CN106039726A - Robot with side leg kicking function - Google Patents
Robot with side leg kicking function Download PDFInfo
- Publication number
- CN106039726A CN106039726A CN201610617545.6A CN201610617545A CN106039726A CN 106039726 A CN106039726 A CN 106039726A CN 201610617545 A CN201610617545 A CN 201610617545A CN 106039726 A CN106039726 A CN 106039726A
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- Prior art keywords
- arm
- wheel
- robot
- predecessor
- machine image
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
- A63H13/02—Toy figures with self-moving parts, with or without movement of the toy as a whole imitating natural actions, e.g. catching a mouse by a cat, the kicking of an animal
- A63H13/04—Mechanical figures imitating the movement of players or workers
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/04—Dolls with deformable framework
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
- A63H3/46—Connections for limbs
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Abstract
The invention discloses a robot with a side leg kicking function. The robot comprises a robot doll. The robot doll comprises a fixed leg and a swing leg. The fixed leg is arranged on the lower portion of the robot doll, a first cavity shell is arranged in the fixed leg, and the swing leg is rigidly fixed to the upper half body of the robot doll. The robot further comprises a rotary shaft, the rotary shaft axially penetrates through the first cavity shell, and a first oblique angle is formed between the rotary shaft and the horizontal plane. The robot further comprises a power output mechanism, the lower end of the rotary shaft is connected with the power output mechanism, and the upper end of the rotary shaft is connected with the upper half body of the robot doll. The power output mechanism outputs power to drive the rotary shaft to rotate to drive the body of the robot doll to rotate around the fixed leg. A second oblique angle is formed between the swing leg and the rotary shaft. A simple oblique axis rotation mechanism drive structure is adopted for replacing a complex traditional drive mechanism to achieve the side leg kicking function, entertainment and ornamental value are achieved, and the manufacturing cost can be reduced.
Description
Technical field
The invention belongs to robot toy's technical field, particularly to a kind of robot playing limit lower limb.
Background technology
For existing humanoid robot, Seeding location can only be placed on upper limb by great majority, and lower limb normally only rise
To supporting and migration, its reason is: gable structure based on humanoid robot self, needs to design series of complex
Drive mechanism to realize the compound motion such as horizontal rotation, vertical rotary, and then realize leg exercise (such as playing limit lower limb etc.) action.
In other words, existing humanoid robot to realize leg exercise, then needs to design extremely complex drive mechanism, Er Qiexu
Expend huge manufacturing cost.Therefore, in current market, for possess play limit leg-training can the designing and developing of robot product
There is bigger obstruction.
Summary of the invention
In order to overcome the defect of prior art, the invention provides a kind of robot playing limit lower limb, great recreational and
Sight, its mechanical transmission structure using inclined shaft to rotate substitutes complicated conventional drives, simple in construction, advantageously reduces
Manufacturing cost.
In order to achieve the above object, the present invention is by the following technical solutions:
A kind of robot playing limit lower limb, includes machine image, it is characterised in that:
Described machine image includes Convenient table and leads leg, and described Convenient table is located at the bottom of described machine image, institute
Be provided with the first chamber shell in stating Convenient table, described in the upper part of the body with described machine image of leading leg rigidly fix；
Described robot also includes rotary shaft, and described rotary shaft axially penetrates through described first chamber shell, described rotary shaft with
The first oblique angle is formed between horizontal plane；
Described robot also includes power take-off mechanism, and described rotary shaft lower end couples with described power take-off mechanism,
Described rotary shaft upper end couples with the upper part of the body of described machine image；Described power take-off mechanism output power is to drive described rotation
Rotating shaft rotates, and then drives the health of described machine image to rotate around described Convenient table.
Further, lead leg described in and between described rotary shaft, form the second oblique angle.
Further, described rotary shaft lower end couples with described power take-off mechanism and described rotary shaft upper end and institute
The concrete structure of the upper part of the body connection stating machine image includes:
Described rotary shaft includes the primary transmission axle and secondary drive shaft set gradually from the bottom up, described primary transmission
Axle and described secondary drive shaft are coupled by cating nipple；
The upper part of the body of described machine image be fixed with from top to bottom the upper limit wall passed for described secondary drive shaft and
Lower limit wall, is pine between described secondary drive shaft and described upper limit wall, described lower limit wall and joins；
Described Convenient table upper end is provided with the lower limb root hole passed for described secondary drive shaft, and described lower limb root hole is positioned at described lower limit
Below the wall of position, join for pine between described lower limb root hole and described secondary drive shaft；
Described Convenient table lower end is fixed with the vola bearing passed for described primary transmission axle, described primary transmission axle
Lower end is socketed with input gear, and described input gear is positioned at outside described first chamber shell, and described input gear exports with described power
Mechanism couples, so that described rotary shaft lower end couples with described power take-off mechanism；
Described secondary drive shaft is socketed with the first axle sleeve and the second axle sleeve the most successively, described first axle sleeve and described
Join for pine between secondary drive shaft, be close-fitting between described second axle sleeve and described secondary drive shaft；Described first axle sleeve, described
Second axle sleeve is respectively positioned between described upper limit wall and described lower limit wall；Described first axle sleeve is provided with first step, and described
Two axle sleeves are provided with the inner side end laminating of second step, the end face outside of described second step and described lower limit wall, and described
The first spring in compressive state it is provided with between first step and described second step, so that the outboard end of described first step
The inner side end laminating of face and described upper limit wall, so that the upper part of the body connection of described rotary shaft upper end and described machine image
Connect.
Further, the angle that described primary transmission axle and described secondary drive shaft are formed therebetween is not less than 140 °.
Further, the upper part of the body of described machine image is fastened by predecessor's housing and rear body housing and forms, described predecessor shell
Body is located at the front portion of described robot, and described rear body housing is located at the rear portion of described robot；
Described machine image also includes the left arm and right arm, described left arm and institute rotated with the health of described machine image
State right arm to be all connected between described predecessor housing and described rear body housing, the left shoulder hinge of described left arm and described machine image
Connecing, the right shoulder of described right arm and described machine image is hinged；
The upper arm of described left arm and the underarm of described left arm are hinged, the upper arm of described right arm and the underarm hinge of described right arm
Connect.
