CN106039726B - A kind of robot for kicking side leg - Google Patents
A kind of robot for kicking side leg Download PDFInfo
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- CN106039726B CN106039726B CN201610617545.6A CN201610617545A CN106039726B CN 106039726 B CN106039726 B CN 106039726B CN 201610617545 A CN201610617545 A CN 201610617545A CN 106039726 B CN106039726 B CN 106039726B
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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
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- 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
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- 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 the robots that one kind can kick side leg, include machine image, and machine image includes Convenient table and leads leg, and Convenient table is set to the lower part of machine image, are equipped with the first chamber shell in Convenient table, lead leg and rigidly fix with the upper part of the body of machine image；Robot further includes having rotary shaft, and rotary shaft axially penetrates through the first chamber shell, and the first oblique angle is formed between rotary shaft and horizontal plane；Robot further includes dynamic output mechanism, and rotary shaft lower end couples with power take-off mechanism, and rotary shaft upper end couples with the upper part of the body of machine image；Power take-off mechanism output power drives the body of machine image to make rotating motion around Convenient table to drive rotary shaft to rotate；It leads leg and forms the second oblique angle between rotary shaft.The present invention conventional drives complicated using the mechanical transmission structure substitution of simple inclined shaft rotation, kick side leg-training energy to realize, great entertainment and ornamental value, and advantageously reduce manufacturing cost.
Description
Technical field
The invention belongs to robot toy's technical field, in particular to a kind of robot that can kick side leg.
Background technique
It is most of Seeding location to be placed on upper limb for existing humanoid robot, and lower limb generally only rise
Be to support and migration, reason: the gable structure based on humanoid robot itself needs to design a series of complex
Drive mechanism to realize the compound motions such as horizontal rotation, vertical rotary, and then realize leg exercise (such as kicking side leg) movement.
In other words, existing humanoid robot then needs to design extremely complex drive mechanism, Er Qiexu to realize leg exercise
Expend huge manufacturing cost.Therefore, in current market, for having designing and developing for the robot product for kicking side leg-training energy
There are biggish obstructions.
Summary of the invention
In order to overcome the drawbacks of the prior art, the robot of side leg can be kicked the present invention provides one kind, great entertainment and
Ornamental value, the complicated conventional drives of the mechanical transmission structure substitution for using inclined shaft to rotate, structure is simple, advantageously reduces
Manufacturing cost.
In order to achieve the above object, the invention adopts the following technical scheme:
A kind of robot for kicking side leg includes machine image, it is characterised in that:
The machine image includes Convenient table and leads leg, and the Convenient table is set to the lower part of the machine image, institute
It states and is equipped with the first chamber shell in Convenient table, described lead leg rigidly fixes with the upper part of the body of the machine image；
The robot further includes having rotary shaft, and the rotary shaft axially penetrates through the first chamber shell, the rotary shaft with
The first oblique angle is formed between horizontal plane；
The robot further includes dynamic output mechanism, and the rotary shaft lower end couples with the power take-off mechanism,
The rotary shaft upper end couples with the upper part of the body of the machine image；The power take-off mechanism output power is to drive the rotation
Shaft rotation, and then the body of the machine image is driven to make rotating motion around the Convenient table.
Further, described lead leg forms the second oblique angle between the rotary shaft.
Further, the rotary shaft lower end couples and the rotary shaft upper end and institute with the power take-off mechanism
State machine image the upper part of the body connection specific structure include:
The rotary shaft includes the primary transmission axis set gradually from the bottom up and secondary drive shaft, the primary transmission
Axis and the secondary drive shaft are coupled by cating nipple；
The upper part of the body of the machine image be fixed with from top to bottom the upper limit wall passed through for the secondary drive shaft and
Lower limit wall is that pine is matched between the secondary drive shaft and the upper limit wall, the lower limit wall；
The Convenient table upper end is equipped with the leg root hole passed through for the secondary drive shaft, and the leg root hole is located at the lower limit
It is that pine is matched between the leg root hole and the secondary drive shaft below the wall of position；
The Convenient table lower end is fixed with the vola bearing passed through for the primary transmission axis, the primary transmission axis
Lower end is socketed with input gear, and the input gear is located at outside the first chamber shell, the input gear and the power output
Mechanism connection, so that the rotary shaft lower end couples with the power take-off mechanism；
The secondary drive shaft is successively socketed with the first axle sleeve and the second axle sleeve from top to bottom, first axle sleeve and described
It is that pine is matched between secondary drive shaft, is close-fitting between second axle sleeve and the secondary drive shaft；It is first axle sleeve, described
Second axle sleeve is respectively positioned between the upper limit wall and the lower limit wall；The first axle is arranged with first step, and described
Two axle sleeves are equipped with second step, and the end face outside of the second step is bonded with the inner side end of the lower limit wall, and described
The first spring in compressive state is equipped between first step and the second step, so that the outboard end of the first step
Face is bonded with the inner side end of the upper limit wall, so that the upper part of the body of the rotary shaft upper end and the machine image joins
It connects.
