into at least one torsion spring  200 . As indicated most clearly in  FIGS. 2 and 5 , the locking pawl  415  hingedly connects to a trigger member  420  mounted to a shaft support member  425  that is positioned along the shaft member  100  between the locking ratchet  410  and the lever member  500 . 
         [0033]    In some examples, the trigger member  420  includes a pneumatic cylinder. In other examples, the trigger member  420  can be, for example, but not limited to a motor, a solenoid switch, and/or any other type of controllable actuator. The shaft support member  425  further supports the stop member  405  affixed thereto for preventing rotation of the lever member  500  in the first direction during loading of the at least one torsion spring  200 . 
         [0034]    The lever member  500  is affixed to the shaft member  100  and coupled to the second end  210  of the torsion spring  200  for the release of the stored energy from the torsion spring  200 . The lever member  500  engages the stop member  405  to allow loading of the torsion spring  200  when the drive assembly  300  is rotated in the first direction  115 . 
         [0035]    When the lever member  500  rotates in the first direction  115  and stops against the stop member  405 , the at least one torsion spring  300  stores energy as the drive gear  305  continues to rotate in the first direction  315 . Actuating the trigger member  420  releases the locking pawl  415  from the locking ratchet  410  which enables the torsion spring  200  to apply torque to the lever member  500  in contact therewith. The shaft member  500  freely rotates in the second direction as the lever member  500  is energized by the release of energy from the previously loaded torsion spring  200 . The shaft member  500  moves away from the first end of the torsion spring  200  during the release of energy that rotates the lever member  500  in the second direction because the shaft member  100  and drive assembly  300  are freely engaged and not coupled to one another. Combining the energy storage device, i.e. the torsion spring  200 , into the drive assembly  300  advantageously enables the simple storage and release of energy without the need for integration of a clutch and/or a separate disengagement mechanism. In some examples, the torsion spring  200  can be a wire type or clock coil type torsion spring  200 . 
         [0036]    Once the lever member  500  has rotated in the second direction to the extent of applied torque and/or until stopped by another stop member or limit switch (not shown), the locking pawl  415  reengages with the locking ratchet  410 , and the drive assembly rotates the lever member  500  and shaft member  100  in the first direction via the torsion spring  200  until the lever member  500  once again abuts the stop member  405 . The process of loading the torsion spring  200  repeats until a triggering event actuates the trigger  420  and releases stored energy from the torsion spring  200 . 
         [0037]    In some examples, the torsion spring  200  is coupled to the drive assembly  300  via any mechanism (e.g., mechanical mechanism, electromagnetic mechanism, etc.) to provide adequate resistive forces during loading of the torsion spring  200 . The coupling mechanism can be, for example, but not limited to, welding, bolting, riveting, friction fitting, screwing, slidably engaging within a retention slot, etc. 
         [0038]    In other examples, a shoulder bolt  322  secures the drive pawl  320  to the drive hub  310 . During loading of the torsion spring  200 , a motor and gear train (not shown) can, for example, drive the drive pawl  320  into the teeth of the drive ratchet  315  while preventing rotation in a second direction  120  opposite the first direction  115 . The drive assembly  300  further includes a pawl return  325 . In other examples, the pawl return  325  includes a spring or rubber band that maintains the position of the drive pawl  320  within the teeth of the drive ratchet  315  during rotation of the drive assembly  300 . 
         [0039]    In some examples, the system  10  further includes at least one additional torsion spring (not shown) positioned about the shaft member  100  and coupled at a first end to the drive assembly  300  and at a second end to the lever member  500 . The at least one additional torsion spring can multiply torque applied to the lever member  500  (e.g., increase the torque by a factor of 1.5, increase the torque by a factor of 2, etc.). The at least one additional torsion spring can be, for example, concentric with the at least one torsion spring  200 . Although  FIGS. 2 ,  3 ,  4 A, and  4 B depict the torsion spring  200  floating freely about the shaft member  100  without making any direct contact, in some examples, the torsion spring  200  is connected to the shaft member  100  (e.g., direct physical connection, indirect connection via another component, etc.). 
         [0040]      FIG. 6  depicts an exemplary energy storage and release system  610  with a control and/or monitoring system  620 . The control and/or monitoring system  620  includes a processor  621 , a storage device  622 , a communication device  623 , a sensor  624 , and an encoder/decoder  625 . The processor  621  is programmed for controlling intelligent storage and/or release of stored energy either on demand and/or in response to a triggering event. The storage device  622  stores a set of instructions for the processor  621  for actuating the trigger member  420 . The communication device  623  transmits and/or receives data from/to the control and/or monitoring system  620 . The sensor  624  (e.g., proximity sensor, infrared sensor, optical sensor, strain gauge, pressure sensor, etc.) receives/senses information. The encoder/decoder  625  encodes and/or decodes information from the sensors  624  for use by the processor  621  (e.g., converts analog sensor data to digital data, decodes specialized sensor data for use by the processor  621 , etc.). In some examples, the processor  621  is previously programmed and/or is dynamically programmed based on received data. 
         [0041]    In other examples, referring to  FIGS. 2 ,  3 ,  4 A,  4 B, and  5 , triggering events include an object entering a predetermined proximity limit in spatial relation to the lever member  500  and/or the torsion spring  200  reaching a predetermined tension limit. In some examples, the control and/or monitoring system  620  actuates the trigger member  420  in response to the trigger event. In other words, in this example, a feedback loop is utilized between the control and/or monitoring system  620  and the trigger member  420  to trigger the release of the stored energy in the system  10 . For example, a pressure sensor (not shown) is mounted to the lever member  500  such that impact with an object triggers the release of stored energy and movement of the lever. As another example, an optical sensor (not shown) is mounted to the stop member  405  or shaft support member  425  and senses the approach of a moving or stationary object and triggers the release of stored energy, thereby rotating the lever member  500 . Table 1 illustrates exemplary feedback mechanisms for triggering the release of the stored energy. 
         [0000]    
       