Further, the hinged and described right arm of the left shoulder of described left arm and described machine image and described robot
The concrete structure that even right shoulder is hinged includes:
The first predecessor's locking plate being the level of state, a described left side it is fixed with on the described predecessor housing that described left shoulder is corresponding
The first end of the upper arm of arm is fixed with the first upper arm shell fragment that elastic deformation can occur；When described first upper arm shell fragment position
When the lower section of described first predecessor's locking plate, described first predecessor's locking plate limits described first upper arm shell fragment and rotates, so that described
Left arm locks in the horizontal direction；When described first upper arm shell fragment is positioned at the top of described first predecessor's locking plate, described first
Predecessor's locking plate is free to rotate so that described left arm can freely swing；
The second predecessor's locking plate being the level of state, the described right side it is fixed with on the described predecessor housing that described right shoulder is corresponding
The second end of the upper arm of arm is fixed with the second upper arm shell fragment that elastic deformation can occur；When described second upper arm shell fragment position
When the lower section of described second predecessor's locking plate, described second predecessor's locking plate limits described second upper arm shell fragment and rotates, so that described
Right arm locks in the horizontal direction；When described second upper arm shell fragment is positioned at the top of described second predecessor's locking plate, described second
Predecessor's locking plate is free to rotate so that described right arm can freely swing.
Further, the upper arm of described left arm and the upper arm of the hinged and described right arm of the underarm of described left arm and described
The concrete structure that the underarm of right arm is hinged includes:
3rd end of the upper arm of described left arm is provided with the first spine line, and underarm one end of described left arm is fixed with can be sent out
First underarm shell fragment of raw elastic deformation, each groove on described first spine line all can coordinate with described first underarm shell fragment with limit
The underarm making described left arm rotates；
4th end of the upper arm of described right arm is provided with the second spine line, and underarm one end of described right arm is fixed with can be sent out
Second underarm shell fragment of raw elastic deformation, each groove on described second spine line all can coordinate with described second underarm shell fragment with limit
The underarm making described right arm rotates.
Further, described robot also includes the base being positioned at below described machine image, and described base includes
Base top shell and base drain pan, described Convenient table rigidly fixes with described base top shell, at the bottom of described base top shell and described base
Shell fastens formation the second chamber shell up and down；
Described first chamber shell connects with described second chamber shell, and described power take-off mechanism and described input gear are respectively positioned on institute
State in the second chamber shell, in described second chamber shell, be additionally provided with the internal battery that power source is provided；
Described base is provided with the circuit board controlling the work of described power take-off mechanism, and the bottom rear of described base also sets
There is the support wheel assembly assisting described robot to realize action.
Further, described power take-off mechanism includes action drives assembly and the first gear train, described circuit board with
Described action drives assembly electrically connects；The gear end of described action drives assembly engages with described first gear train, described
The final-stage gear of the first gear train engages with described input gear.
Further, described base also includes the mobile driving assembly being electrically connected with described circuit board and institute
State mobile drive the second gear train of assembly engagement, front axle, left wheel, left wheel lid, the first front-wheel axle sleeve, the second spring,
Second front-wheel axle sleeve, the first ratchet and right wheel；
Described left wheel, described first front-wheel axle sleeve, described second spring, the final-stage gear of described second gear train, institute
State the second front-wheel axle sleeve and described right wheel is from left to right sequentially sleeved on described front axle, the final stage of described first gear train
Gear is movably set on described front axle and between described second front-wheel axle sleeve and described right wheel；
Described first front-wheel axle sleeve, described second front-wheel axle sleeve, between described right wheel and described front axle, it is close-fitting,
Described second spring, be pine between the final-stage gear of described second gear train and described front axle and join, described second spring in
Compressive state is so that fitting with the left side of described second front-wheel axle sleeve in the right side of final-stage gear of described second gear train；
The right side of described left wheel is provided with and is positioned at first cavity at described left wheel center and lays respectively at described
Second cavity of the first cavity both sides and the 3rd cavity, described first cavity, described second cavity and described 3rd cavity are mutual
Connection；
Described left wheel lid fastens with the right side of described left wheel, and it is unidirectional that the end face of described left wheel lid is provided with second
Gear, described second ratchet fixed cover is located on described front axle and is positioned at described first cavity；Described first unidirectional
The quantity of gear is two, in two described first ratchets are respectively placed in described second cavity and described 3rd cavity and all
Engage with described second ratchet；The pair of horns of described first cavity is provided with the first incision fillet and the second incision fillet,
Another diagonal angle of described first cavity is provided with the first stop right angle and the second stop right angle, thus control described base keep straight on,
Or described base rotates.
Compared with prior art, the method have the advantages that
(1) a kind of robot playing limit lower limb that the present invention provides, uses the mechanical transmission structure that inclined shaft rotates dexterously
Substitute complicated conventional drives, to the water needed for kick (comprised lower limb, kicked, receive a series of sequences such as lower limb)
The compound motions such as flat rotation, vertical rotary simplify.Specifically, the present invention be provided with the health with machine image couple and
With the rotary shaft that horizontal plane forms certain angle so that the health of machine image can rotate around Convenient table (specifically rotary shaft)
And form the track of a taper seat, and so that this robot has realized lower limb well, has kicked, receives the actions such as lower limb, its kicking
Practicality and the fluent movements degree of action are effectively improved, great recreational and ornamental.
(2) a kind of robot playing limit lower limb that the present invention provides, owing to leading leg and rotary shaft shape has a certain degree,
And the upper part of the body with machine image of leading leg rigidly fixes, therefore, when the health of machine image rotates, lead leg corresponding
Ground rotates around Convenient table, then lead leg and between horizontal plane, angle constantly occurs significantly cyclically-varying, thus
Make the center of gravity of rotating part (include the upper part of the body of machine image and lead leg) of this robot farthest close to rotating
Axle center, and then reduce the vibrations caused when this robot rotates to the full extent.