Further, the angle that the primary transmission axis and the secondary drive shaft are formed therebetween is not less than 140 °.
Further, the upper part of the body of the machine image is fastened by predecessor's shell and rear body shell, predecessor's shell
Body is located at the front of the robot, and the rear body shell is located at the rear portion of the robot；
The machine image further includes the left arm and right arm for having the body rotation with the machine image, the left arm and institute
It states right arm to be all connected between predecessor's shell and the rear body shell, the left shoulder of the left arm and the machine image is cut with scissors
It connects, the right shoulder of the right arm and the machine image is hinged；
The lower arm of the upper arm of the left arm and the left arm is hinged, the upper arm of the right arm and the lower arm hinge of the right arm
It connects.
Further, the left shoulder of the left arm and the machine image is hinged and the right arm and the robot
The hinged specific structure of even right shoulder includes:
First predecessor's locking plate being in a horizontal state, the left side are fixed on the corresponding predecessor's shell of the left shoulder
The first end of the upper arm of arm is fixed with the first upper arm elastic slice that flexible deformation can occur；When the first upper arm elastic slice position
When the lower section of first predecessor locking plate, first predecessor locking plate limits the first upper arm elastic slice rotation, so that described
Left arm locks in the horizontal direction；When the first upper arm elastic slice is located at the top of first predecessor locking plate, described first
Predecessor's locking plate is free to rotate, and the left arm is freely swung；
Second predecessor's locking plate being in a horizontal state, the right side are fixed on the corresponding predecessor's shell of the right shoulder
The second end of the upper arm of arm is fixed with the second upper arm elastic slice that flexible deformation can occur；When the second upper arm elastic slice position
When the lower section of second predecessor locking plate, second predecessor locking plate limits the second upper arm elastic slice rotation, so that described
Right arm locks in the horizontal direction；When the second upper arm elastic slice is located at the top of second predecessor locking plate, described second
Predecessor's locking plate is free to rotate, and the right arm is freely swung.
Further, the lower arm of the upper arm of the left arm and the left arm is hinged and the upper arm of the right arm and described
The specific structure that the lower arm of right arm is hinged includes:
The third end of the upper arm of the left arm is equipped with the first spine line, and lower arm one end of the left arm is fixed with and can send out
The first lower arm elastic slice of flexible deformation is given birth to, each groove on the first spine line can cooperate with the first lower arm elastic slice to limit
Make the lower arm rotation of the left arm；
4th end of the upper arm of the right arm is equipped with the second spine line, and lower arm one end of the right arm is fixed with and can send out
The second lower arm elastic slice of flexible deformation is given birth to, each groove on the second spine line can cooperate with the second lower arm elastic slice to limit
Make the lower arm rotation of the right arm.
Further, the robot further includes the pedestal having below the machine image, and the pedestal includes
Pedestal top shell and pedestal bottom case, the Convenient table are rigidly fixed with the pedestal top shell, the pedestal top shell and the pedestal bottom
Shell fastens form the second chamber shell up and down；
The first chamber shell is connected to the second chamber shell, and the power take-off mechanism and the input gear are respectively positioned on institute
It states in the second chamber shell, is additionally provided in the second chamber shell and the internal battery of power source is provided；
The pedestal is equipped with the circuit board for controlling the power take-off mechanism work, and the bottom rear of the pedestal is also set
There is the support wheel assembly for assisting the robot realization movement.
Further, the power take-off mechanism includes action drives component and first gear group, the circuit board with
The action drives component electrically connects；The gear end of the action drives component is engaged with the first gear group, described
The final-stage gear of first gear group is engaged with the input gear.
It further, further include having the mobile driving assembly electrically connecting with the circuit board and institute on the pedestal
State the second gear group of mobile driving assembly engagement, front axle, left wheel, left wheel lid, the first front-wheel axle sleeve, second spring,
Second front-wheel axle sleeve, the first ratchet and right wheel；
The left wheel, the first front-wheel axle sleeve, the second spring, the final-stage gear of the second gear group, institute
It states the second front-wheel axle sleeve and the right wheel is from left to right sequentially sleeved on the front axle, the final stage of the first gear group
Gear is movably set on the front axle and between the second front-wheel axle sleeve and the right wheel；
It is close-fitting between the first front-wheel axle sleeve, the second front-wheel axle sleeve, the right wheel and the front axle,
The second spring, the second gear group final-stage gear and the front axle between be that pine is matched, the second spring is in
Compressive state is so that the right side of the final-stage gear of the second gear group is bonded with the left side of the second front-wheel axle sleeve；
The right side of the left wheel is equipped with the first cavity for being located at the left wheel center and is located at described
The second cavity and third cavity of first cavity two sides, first cavity, second cavity and the third cavity are mutual
Connection；
The right side of the left wheel lid and the left wheel fastens, and it is unidirectional that the end face of the left wheel lid is equipped with second
Gear, the second ratchet fixing sleeve are set on the front axle and are located in first cavity；Described first is unidirectional
The quantity of gear is two, and two first ratchets are respectively placed in second cavity and the third cavity and equal
It is engaged with second ratchet；The pair of horns of first cavity is provided with the first incision fillet and the second incision fillet,
The another of first cavity is diagonally provided with the first stop right angle and the second stop right angle, thus control pedestal straight trip,
Or the pedestal rotation.