         
               
             
               
               
               
               
             
           
               
                 TABLE 1 
               
             
             
               
                   
               
               
                 Exemplary Triggers 
               
             
          
           
               
                 Sensor 
                 Reading 
                 Trigger 
                 Action 
               
               
                   
               
               
                 Pressure 
                 1.4 lbs per 
                 1.5 lbs per 
                 No Release—Stored 
               
               
                   
                 square inch 
                 square inch 
                 Energy—15.0 Newtons 
               
               
                 Optical 
                 Positive 
                 Positive 
                 Release of Stored 
               
               
                   
                 Reading 
                 Reading 
                 Energy—12.3 Newtons 
               
               
                 Proximity 
                 Four 
                 One 
                 Release of Stored. 
               
               
                   
                 Readings 
                 Reading 
                 Energy—2.3 lbs per 
               
               
                   
                 within ten 
                 within twenty 
                 square inch 
               
               
                   
                 meters 
                 meters 
               
               
                   
               
             
          
         
       
     
         [0042]    In other examples, the feedback loop is utilized between the control and/or monitoring system  620  and the drive assembly  300  to trigger the stopping of the storage of energy in the system  10 . For example, a pressure sensor (not shown) is mounted to the lever member  500  such that impact with an object triggers the stopping of the storage of energy. As another example, an optical sensor (not shown) is mounted to the shaft support member  425  and senses the approach of a moving or stationary object and triggers the stopping of the storage of energy in the system  10 . Table 2 illustrates exemplary feedback mechanisms for triggering the stopping of the storage of energy in the system  10 . 
         [0000]    
       
         
               
             
               
               
               
               
             
           
               
                 TABLE 2 
               
             
             
               
                   
               
               
                 Exemplary Triggers 
               
             
          
           
               
                 Sensor 
                 Reading 
                 Trigger 
                 Action 
               
               
                   
               
               
                 Pressure 
                 1.1 lbs per 
                 1.0 lbs per 
                 Stop Storage of Energy - 
               
               
                   
                 square inch 
                 square inch 
                 Stored Energy—11.0 Newtons 
               
               
                 Optical 
                 Negative 
                 Positive 
                 Continue Storage of Energy 
               
               
                   
                 Reading 
                 Reading 
               
               
                 Proximity 
                 Two Readings 
                 One Reading 
                 Continue Storage of Energy 
               
               
                   
                 within three 
                 within ten 
               
               
                   
                 meters 
                 meters 
               
               
                   
               
             
          
         
       
     
         [0043]    In other examples, the communication device  623  receives instructions for the processor via wired or wireless computer networks from a transmitting device in communication with the system  10  via a computer network (e.g., local area network, wide area network, Internet, etc.). The system  10  can be, for example, controlled via radio frequency (RF) or other wireless control mechanisms. 
         [0044]    In some examples, the control and/or monitoring system  620  is a computer which includes standard computing elements. These standard computing elements include items such as a monitor, a keyboard, and a memory storage area. The memory storage area may be random access memory (RAM), or a combination of RAM and some removable memory storage means such as floppy disk, EPROMs, PROMs, or USB storage devices. The memory storage area contains computer readable code, or software, for executing the technology described herein. In other examples, the memory storage area can be a database server for an added level of security and more expansive storage capacity. In some examples, the control and/or monitoring system  620  communicates with an application server that stores and executes the software and/or with a web server that hosts an interactive website for transmitting instructions to the system  10  for the release of stored energy and/or the conditions for release of stored energy. 
         [0045]    Bi-directional routers (not shown) also may be disposed between each of the transmitting device, the computer network, and between the computer network and the system  10 . By way of example, the transmitting device may be a laptop computer, stationary computer, PCD, and cellular telephone. 
         [0046]    It is noted that the foregoing examples have been provided merely for the purpose of explanation and are in no way to be construed as limiting of the present invention. While the present invention has been described with reference to an exemplary embodiment, it is understood that the words, which have been used herein, are words of description and illustration, rather than words of limitation. Changes may be made, within the purview of the appended claims, as presently stated and as amended, without departing from the scope and spirit of the present invention in its aspects. Although the present invention has been described herein with reference to particular means, materials and embodiments, the present invention is not intended to be limited to the particulars disclosed herein; rather, the present invention extends to all functionally equivalent structures, methods and uses, such as are within the scope of the appended claims.