In sum, a kind of robot that the present invention provides, it is for realizing playing the clino-axis type drive mechanism of limit leg-training energy
Very simple, advantageously reduce manufacturing cost.Therefore, before the present invention has wide market in electronic toy technical field
Scape.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings the detailed description of the invention of the present invention is described in further detail, wherein:
Fig. 1 is the overall structure schematic diagram of a kind of robot playing limit lower limb of the present invention；
Fig. 2 is the structural representation (not embodying Convenient table) of machine image of the present invention；
Fig. 3 is the decomposition texture schematic diagram of machine image of the present invention；
Fig. 4 is the structural representation that rotary shaft of the present invention couples with the upper part of the body of machine image；
Fig. 5 is the structural representation of a kind of cating nipple of the present invention；
Fig. 6 is the structural representation of the second cating nipple of the present invention；
Fig. 7 is the structural representation of the third cating nipple of the present invention；
Fig. 8 is left arm of the present invention and left shoulder is hinged, right arm and the hinged structural representation of right shoulder；
Fig. 9 is the structural representation that the upper arm of a left side of the present invention (right) arm is hinged with the underarm of left (right) arm；
Figure 10 is the overall structure schematic diagram of the power output being located at base of the present invention；
Figure 11 is the decomposition texture schematic diagram of base of the present invention；
Figure 12 is the internal structure schematic diagram of left wheel of the present invention；
Figure 13 is integrally-built a kind of partial schematic diagram (part does not embodies) of base of the present invention；
Figure 14 is a kind of working state schematic representation of support wheel assembly of the present invention；
Figure 15 is the another kind of working state schematic representation of support wheel assembly of the present invention；
Figure 16 is the schematic diagram of the course of action of a kind of robot playing limit lower limb of the present invention.
Description of reference numerals:
1, machine image；11, Convenient table；111, the first chamber shell；112, lower limb root hole；113, vola bearing；114, input tooth
Wheel；12, lead leg；13, upper limit wall；14, lower limit wall；15, predecessor's housing；151, first predecessor's locking plate；152, before second
Body locking plate；16, rear body housing；17, left arm；171, the upper arm of left arm；1711, first end；1712, the first upper arm shell fragment；
1713, the 3rd end；1714, the first spine line；172, the underarm of left arm；1721, the first underarm shell fragment；18, right arm；181, right arm
Upper arm；1811, the second end；1812, the second upper arm shell fragment；1813, the 4th end；1814, the second spine line；182, right arm
Underarm；1821, the second underarm shell fragment；19, left shoulder；110, right shoulder；2, rotary shaft；21, primary transmission axle；22, two grades of biographies
Moving axis；221, the first axle sleeve；2211, first step；222, the second axle sleeve；2221, second step；223, the first spring；3,
One oblique angle；4, power take-off mechanism；41, action drives assembly；42, the first gear train；5, the second oblique angle；6, cating nipple；
61, polygon set；611, polygon nest；62, polygon shaft；621, polygon bulb；63, chute set；631, groove；6311、
Draw-in groove；64, T-shaped axle；641, axis；65, power shaft；651, the first through hole；66, cross axle；661, mandrel rod；67, output shaft；
671, the second through hole；7, base；71, base top shell；72, base drain pan；73, the second chamber shell；74, mobile driving assembly；75,
Two gear trains；76, front axle；77, left wheel；771, the first cavity；7711, the first incision fillet；7712, the second incision circle
Angle；7713, the first stop right angle；7714, the second stop right angle；772, the second cavity；773, the 3rd cavity；78, left wheel lid；
781, the second ratchet；79, the first front-wheel axle sleeve；710, the second spring；711, the second front-wheel axle sleeve；712, the first unidirectional tooth
Wheel；713, right wheel；714, left wheel skin；715, right wheel skin；8, internal battery；9, circuit board；10, wheel assembly is supported；
101, wheel is supported；102, chute；1021, straightway；1022, segmental arc.
Detailed description of the invention
Below in conjunction with accompanying drawing, the detailed description of the invention of the present invention is illustrated, it will be appreciated that described herein preferably
Embodiment is merely to illustrate and explains the present invention, is not intended to limit the present invention.
The invention discloses a kind of robot playing limit lower limb, as shown in Fig. 1～Figure 16, include machine image 1, its
In:
Machine image 1 includes Convenient table 11 and leads leg 12, and Convenient table 11 is located at the bottom of machine image 1, Convenient table
Being provided with the first chamber shell 111 in 11, leading leg 12 rigidly fixes with the upper part of the body of machine image 1；
This robot also includes rotary shaft 2, and rotary shaft 2 axially penetrates through described first chamber shell 111, rotary shaft 2 and level
The first oblique angle 3 is formed between face；
This robot also includes power take-off mechanism 4, and rotary shaft 2 lower end couples with power take-off mechanism 4, rotary shaft 2
Upper end couples with the upper part of the body of machine image 1；Power take-off mechanism 4 exports power and rotates with driving rotary shaft 2, and then the machine of driving
The health of device image 1 rotates around Convenient table 11.
As a kind of embodiment, form the second oblique angle 5 between 12 and rotary shaft 2 as in figure 2 it is shown, lead leg.Based on this, again
12 rigidly fix with the upper part of the body of machine image 1 owing to leading leg, the 12 healths rotations that can follow machine image 1 of therefore leading leg
Turning, the continuous generating period of its movement locus changes so that the center of gravity of the rotating part of this robot is as close possible to rotary shaft
The heart, advantageously reduces this robot and rotates the vibrations produced.