Compared with prior art, the invention has the following advantages:
(1) one kind provided by the invention can kick the robot of side leg, dexterously using the mechanical transmission structure of inclined shaft rotation
Complicated conventional drives are substituted, to water needed for kick (included leg, kicking, received a series of sequences such as leg)
The compound motions such as flat rotation, vertical rotary are simplified.Specifically, the present invention be provided with couple with the body of machine image and
The rotary shaft that certain angle is formed with horizontal plane rotates the body of machine image around Convenient table (specifically rotary shaft)
And the track of a circular conical surface is formed, so that the robot has realized the movements such as leg, kicking, receipts leg, kicking well
The practicability and fluent movements degree of movement are effectively improved, great entertainment and ornamental value.
(2) one kind provided by the invention can kick the robot of side leg, have a certain degree due to leading leg with rotary shaft shape,
And lead leg and the upper part of the body of machine image rigidly fixes, therefore, when the body of machine image is rotated, lead leg corresponding
Ground is rotated around Convenient table, then significantly cyclically-varying constantly occurs for the angle between horizontal plane of leading leg, thus
So that the center of gravity of the rotating part (upper part of the body and lead leg) including machine image of the robot is farthest close to rotation
Axle center, and then vibration caused by when the robot rotates is reduced to the full extent.
In conclusion a kind of robot provided by the invention, for realizing the clino-axis type drive mechanism for kicking side leg-training energy
It is very simple, advantageously reduce manufacturing cost.Therefore, before the present invention has a vast market in electronic toy technical field
Scape.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing, in which:
Fig. 1 is the overall structure diagram for the robot that one kind of the present invention can kick side leg；
Fig. 2 is the structural schematic diagram (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 schematic diagram that rotary shaft of the present invention couples with the upper part of the body of machine image；
Fig. 5 is a kind of structural schematic diagram of cating nipple of the present invention；
Fig. 6 is the structural schematic diagram of second of cating nipple of the present invention；
Fig. 7 is the structural schematic diagram of the third cating nipple of the present invention；
Fig. 8 is left arm of the present invention and the structural schematic diagram that left shoulder is hinged, right arm and right shoulder are hinged；
Fig. 9 is the upper arm of left (right side) arm of the present invention structural schematic diagram hinged with the lower arm of left (right side) arm；
Figure 10 is the overall structure diagram of the power output of the present invention set on pedestal；
Figure 11 is the decomposition texture schematic diagram of pedestal of the present invention；
Figure 12 is the schematic diagram of internal structure of left wheel of the present invention；
Figure 13 is a kind of integrally-built partial schematic diagram of pedestal of the present invention (part does not embody)；
Figure 14 is a kind of working state schematic representation of support wheel assembly of the present invention；
Figure 15 is another working state schematic representation of support wheel assembly of the present invention；
Figure 16 is the schematic diagram of the action process for the robot that one kind of the present invention can kick side leg.
Description of symbols:
1, machine image；11, Convenient table；111, the first chamber shell；112, leg root hole；113, vola bearing；114, tooth is inputted
Wheel；12, it leads leg；13, upper limit wall；14, lower limit wall；15, predecessor's shell；151, first predecessor's locking plate；152, before second
Body locking plate；16, rear body shell；17, left arm；171, the upper arm of left arm；1711, first end；1712, the first upper arm elastic slice；
1713, third end；1714, the first spine line；172, the lower arm of left arm；1721, the first lower arm elastic slice；18, right arm；181, right arm
Upper arm；1811, the second end；1812, the second upper arm elastic slice；1813, the 4th end；1814, the second spine line；182, right arm
Lower arm；1821, the second lower arm elastic slice；19, left shoulder；110, right shoulder；2, rotary shaft；21, primary transmission axis；22, second level passes
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 component；42, first gear group；5, the second oblique angle；6, cating nipple；
61, polygon set；611, polygon nest；62, polygon shaft；621, polygon bulb；63, sliding slot set；631, groove；6311,
Card slot；64, T shape axis；641, axis；65, input shaft；651, first through hole；66, cross axle；661, mandrel rod；67, output shaft；
671, the second through-hole；7, pedestal；71, pedestal top shell；72, pedestal bottom case；73, the second chamber shell；74, mobile driving assembly；75,
Two gear sets；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, third cavity；78, left wheel lid；
781, the second ratchet；79, the first front-wheel axle sleeve；710, 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, support wheel；102, sliding slot；1021, straightway；1022, segmental arc.
Specific embodiment
Below in conjunction with attached drawing, description of specific embodiments of the present invention, it should be understood that described herein preferred
Embodiment is only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
It includes machine image 1 as shown in Fig. 1~Figure 16 that the robot of side leg, which can be kicked, the invention discloses one kind,
In:
Machine image 1 includes Convenient table 11 and leads leg 12, and Convenient table 11 is set to the lower part of machine image 1, Convenient table
The first chamber shell 111 is equipped in 11, lead leg 12 rigidly fixes with the upper part of the body of machine image 1；
The robot further includes having rotary shaft 2, and rotary shaft 2 axially penetrates through the first chamber shell 111, rotary shaft 2 and level
The first oblique angle 3 is formed between face；
The robot further includes dynamic output mechanism 4, and 2 lower end of rotary shaft couples with power take-off mechanism 4, rotary shaft 2
Upper end couples with the upper part of the body of machine image 1；4 output power of power take-off mechanism is to drive rotary shaft 2 to rotate, and then driving machine
The body of device image 1 makes rotating motion around Convenient table 11.
As one embodiment, the second oblique angle 5 is formed between 12 and rotary shaft 2 as shown in Fig. 2, leading leg.Based on this, again
It 12 is rigidly fixed with the upper part of the body of machine image 1 due to leading leg, leading leg 12 can follow the body of machine image 1 to revolve
Turn, the continuous generating period variation of motion profile, so that the center of gravity of the rotating part of the robot is as close possible to rotary shaft
The heart advantageously reduces the vibration that robot rotation generates.
In the above-described embodiments, as shown in Fig. 2~Fig. 4, Fig. 8,2 lower end of rotary shaft couple with power take-off mechanism 4 and
The specific structure that 2 upper end of rotary shaft couples with the upper part of the body of machine image 1 includes:
Rotary shaft 2 includes the primary transmission axis 21 set gradually from the bottom up and secondary drive shaft 22, primary transmission axis
21 and secondary drive shaft 22 coupled by cating nipple 6, in order to change primary transmission axis 21 and secondary drive shaft 22
Therebetween the angle formed, consequently facilitating changing driving angle, so that the kick of the 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 through for secondary drive shaft 22 from top to bottom
Position wall 14, is that pine is matched between secondary drive shaft 22 and upper limit wall 13, lower limit wall 14；
11 upper end of Convenient table is equipped with the leg root hole 112 passed through for secondary drive shaft 22, and leg root hole 112 is located at lower limit wall 14
Lower section is that pine is matched between leg root hole 112 and secondary drive shaft 22；
11 lower end of Convenient table is fixed with the vola bearing 113 passed through for primary transmission axis 21, under primary transmission axis 21
End cap is connected to input gear 114, and input gear 114 is located at outside the first chamber shell 111, input gear 114 and output machine
Structure 4 couples, so that 2 lower end of rotary shaft couples with power take-off mechanism 4；
Secondary drive shaft 22 is successively socketed with the first axle sleeve 221 and the second axle sleeve 222,221 He of the first axle sleeve from top to bottom
It is that pine is matched between secondary drive shaft 22, allows the first axle sleeve 221 along 22 axial float of secondary drive shaft, 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 221, the second axle sleeve
222 are respectively positioned between upper limit wall 13 and lower limit wall 14；First axle sleeve 221 is equipped with first step 2211, and the second axle sleeve 222 is set
There is second step 2221, the end face outside of second step 2221 is bonded with the inner side end of lower limit wall 14, and first step
The first spring 223 in compressive state is equipped between 2211 and second step 2221, so that the end face outside of first step 2211
It is bonded 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.
Since the first spring 223 is compressed, the distance between the first axle sleeve 221 and the second axle sleeve 222 are in increase tendency, then
The outboard end of frictional force, second step 2221 between the end face outside of first step 2211 and the inner side end of upper limit wall 13
Frictional force between face and the inner side end of lower limit wall 14 is enhanced.Pass through the effect of frictional force, 2 upper end of rotary shaft
(specifically secondary drive shaft 22) is coaxially coupled with the upper part of the body of machine image 1, is synchronized to realize with mobile robot even 1
Rotation.