In the above-described embodiments, as shown in Fig. 2～Fig. 4, Fig. 8, rotary shaft 2 lower end couple with power take-off mechanism 4 and
The concrete structure that rotary shaft 2 upper end couples with the upper part of the body of machine image 1 includes:
Rotary shaft 2 includes the primary transmission axle 21 and secondary drive shaft 22 set gradually from the bottom up, primary transmission axle
21 and secondary drive shaft 22 coupled by cating nipple 6, in order to change primary transmission axle 21 and secondary drive shaft 22
Therebetween the angle formed, consequently facilitating change driving angle so that the kick of this robot is more flexible；
The upper part of the body of machine image 1 is fixed with the upper limit wall 13 and lower limit passed for secondary drive shaft 22 from top to bottom
Position wall 14, is pine between secondary drive shaft 22 and upper limit wall 13, lower limit wall 14 and joins；
Convenient table 11 upper end is provided with the lower limb root hole 112 passed for secondary drive shaft 22, and lower limb root hole 112 is positioned at lower limit wall 14
Lower section, joins for pine between lower limb root hole 112 and secondary drive shaft 22；
Convenient table 11 lower end is fixed with the vola bearing 113 passed for primary transmission axle 21, primary transmission axle 21 times
End is socketed with input gear 114, and input gear 114 is positioned at outside described first chamber shell 111, input gear 114 and output machine
Structure 4 couples, so that rotary shaft 2 lower end couples with power take-off mechanism 4；
Secondary drive shaft 22 is socketed with the first axle sleeve 221 and the second axle sleeve 222, the first axle sleeve 221 He the most successively
Join for pine between secondary drive shaft 22 so that the first axle sleeve 221 can be along secondary drive shaft 22 axial float, to secondary drive shaft
22 play a very good protection, and are close-fitting between the second axle sleeve 222 and secondary drive shaft 22；First axle sleeve the 221, second axle sleeve
222 are respectively positioned between upper limit wall 13 and lower limit wall 14；First axle sleeve 221 is provided with first step 2211, and the second axle sleeve 222 sets
There are the inner side end laminating of second step 2221, the end face outside of second step 2221 and lower limit wall 14, and first step
The first spring 223 in compressive state it is provided with so that the end face outside of first step 2211 between 2211 and second step 2221
Fitting with the inner side end of upper limit wall 13, the distance between the first axle sleeve 221 and the second axle sleeve 222 can pass through the first spring
223 are adjusted.
Owing to the first spring 223 is compressed, the distance between the first axle sleeve 221 and the second axle sleeve 222 is increase tendency, then
Frictional force between end face outside and the inner side end of upper limit wall 13 of first step 2211, the outboard end of second step 2221
Frictional force between the inner side end of face and lower limit wall 14 is all strengthened.By the effect of frictional force, rotary shaft 2 upper end
(specifically secondary drive shaft 22) is coaxially coupled with the upper part of the body of machine image 1, thus band mobile robot even 1 realizes synchronizing
Rotate.
When machine image 1 is by powerful external force, the inner side of the end face outside of first step 2211 and upper limit wall 13
The frictional force all quilts between frictional force, the end face outside of second step 2221 and the inner side end of lower limit wall 14 between end face
Overcome, then between upper limit wall 13 and first step 2211, between lower limit wall 14 and second step 2221, produce skidding,
Thus avoid because stuck or adverse transference move and cause internal drive mechanism to be hit and then impaired, effectively protect this robot
Rotary drive structure, greatly ensure that the product quality of this robot.
Designing based on said structure, lower limb root hole 112 becomes the pivot point of secondary drive shaft 22, and it is possible not only to limit two
Level power transmission shaft 22 can only radially wobble in this little scope of lower limb root hole 112, is additionally, since lower limb root hole 112 and is positioned at lower limit wall
Below 14, then the secondary drive shaft 22 axial float in lower limb root hole 112 can be limited well, advantageously ensures that transmission
Structure compact.
In the above-described embodiments, the concrete structure of cating nipple 6 is as follows:
As it is shown in figure 5, cating nipple 6 includes polygon set 61 and polygon shaft 62, polygon set 61 is fixed sheathed
In the upper end of primary transmission axle 21, polygon shaft 62 fixed cover is located at the lower end of secondary drive shaft 22, and polygon set 61 is provided with
Polygon nest 611, correspondingly, polygon shaft 62 is provided with polygon bulb 621；Polygon bulb 621 is placed in polygon nest 611
In, the polygon curved surface of polygon bulb 621 matches with the polygon curved surface of polygon nest 611.
Structure based on above-mentioned cating nipple 6, by the effect of contraction of polygon curved surface, primary transmission axle 21 and two
Level power transmission shaft 22 completes to couple so that primary transmission axle 21 and secondary drive shaft 22 synchronous axial system.When secondary drive shaft 22 and
When the angle that level power transmission shaft 21 is formed therebetween necessarily changes, polygon bulb 621 passes in one-level with polygon nest 611
Axis projection cross section on moving axis 21 still matches, and does not affect Synchronous Transmission.Additionally, the structure of this cating nipple 6 has
Good intensity, can ensure power transmission quality well.
It should be noted that in the present invention, the structure of cating nipple 6 includes but not limited to above-mentioned version,
It can also be set to other version, such as T-shaped axle and join chute nested structure form or cross axle draw bail form etc., all
As the version of these cating nipples 6 belongs to the equivalent protection scope of the present invention.
Wherein, the concrete structure of the cating nipple 6 that T-shaped axle joins chute nested structure form is as follows:
As shown in Figure 6, cating nipple 6 includes chute set 63 and T-shaped axle 64, and chute overlaps 63 fixed covers and is located at one-level biography
The upper end of moving axis 21, T-shaped axle 64 fixed cover is located at the lower end of secondary drive shaft 22, and chute set 63 is provided with groove 631, groove
On 631, opposition is provided with two draw-in grooves 6311, and correspondingly, on T-shaped axle 64, opposition is provided with two axis 641；T-shaped axle 64 is placed in
In groove 631, two axis 641 match with two draw-in grooves 6311 respectively.
Wherein, the concrete structure of the cating nipple 6 of cross axle draw bail form is as follows:
As it is shown in fig. 7, cating nipple 6 includes power shaft 65, cross axle 66 and output shaft 67, power shaft 65 fixed cover
Being located at the upper end of primary transmission axle 21, output shaft 67 fixed cover is located at the lower end of secondary drive shaft 22, to erecting on power shaft 65
Being equipped with two the first through holes 651, correspondingly, on output shaft 67, opposition is provided with two the second through holes 671；The difference of cross axle 66
Four mandrel rods 661 being in four direction match with 651, two the second through holes 671 of two the first through holes respectively.
In the above-described embodiments, the angle that primary transmission axle 21 and secondary drive shaft 22 are formed therebetween is not less than
140 °, to ensure the steady of drive mechanism part strength and transmission.
In the above-described embodiments, as shown in Fig. 3, Fig. 8, the upper part of the body of machine image 1 is by predecessor's housing 15 and rear body housing
16 fastenings form, and predecessor's housing 15 is located at the front portion of robot, and rear body housing 16 is located at the rear portion of described robot；And, as
Shown in Fig. 8, upper limit wall 13 is set as the structure of two semicircles and is symmetrical arranged on predecessor's housing 15 and rear body housing 16, lower limit
Position wall 14 is also set as the structure of two semicircles and is symmetrical arranged, to ensure this robot on predecessor's housing 15 and rear body housing 16
The stability rotated.
As shown in Figure 1, Figure 2, shown in Fig. 8 and Fig. 9, machine image 1 also includes the left arm that the health of random device image 1 rotates
17 and right arm 18, left arm 17 and right arm 18 be all connected between predecessor's housing 15 and rear body housing 146, left arm 17 and machine image
The left shoulder 19 of 1 is hinged, and the right shoulder 110 of right arm 18 and machine image 1 is hinged；The upper arm 171 of left arm 17 and left arm 17 times
Arm 172 is hinged, and the upper arm 181 of right arm 18 and the underarm 182 of right arm 18 are hinged.
In the above-described embodiments, as shown in Figure 8, the left shoulder 19 of left arm 17 and machine image 1 is hinged and right arm 18 and
The concrete structure that the right shoulder 110 of machine image 1 is hinged includes:
The first predecessor's locking plate 151 being the level of state, left arm 17 it is fixed with on predecessor's housing 15 of left shoulder 19 correspondence
The first end 1711 of upper arm 171 be fixed with the first upper arm shell fragment 1712 that elastic deformation can occur；When the first upper arm
When shell fragment 1712 is positioned at the lower section of first predecessor's locking plate 151, first predecessor's locking plate 151 limits the first upper arm shell fragment 1712 and rotates,
So that left arm 17 locks in the horizontal direction；When the first upper arm shell fragment 1712 is positioned at the top of first predecessor's locking plate 151, first
Predecessor's locking plate 151 is free to rotate so that left arm 17 can freely swing；
The second predecessor's locking plate 152 being the level of state, right arm 18 it is fixed with on predecessor's housing 15 of right shoulder 110 correspondence
The second end 1811 of upper arm 181 be fixed with the second upper arm shell fragment 1812 that elastic deformation can occur；When the second upper arm
When shell fragment 1812 is positioned at the lower section of second predecessor's locking plate 152, second predecessor's locking plate 152 limits the second upper arm shell fragment 1812 and rotates,
So that right arm 18 locks in the horizontal direction；When the second upper arm shell fragment 1812 is positioned at the top of second predecessor's locking plate 152, second
Predecessor's locking plate 152 is free to rotate so that right arm 18 can freely swing.
Seeing Fig. 1, Fig. 2 and Fig. 8, left shoulder 19 based on above-mentioned left arm 17 and machine image 1 is hinged and right arm 18
The concrete structure hinged with the right shoulder 110 of machine image 1, such as: manually pull the upper arm 171 of left arm 17 so that be positioned at
The first upper arm shell fragment 1712 above one predecessor's locking plate 151 moves down, when the first upper arm shell fragment 1712 arrives first predecessor's lock
During the position of sheet 151, owing to the first upper arm shell fragment 1712 can occur elastic deformation, when it pushes up by force first predecessor's locking plate 151 two
Person can be interlaced, so that the first upper arm shell fragment 1712 is by first predecessor's locking plate 151, now first predecessor's locking plate 151
First upper arm shell fragment 1712 upwarped restriction effect of playing, thus left arm 17 is locked in the horizontal direction relative to health
On；Manually pull the upper arm 171 of left arm 17 so that be positioned at the first upper arm shell fragment 1712 below first predecessor's locking plate 151 upwards
Mobile, when the first upper arm shell fragment 1712 arrives the position of first predecessor's locking plate 151, when it pushes up by force first predecessor's locking plate 151 two
Person can be interlaced, so that the first upper arm shell fragment 1712 is by first predecessor's locking plate 151, then before left arm 17 has broken away from first
Body locking plate 151 is relative to the restriction of the horizontal direction of health, and now left arm 17 can freely swing, and i.e. left arm 17 is at static and weight
Under power effect sagging.In like manner, the structural principle of right arm 18 is consistent with left arm 17, does not repeats them here.
In the above-described embodiments, as it is shown in figure 9, the underarm 172 of the upper arm 171 of left arm 17 and left arm 17 is hinged and right
The upper arm 181 of arm 18 and the hinged concrete structure of the underarm 182 of right arm 18 include:
The upper arm of arm (including left arm 17, right arm 18), underarm articulated position at the ancon of arm；
3rd end 1713 of the upper arm 171 of left arm 17 is provided with the first spine line 1714, and underarm 172 one end of left arm 17 is fixed
Being provided with the first underarm shell fragment 1721 that elastic deformation can occur, each groove on the first spine line 1714 all can be with the first underarm bullet
Sheet 1721 coordinates to limit the underarm 172 of left arm 17 and rotates；
4th end 1813 of the upper arm 181 of right arm 18 is provided with the second spine line 1814, and underarm 182 one end of right arm 18 is fixed
Being provided with the second underarm shell fragment 1821 that elastic deformation can occur, each groove on the second spine line 1814 all can be with the second underarm bullet
Sheet 1821 coordinates to limit the underarm 182 of right arm 18 and rotates.
Based on above-mentioned arm and the articulated structure of the upper underarm of the articulated structure of shoulder and arm, arm and shoulder
Can manually regulate to set initial angle therebetween, the angle between the upper underarm of arm can carry out having level to adjust
Joint, therefore, the present invention can manually regulate posture and the movement locus of robot, it is also possible to by regulating two shoulder joints to change
The center of gravity of this robot and the distance of axis of rotation so that user can enter between the attack of fistfight action and stationarity
Row selects, and the collision that arm produces during fistfight can change the initial angle in each joint, changes the relevant genus of initial adjustment
Property so that this robot has extremely strong recreational and ornamental.Such as, it is locked in horizontal direction and upper arm at left arm 17
181 and underarm 182 initial adjustment is angled, right arm 18 can freely swing state under, when the health of machine image 1 revolves
When turning, right arm 18 is thrown away because producing centrifugal action, and left arm 17 then realizes hooking fist fistfight action, as shown in Figure 1.