When machine image 1 is by powerful external force, the end face outside of first step 2211 and the inside of upper limit wall 13
The frictional force quilt between the end face outside of frictional force, second step 2221 and the inner side end of lower limit wall 14 between end face
Overcome, then generate slipping phenomenon between upper limit wall 13 and first step 2211, between lower limit wall 14 and second step 2221,
Cause internal drive mechanism to be hit and then be damaged so as to avoid because of stuck or inverse transmission, is effectively protected the robot
Rotary drive structure greatly ensure that the product quality of the robot.
Based on said structure design, leg root hole 112 becomes the rotation fulcrum of secondary drive shaft 22, can not only limit two
Grade transmission shaft 22 this small range can only radially wobble in leg root hole 112, moreover, because leg root hole 112 is located at lower limit wall
14 lower sections, then axial float of the secondary drive shaft 22 in leg root hole 112 is available limits well, advantageously ensures that transmission
Structure it is compact.
In the above-described embodiments, the specific structure of cating nipple 6 is as follows:
As shown in figure 5, cating nipple 6 includes polygon set 61 and polygon shaft 62,61 fixation of polygon set is arranged
In the upper end of primary transmission axis 21, the fixed lower end for being set in secondary drive shaft 22 of polygon shaft 62, polygon set 61 is equipped with
Polygon nest 611, correspondingly, polygon shaft 62 are equipped 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.
Based on the structure of above-mentioned cating nipple 6, pass through the effect of contraction of polygon curved surface, primary transmission axis 21 and two
Grade transmission shaft 22 completes connection, so that primary transmission axis 21 and secondary drive shaft 22 rotate synchronously.When secondary drive shaft 22 and one
When the angle that grade transmission shaft 21 is formed therebetween is centainly changed, polygon bulb 621 and polygon nest 611 are passed in level-one
Axis projection section on moving axis 21 still matches, and does not influence Synchronous Transmission.In addition, the structure of the cating nipple 6 has
Good intensity can guarantee power transmission quality well.
It should be noted that in the present invention, the structure of cating nipple 6 includes but is not limited to above-mentioned structure type,
It can also be set as other structures form, for example T shape axis matches sliding slot nested structure form or cross shaft coupling structure form etc., all
As the structure type of these cating nipples 6 belongs to equivalent protection range of the invention.
Wherein, the specific structure of cating nipple 6 of the T shape axis with sliding slot nested structure form is as follows:
As shown in fig. 6, cating nipple 6 includes sliding slot set 63 and T shape axis 64, sliding slot set 63 is fixed to be set in level-one biography
The upper end of moving axis 21, the fixed lower end for being set in secondary drive shaft 22 of T shape axis 64, sliding slot set 63 are equipped with groove 631, groove
There are two card slots 6311 for opposition setting on 631, and correspondingly, there are two axis 641 for opposition setting on T shape axis 64；T shape axis 64 is placed in
In groove 631, two axis 641 are matched with two card slots 6311 respectively.
Wherein, the specific structure of the cating nipple 6 of cross shaft coupling structure form is as follows:
As shown in fig. 7, cating nipple 6 includes input shaft 65, cross axle 66 and output shaft 67,65 fixing sleeve of input shaft
It is located at the upper end of primary transmission axis 21, the fixed lower end for being set in secondary drive shaft 22 of output shaft 67, to erecting on input shaft 65
First through hole 651 there are two setting, correspondingly, there are two the second through-holes 671 for opposition setting on output shaft 67；The difference of cross axle 66
Four mandrel rods 661 in four direction are matched with two first through hole, 651, two the second through-holes 671 respectively.
In the above-described embodiments, the angle that primary transmission axis 21 and secondary drive shaft 22 are formed therebetween is not less than
140 °, to guarantee drive mechanism part strength and be driven steady.
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 shell 15 and rear body shell
16 fasten, and predecessor's shell 15 is located at the front of robot, and rear body shell 16 is located at the rear portion of the robot；Moreover, such as
Shown in Fig. 8, upper limit wall 13 is set as the structure of two semicircles and is symmetrical arranged on predecessor's shell 15 and rear body shell 16, lower limit
Position wall 14 is also set as the structure of two semicircles and is symmetrical arranged on predecessor's shell 15 and rear body shell 16, to guarantee the robot
The stability of rotation.
As shown in Figure 1, Figure 2, shown in Fig. 8 and Fig. 9, machine image 1 further includes the left arm for having the body rotation of random device image 1
17 and right arm 18, left arm 17 and right arm 18 be all connected between predecessor's shell 15 and rear body shell 146, left arm 17 and machine image
1 left shoulder 19 is hinged, and the right shoulder 110 of right arm 18 and machine image 1 is hinged；Under the upper arm 171 and left arm 17 of left arm 17
Arm 172 is hinged, and the upper arm 181 of right arm 18 and the lower arm 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 18 and of right arm
The specific structure that the right shoulder 110 of machine image 1 is hinged includes:
First predecessor's locking plate 151 being in a horizontal state, left arm 17 are fixed on the corresponding predecessor's shell 15 of left shoulder 19
The first end 1711 of upper arm 171 be fixed with the first upper arm elastic slice 1712 that flexible deformation can occur；When the first upper arm
When elastic slice 1712 is located at the lower section of first predecessor's locking plate 151, first predecessor's locking plate 151 limits the rotation of the first upper arm elastic slice 1712,
So that the locking of left arm 17 is in the horizontal direction；When the first upper arm elastic slice 1712 is located at the top of first predecessor's locking plate 151, first
Predecessor's locking plate 151 is free to rotate, and left arm 17 is freely swung；
Second predecessor's locking plate 152 being in a horizontal state, right arm 18 are fixed on the corresponding predecessor's shell 15 of right shoulder 110
The second end 1811 of upper arm 181 be fixed with the second upper arm elastic slice 1812 that flexible deformation can occur；When the second upper arm
When elastic slice 1812 is located at the lower section of second predecessor's locking plate 152, second predecessor's locking plate 152 limits the rotation of the second upper arm elastic slice 1812,
So that the locking of right arm 18 is in the horizontal direction；When the second upper arm elastic slice 1812 is located at the top of second predecessor's locking plate 152, second
Predecessor's locking plate 152 is free to rotate, and right arm 18 is freely swung.
Referring to Fig. 1, Fig. 2 and Fig. 8, the left shoulder 19 based on above-mentioned left arm 17 and machine image 1 is hinged and right arm 18
The hinged specific structure with the right shoulder 110 of machine image 1, such as: the upper arm 171 of left arm 17 is pulled manually, so that being located at the
First upper arm elastic slice 1712 of one predecessor's locking plate, 151 top moves down, when the first upper arm elastic slice 1712 reaches the first predecessor lock
When the position of piece 151, since flexible deformation can occur for the first upper arm elastic slice 1712, two when pushing up first predecessor's locking plate 151 by force
Person can be interlaced, so that the first upper arm elastic slice 1712 is by first predecessor's locking plate 151, first predecessor's locking plate 151 at this time
Restriction effect is played to the first upwarping for upper arm elastic slice 1712, so that left arm 17 is locked in the horizontal direction relative to body
On；The upper arm 171 of left arm 17 is pulled manually, so that being located at the first upper arm elastic slice 1712 of first predecessor's locking plate, 151 lower section upwards
It is mobile, when the first upper arm elastic slice 1712 reaches the position of first predecessor's locking plate 151, two when pushing up first predecessor's locking plate 151 by force
Person can be interlaced, so that the first upper arm elastic slice 1712 passes through first predecessor's locking plate 151, then before left arm 17 gets rid of first
Limitation of the body locking plate 151 relative to the horizontal direction of body, left arm 17 can freely swing at this time, i.e., left arm 17 is static and again
It is sagging under power effect.Similarly, the structural principle of right arm 18 and left arm 17 are consistent, and details are not described herein.
In the above-described embodiments, as shown in figure 9, the lower arm 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 specific structure of the lower arm 182 of right arm 18 include:
The upper arm of arm (including left arm 17, right arm 18), lower arm articulated position arm ancon；
The third end 1713 of the upper arm 171 of left arm 17 is equipped with the first spine line 1714, and 172 one end of lower arm of left arm 17 is fixed
Equipped with the first lower arm elastic slice 1721 that flexible deformation can occur, each groove on the first spine line 1714 can be with the first lower arm bullet
The cooperation of piece 1721 is rotated with the lower arm 172 for limiting left arm 17；
4th end 1813 of the upper arm 181 of right arm 18 is equipped with the second spine line 1814, and 182 one end of lower arm of right arm 18 is fixed
Equipped with the second lower arm elastic slice 1821 that flexible deformation can occur, each groove on the second spine line 1814 can be with the second lower arm bullet
The cooperation of piece 1821 is rotated with the lower arm 182 for limiting right arm 18.
The articulated structure of the upper lower arm of articulated structure and arm based on above-mentioned arm and shoulder, arm and shoulder
Initial angle between the two can be set by manually adjusting, the angle between the upper lower arm of arm can carry out grade tune
Section, therefore, the present invention can manually adjust the posture and movement locus of robot, can also be by adjusting two shoulder joints to change
The center of gravity of the robot at a distance from axis of rotation, allow user between the attack and stationarity that fistfight acts into
Row selection, the collision that arm generates during fistfight can change the initial angle in each joint, change the correlation initially adjusted and belong to
Property, so that the robot has extremely strong entertainment and ornamental value.For example, being locked in horizontal direction and upper arm in left arm 17
181 and lower arm 182 initially adjust in the state that angled, right arm 18 can freely swing, when the body of machine image 1 revolves
When turning, right arm 18 is thrown away because generating centrifugal action, and left arm 17, which is then realized, hooks fist fistfight movement, as shown in Figure 1.