In the above-described embodiments, as shown in Figure 10～Figure 15, this robot also includes the end being positioned at below machine image 1
Seat 7, base 7 includes base top shell 71 and base drain pan 72, and concrete, Convenient table 11 rigidly fixes with base top shell 71, the end
Also include gear box cover and lampshade, base top shell 71 and base drain pan about 72 in seat top shell 71 and fasten formation the second chamber shell
73。
First chamber shell 111 connects with the second chamber shell 73, and power take-off mechanism 4 and input gear 114 are respectively positioned on the second chamber shell
In 73, being additionally provided with the internal battery 8 providing power source in the second chamber shell 73, base 7 is provided with control power take-off mechanism 4 work
The circuit board 9 made.
In the above-described embodiments, as shown in Figure 10, Figure 11 and Figure 13, power take-off mechanism 4 includes action drives assembly
41 and first gear train 42, internal battery 8 and action drives assembly 41 electrically connect, circuit board 9 and action drives assembly 41
Electrically connect；The gear end of action drives assembly 41 engages with the first gear train 42, the final-stage gear of the first gear train 42 with
Input gear 114 engages so that the power of action drives assembly 41 output for delivery on input gear 114, and then can lead to again
Cross rotary shaft 2 to be delivered on the health of machine image 1 so that this robot can rotate.Therefore, by the side of remote control
Formula, circuit board 9 control action drive assembly 41 motor rotate forward or reversion so that robot realize before kicking or after
Kicking work.
In the above-described embodiments, as shown in Figure 10, Figure 11 and Figure 13, base 7 also includes and electrically connects with circuit board 9
The mobile driving assembly 74 connect and mobile the second gear train 75 driving assembly 74 to engage, front axle 76, left wheel 77, left car
Wheel cap the 78, first front-wheel axle sleeve the 79, second spring the 710, second front-wheel axle sleeve the 711, first ratchet 712, right wheel 713,
Left wheel skin 714 and right wheel skin 715.
Left wheel skin 714 is enclosed within left wheel 77 periphery to increase the frictional force between wheel and ground, and right wheel skin 715 overlaps
In right wheel 713 periphery to increase the frictional force between wheel and ground；Left wheel the 77, first front-wheel axle sleeve the 79, second spring
710, the final-stage gear of the second gear train 75, the second front-wheel axle sleeve 711 and right wheel 713 are from left to right sequentially sleeved at front axle
On 76, the final-stage gear of the first gear train 42 is movably set on front axle 76 and is positioned at the second front-wheel axle sleeve 711 and right wheel
Between 713, it is effectively saved the structure space of whole drive mechanism.
First front-wheel axle sleeve the 79, second front-wheel axle sleeve 711, between right wheel 713 and front axle 76, it is close-fitting, the second bullet
Be pine between final-stage gear and the front axle 76 of spring the 710, second gear train 75 to join, the second spring 710 in compressive state so that
Fitting and produce frictional force in the left side of the right side of the final-stage gear of the second gear train 75 and the second front-wheel axle sleeve 711, passes through
The effect of this frictional force drives front axle 76 and the final-stage gear synchronous axial system of the second gear train 75；When front axle 76 is by powerful
When resistance or adverse transference dynamic deformation from motion, between final-stage gear and the second front-wheel axle sleeve 711 of the second gear train 75, frictional force is overcome
And produce skidding, thus avoid, because stuck or adverse transference move and cause mobile driving assembly 74 to be hit and then impaired, i.e. should
Structure drives assembly 74 to form clutch protective effect to mobile.As preferably, in order to strengthen the final-stage gear of the second gear train 75
And the friction between the second front-wheel axle sleeve 711, the right side of the final-stage gear of the second gear train 75 is provided with projection, the second front axle
The left side of set 711 is provided with the groove mated with this projection, when before the right side and second of the final-stage gear of the second gear train 75
Time laminating in the left side of axle sleeve 711, projection and groove can cooperate, thus play and improve the work that clutch function triggers
With.
As shown in figure 12, the right side of left wheel 77 (specifically wheel hub) is provided with and is positioned at the first of left wheel 77 center
Cavity 771 and lay respectively at the second cavity 772 and the 3rd cavity 773 of the first cavity 771 both sides, the first cavity 771,
Two cavitys 772 and the 3rd cavity 773 are interconnected.
Left wheel lid 78 fastens with the right side of left wheel 77 (specifically wheel hub), and the end face of left wheel lid 78 is provided with
Second ratchet 781, the second ratchet 781 fixed cover is located on front axle 76 and is positioned at the first cavity 771；First is single
Be two to the quantity of gear 712, in two the first ratchets 712 are respectively placed in the second cavity 772 and the 3rd cavity 773 and
All engage with the second ratchet 781；The pair of horns of the first cavity 771 is provided with the first incision fillet 7711 and the second incision circle
Angle 7712, another diagonal angle of the first cavity 771 is provided with the first stop right angle 7713 and the second stop right angle 7714.
Therefore, when the electric machine rotation of mobile driving assembly 74 is to drive the final-stage gear of the second gear train 75 to rotate, and carry
When dynamic second ratchet 781 rotates counterclockwise, two the first ratchets 712 are at the work of the second ratchet 781 tangential force
Shift the most counterclockwise with lower, contact and by card with the 7713, second stop right angle 7714, the first stop right angle the most respectively
Extremely revolving round the sun, now the second ratchet 781 can drive left wheel 77 and right wheel 713 synchronous axial system, i.e. base 7 straight
Row is mobile；When the electric machine rotation of mobile driving assembly 74 is to drive the final-stage gear of the second gear train 75 to rotate, and drive second
When ratchet 781 rotates clockwise, two the first ratchets 712 are equal under the effect of the second ratchet 781 tangential force
Shift clockwise, cut fillet 7712 with the first incision fillet 7711, second the most respectively and contact, then two first lists
All carry out rotation in cylinder is faced the wall and meditated to gear 712, now left wheel 77 is not with front axle 76 synchronous axial system, i.e. left wheel 77 with
Right wheel 713 produces differential, i.e. base 7 backward directions make minor radius rotation.
Design based on said structure, by the way of remote control, circuit board 9 controls the mobile motor driving assembly 74 and rotates forward
Or reversion, drives the final-stage gear forward or reverse of the second gear train 75, thus control left wheel 77 and right wheel 713 synchronizes
Rotate or left wheel 77 produces differential with right wheel 713 so that robot entirety presents directly walks the effect moving ahead or turn-taking
Really, great recreational and ornamental.