In the above-described embodiments, as shown in Figure 10~Figure 15, which further includes the bottom having positioned at 1 lower section of machine image
Seat 7, pedestal 7 includes pedestal top shell 71 and pedestal bottom case 72, specifically, Convenient table 11 is rigidly fixed with pedestal top shell 71, bottom
It further include having gear box cover and lampshade in seat top shell 71, pedestal top shell 71 and about 72 pedestal bottom case fasten and form the second chamber shell
73。
First chamber shell 111 is connected to the second chamber shell 73, and power take-off mechanism 4 and input gear 114 are respectively positioned on the second chamber shell
It in 73, is additionally provided in the second chamber shell 73 and the internal battery 8 of power source is provided, pedestal 7 is equipped with control 4 work of power take-off mechanism
The circuit board 9 of work.
In the above-described embodiments, as shown in Figure 10, Figure 11 and Figure 13, power take-off mechanism 4 includes action drives component
41 and first gear group 42, internal battery 8 and action drives component 41 electrically connect, circuit board 9 and action drives component 41
Electrically connect；The gear end of action drives component 41 is engaged with first gear group 42, the final-stage gear of first gear group 42 with
Input gear 114 engages, so that the power that action drives component 41 exports can be for delivery on input gear 114, and then leads to again
It crosses rotary shaft 2 to be transmitted on the body of machine image 1, which is rotated.Therefore, pass through the side of remote control
Formula, the motor of 9 control action driving assembly 41 of circuit board rotate forward perhaps reversion so that robot realize before kicking or after
Kicking work.
It in the above-described embodiments, further include having electrically to connect with circuit board 9 as shown in Figure 10, Figure 11 and Figure 13, on pedestal 7
The mobile driving assembly 74 that connects, the second gear group 75 engaged with mobile driving assembly 74, front axle 76, left wheel 77, left vehicle
Wheel cap 78, the first front-wheel axle sleeve 79, second spring 710, the second front-wheel axle sleeve 711, the first ratchet 712, right wheel 713,
Left wheel skin 714 and right wheel skin 715.
714 sets of left wheel skin in 77 periphery of left wheel to increase the frictional force between wheel and ground, 715 sets of right wheel skin
In right 713 periphery of wheel to increase the frictional force between wheel and ground；Left wheel 77, the first front-wheel axle sleeve 79, second spring
710, the final-stage gear of second gear group 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 first gear group 42 is movably set on front axle 76 and is located at the second front-wheel axle sleeve 711 and right wheel
Between 713, it is effectively saved the structure space of entire transmission mechanism.
It is close-fitting, the second bullet between first front-wheel axle sleeve 79, the second front-wheel axle sleeve 711, right wheel 713 and front axle 76
Be that pine is matched between spring 710, the final-stage gear of second gear group 75 and front axle 76, second spring 710 be in compressive state so that
The right side of the final-stage gear of second gear group 75 is bonded and generates frictional force with the left side of the second front-wheel axle sleeve 711, passes through
The effect driving front axle 76 of the frictional force and the final-stage gear of second gear group 75 rotate synchronously；When front axle 76 is by powerful
When resistance or inverse transmission effect power, frictional force is overcome between the final-stage gear of second gear group 75 and the second front-wheel axle sleeve 711
And slipping phenomenon is generated, to avoid causing mobile driving assembly 74 to be hit because of stuck or inverse transmission and then be damaged, i.e., should
Structure forms clutch protective effect to mobile driving assembly 74.Preferably, in order to enhance the final-stage gear of second gear group 75
Convex block, the second front axle are equipped with the right side of the friction between the second front-wheel axle sleeve 711, the final-stage gear of second gear group 75
Set 711 left side be equipped with the matched groove of the convex block, before the right side and second of the final-stage gear of second gear group 75
When the left side fitting of axle sleeve 711, convex block and groove can cooperate, to play the work for improving clutch function triggering
With.
As shown in figure 12, the right side of left wheel 77 (specifically wheel hub) is equipped with first positioned at 77 center of left wheel
Cavity 771 and the second cavity 772 and third cavity 773 for being located at 771 two sides of the first cavity, the first cavity 771,
Two cavitys 772 and third cavity 773 are interconnected.
The right side of left wheel lid 78 and left wheel 77 (specifically wheel hub) fastens, and the end face of left wheel lid 78 is equipped with
Second ratchet 781,781 fixing sleeve of the second ratchet are set on front axle 76 and are located in the first cavity 771；First is single
Be two to the quantity of gear 712, two the first ratchets 712 be respectively placed in the second cavity 772 and third cavity 773 and
Engaged with the second ratchet 781；The pair of horns of first cavity 771 is provided with the first incision fillet 7711 and the second incision circle
Angle 7712, the another of the first cavity 771 are diagonally provided with the first stop right angle 7713 and the second stop right angle 7714.