In the above-described embodiments, as shown in Figure 14, Figure 15, the bottom rear of base 7 is additionally provided with this robot of auxiliary and realizes
The support wheel assembly 10 of action, supports wheel assembly 10 and assists the whole product of support simultaneously.In the present embodiment, wheel assembly 10 is supported
Using wobble wheel structure, include support wheel 101 and chute 102, chute 102 is provided with the straightway being positioned at chute 102 rear
1021 and be positioned at the segmental arc 1022 in chute 102 front, support wheel 101 and be placed in chute 102.When base 7 moves ahead,
Support wheel 101 is drawn at the straightway 1021 of chute 102, and the angle supporting wheel 101 is put down towards the front line direction with base 7
OK, so that it is guaranteed that the linearity that base 7 moves ahead, as shown in Figure 14；When base 7 retreats, base 7 lands with right wheel 713
Point rotates for the center of circle, supports wheel and 101 is drawn at the segmental arc 1022 of chute 102, support the angle taking turns 101 towards with base
The direction of retreat of 7 produces beat, to coordinate the rotary motion of base 7, as shown in Figure 15.
Figure 16 show the robot of the played limit lower limb described in above-described embodiment rise lower limb, kick, to receive lower limb action (simultaneously subsidiary
Shake one's fists action) whole process, have very much recreational and ornamental.
The present invention provide only preferably specific embodiment, but the invention is not limited in above-mentioned embodiment, if right
The various changes of the present invention or modification are without departing from the spirit and scope of the present invention, if these are changed and modification belongs to the present invention's
Within the scope of claim and equivalent technologies, then the present invention is also intended to comprise these changes and variation.
Claims (10)
1. can play a robot for limit lower limb, include machine image, it is characterised in that:
Described machine image includes Convenient table and leads leg, and described Convenient table is located at the bottom of described machine image, described solid
Be provided with the first chamber shell in determining lower limb, described in the upper part of the body with described machine image of leading leg rigidly fix；
Described robot also includes rotary shaft, and described rotary shaft axially penetrates through described first chamber shell, described rotary shaft and level
The first oblique angle is formed between face；
Described robot also includes power take-off mechanism, and described rotary shaft lower end couples with described power take-off mechanism, described
Rotary shaft upper end couples with the upper part of the body of described machine image；Described power take-off mechanism output power is to drive described rotary shaft
Rotate, and then drive the health of described machine image to rotate around described Convenient table.
The robot playing limit lower limb the most according to claim 1, it is characterised in that lead leg described in: with described rotary shaft it
Between form the second oblique angle.
The robot playing limit lower limb the most according to claim 1 and 2, it is characterised in that described rotary shaft lower end is with described
The concrete structure that power take-off mechanism couples and described rotary shaft upper end couples with the upper part of the body of described machine image includes:
Described rotary shaft includes the primary transmission axle and secondary drive shaft set gradually from the bottom up, described primary transmission axle and
Described secondary drive shaft is coupled by cating nipple；
The upper part of the body of described machine image is fixed with the upper limit wall and lower limit passed for described secondary drive shaft from top to bottom
Position wall, is pine between described secondary drive shaft and described upper limit wall, described lower limit wall and joins；
Described Convenient table upper end is provided with the lower limb root hole passed for described secondary drive shaft, and described lower limb root hole is positioned at described lower limit wall
Lower section, joins for pine between described lower limb root hole and described secondary drive shaft；
Described Convenient table lower end is fixed with the vola bearing passed for described primary transmission axle, the lower end of described primary transmission axle
Being socketed with input gear, described input gear is positioned at outside described first chamber shell, described input gear and described power take-off mechanism
Couple, so that described rotary shaft lower end couples with described power take-off mechanism；
Described secondary drive shaft is socketed with the first axle sleeve and the second axle sleeve, described first axle sleeve and described two grades the most successively
Join for pine between power transmission shaft, be close-fitting between described second axle sleeve and described secondary drive shaft；Described first axle sleeve, described second
Axle sleeve is respectively positioned between described upper limit wall and described lower limit wall；Described first axle sleeve is provided with first step, described second axle
It is arranged with the inner side end laminating of second step, the end face outside of described second step and described lower limit wall, and described first
Be provided with the first spring in compressive state between step and described second step so that the end face outside of described first step with
The inner side end laminating of described upper limit wall, so that described rotary shaft upper end couples with the upper part of the body of described machine image.
The robot playing limit lower limb the most according to claim 3, it is characterised in that: described primary transmission axle and described two grades
The angle that power transmission shaft is formed therebetween is not less than 140 °.
The robot playing limit lower limb the most according to claim 1 and 2, it is characterised in that:
The upper part of the body of described machine image is fastened by predecessor's housing and rear body housing and forms, and described predecessor housing is located at described machine
The front portion of people, described rear body housing is located at the rear portion of described robot；
Described machine image also includes the left arm and right arm, described left arm and the described right side rotated with the health of described machine image
Arm is all connected between described predecessor housing and described rear body housing, and the left shoulder of described left arm and described machine image is hinged,
The right shoulder of described right arm and described machine image is hinged；
The upper arm of described left arm and the underarm of described left arm are hinged, and the upper arm of described right arm and the underarm of described right arm are hinged.
The robot playing limit lower limb the most according to claim 5, it is characterised in that described left arm and described machine image
The concrete structure that the right shoulder of the hinged and described right arm of left shoulder and described machine image is hinged includes:
The first predecessor's locking plate being the level of state it is fixed with on the described predecessor housing that described left shoulder is corresponding, described left arm
The first end of upper arm is fixed with the first upper arm shell fragment that elastic deformation can occur；When described first upper arm shell fragment is positioned at institute
When stating the lower section of first predecessor's locking plate, described first predecessor's locking plate limits described first upper arm shell fragment and rotates, so that described left arm
Locking is in the horizontal direction；When described first upper arm shell fragment is positioned at the top of described first predecessor's locking plate, described first predecessor
Locking plate is free to rotate so that described left arm can freely swing；
The second predecessor's locking plate being the level of state it is fixed with on the described predecessor housing that described right shoulder is corresponding, described right arm
The second end of upper arm is fixed with the second upper arm shell fragment that elastic deformation can occur；When described second upper arm shell fragment is positioned at institute
When stating the lower section of second predecessor's locking plate, described second predecessor's locking plate limits described second upper arm shell fragment and rotates, so that described right arm
Locking is in the horizontal direction；When described second upper arm shell fragment is positioned at the top of described second predecessor's locking plate, described second predecessor
Locking plate is free to rotate so that described right arm can freely swing.
The robot playing limit lower limb the most according to claim 5, it is characterised in that the upper arm of described left arm and described left arm
The upper arm of the hinged and described right arm of underarm and the hinged concrete structure of the underarm of described right arm include:
3rd end of the upper arm of described left arm is provided with the first spine line, and underarm one end of described left arm is fixed with and bullet can occur
Property deformation the first underarm shell fragment, each groove on described first spine line all can coordinate to limit institute with described first underarm shell fragment
The underarm stating left arm rotates；
4th end of the upper arm of described right arm is provided with the second spine line, and underarm one end of described right arm is fixed with and bullet can occur
Property deformation the second underarm shell fragment, each groove on described second spine line all can coordinate to limit institute with described second underarm shell fragment
The underarm stating right arm rotates.
The robot playing limit lower limb the most according to claim 3, it is characterised in that:
Described robot also includes the base being positioned at below described machine image, and described base includes base top shell and base
Drain pan, described Convenient table rigidly fixes with described base top shell, and described base top shell and described base drain pan fasten formation up and down
Second chamber shell；
Described first chamber shell connects with described second chamber shell, and described power take-off mechanism and described input gear are respectively positioned on described
In two chamber shells, in described second chamber shell, it is additionally provided with the internal battery that power source is provided；
Described base is provided with the circuit board controlling the work of described power take-off mechanism, and the bottom rear of described base is additionally provided with auxiliary
Described robot is helped to realize the support wheel assembly of action.
The robot playing limit lower limb the most according to claim 8, it is characterised in that: described power take-off mechanism includes dynamic
Making to drive assembly and the first gear train, described circuit board is electrically connected with described action drives assembly；Described action drives group
The gear end of part engages with described first gear train, and the final-stage gear of described first gear train engages with described input gear.
The robot playing limit lower limb the most according to claim 9, it is characterised in that:
The mobile driving assembly being electrically connected with described circuit board and described mobile driving assembly is also included on described base
Second gear train of engagement, front axle, left wheel, left wheel lid, the first front-wheel axle sleeve, the second spring, the second front-wheel axle sleeve, the
One ratchet and right wheel；
Described left wheel, described first front-wheel axle sleeve, described second spring, the final-stage gear of described second gear train, described
Two front-wheel axle sleeves and described right wheel are from left to right sequentially sleeved on described front axle, the final-stage gear of described first gear train
It is movably set on described front axle and between described second front-wheel axle sleeve and described right wheel；
Described first front-wheel axle sleeve, described second front-wheel axle sleeve, between described right wheel and described front axle, it is close-fitting, described
Second spring, being pine join between the final-stage gear of described second gear train and described front axle, described second spring is compression
State is so that fitting with the left side of described second front-wheel axle sleeve in the right side of final-stage gear of described second gear train；
The right side of described left wheel is provided with and is positioned at first cavity at described left wheel center and lays respectively at described first
Second cavity of cavity both sides and the 3rd cavity, described first cavity, described second cavity and described 3rd cavity are interconnected；
Described left wheel lid fastens with the right side of described left wheel, and the end face of described left wheel lid is provided with the second unidirectional tooth
Wheel, described second ratchet fixed cover is located on described front axle and is positioned at described first cavity；Described first unidirectional tooth
The quantity of wheel is two, in two described first ratchets are respectively placed in described second cavity and described 3rd cavity and all with
Described second ratchet engagement；The pair of horns of described first cavity is provided with the first incision fillet and the second incision fillet, institute
State another diagonal angle of the first cavity and be provided with the first stop right angle and the second stop right angle, thus control described base keep straight on or
Base described in person rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610617545.6A CN106039726B (en) | 2016-07-29 | 2016-07-29 | A kind of robot for kicking side leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610617545.6A CN106039726B (en) | 2016-07-29 | 2016-07-29 | A kind of robot for kicking side leg |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106039726A true CN106039726A (en) | 2016-10-26 |
| CN106039726B CN106039726B (en) | 2018-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610617545.6A Active CN106039726B (en) | 2016-07-29 | 2016-07-29 | A kind of robot for kicking side leg |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021062988A1 (en) * | 2019-09-30 | 2021-04-08 | 深圳市倍轻松科技股份有限公司 | Reciprocating muscle relaxation apparatus and machine core thereof |
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| US4676764A (en) * | 1985-12-23 | 1987-06-30 | Michael & Park's Trading And Sales, Inc. | Dancing doll with hip movement and 180° rotation |
| CN2357781Y (en) * | 1998-09-16 | 2000-01-12 | 周金隆 | Swinging device for doll |
| US6280285B1 (en) * | 2000-04-04 | 2001-08-28 | Jeffrey C. Morehouse | Projectile launching action toy having members capable of coordinated movement |
| CN202212004U (en) * | 2011-07-04 | 2012-05-09 | 陶章菊 | Electric puppet toy |
| CN205948369U (en) * | 2016-07-29 | 2017-02-15 | 骅星科技发展有限公司 | Can play robot of limit leg |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE494609A (en) * | 1950-03-08 | 1950-07-17 | Jepson, B. | MECHANICAL DOLL OR FIGURINE WITH INTERNAL ROD CONTROL |
| US4040206A (en) * | 1974-09-04 | 1977-08-09 | Tomy Kogyo Co., Inc. | Base and rotatably mounted doll with relatively movable part |
| US4676764A (en) * | 1985-12-23 | 1987-06-30 | Michael & Park's Trading And Sales, Inc. | Dancing doll with hip movement and 180° rotation |
| CN2357781Y (en) * | 1998-09-16 | 2000-01-12 | 周金隆 | Swinging device for doll |
| US6280285B1 (en) * | 2000-04-04 | 2001-08-28 | Jeffrey C. Morehouse | Projectile launching action toy having members capable of coordinated movement |
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| WO2021062988A1 (en) * | 2019-09-30 | 2021-04-08 | 深圳市倍轻松科技股份有限公司 | Reciprocating muscle relaxation apparatus and machine core thereof |
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|---|---|
| CN106039726B (en) | 2018-12-07 |
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