Therefore, when the motor of mobile driving assembly 74 is rotated to drive the final-stage gear of second gear group 75 to rotate, and band
When dynamic second ratchet 781 rotates counterclockwise, work of two the first ratchets 712 in 781 tangential force of the second ratchet
It is shifted with lower, is then contacted and with the first stop right angle 7713, the second stop right angle 7714 by card respectively counterclockwise
It extremely revolves, the second ratchet 781 can drive left wheel 77 and right wheel 713 to rotate synchronously at this time, i.e., pedestal 7 is straight
Row movement；When the motor of mobile driving assembly 74 is rotated to drive the final-stage gear of second gear group 75 rotate, and drive second
When ratchet 781 rotates clockwise, two the first ratchets 712 are equal under the action of the second 781 tangential force of ratchet
It shifts clockwise, then cuts fillet 7712 with the first incision fillet 7711, second respectively and contact, then two first lists
Rotation is carried out in cylinder is faced the wall and meditated to gear 712, at this time left wheel 77 not with front axle 76 rotate synchronously, i.e., left wheel 77 with
Right wheel 713 generates differential, i.e. 7 backward directions of pedestal make minor radius rotation.
Design based on above structure, by way of remote control, the motor that circuit board 9 controls mobile driving assembly 74 is rotated forward
Or reversion, drive second gear group 75 final-stage gear forward or reverse, so that it is synchronous with right wheel 713 to control left wheel 77
Rotation or left wheel 77 and right wheel 713 generate differential, so that robot integrally shows the effect for directly walking and moving ahead or turn-taking
Fruit, great entertainment and ornamental value.
In the above-described embodiments, as shown in Figure 14, Figure 15, the bottom rear of pedestal 7, which is additionally provided with, assists the robot to realize
The support wheel assembly 10 of movement, support wheel assembly 10 while the entire product of Auxiliary support.In the present embodiment, wheel assembly 10 is supported
It include support wheel 101 and sliding slot 102 using wheel construction is swung, sliding slot 102 is equipped with the straightway positioned at 102 rear of sliding slot
1021 and the segmental arc 1022 positioned at the front of sliding slot 102, support wheel 101 be placed in sliding slot 102.When pedestal 7 moves ahead, branch
Support wheel 101 is drawn at the straightway 1021 of sliding slot 102, and the angle of support wheel 101 is flat towards the preceding line direction with pedestal 7
Row, so that it is guaranteed that the straightness that pedestal 7 is forward, as shown in Figure 14；When pedestal 7 retreats, pedestal 7 is landed with right wheel 713
Point is that the center of circle rotates, and support wheel 101 is drawn at the segmental arc 1022 of sliding slot 102, the angle direction and pedestal of support wheel 101
7 direction of retreat generates beat, to cooperate the rotary motion of pedestal 7, as shown in Figure 15.
Figure 16 shows that the robot that side leg is kicked described in above-described embodiment plays that leg, kicking, to receive leg movement (while subsidiary
Shake one's fists movement) whole process, there is entertainment and ornamental value very much.
The present invention provides only preferable specific embodiment, but the invention is not limited to above embodiment, if right
Various changes or modifications of the invention do not depart from the spirit and scope of the present invention, if these modification and variations belong to it is of the invention
Within the scope of claim and equivalent technologies, then the present invention is also intended to encompass these changes and changes.
Claims (8)
- It include machine image 1. one kind can kick the robot of side leg, it is characterised in that:The machine image includes Convenient table and leads leg, and the Convenient table is set to the lower part of the machine image, described solid Determine to be equipped with the first chamber shell in leg, described lead leg rigidly fixes with the upper part of the body of the machine image；The robot further includes having rotary shaft, and the rotary shaft axially penetrates through the first chamber shell, the rotary shaft and level The first oblique angle is formed between face；The robot further includes dynamic output mechanism, and the rotary shaft lower end couples with the power take-off mechanism, described Rotary shaft upper end couples with the upper part of the body of the machine image；The power take-off mechanism output power is to drive the rotary shaft Rotation, and then the body of the machine image is driven to make rotating motion around the Convenient table；The rotary shaft lower end couple with the power take-off mechanism and the rotary shaft upper end and the machine image it is upper Half body connection specific structure include:The rotary shaft includes the primary transmission axis set gradually from the bottom up and secondary drive shaft, the primary transmission axis and The secondary drive shaft is coupled by cating nipple；The upper part of the body of the machine image is fixed with the upper limit wall and lower limit passed through for the secondary drive shaft from top to bottom Position wall, is that pine is matched between the secondary drive shaft and the upper limit wall, the lower limit wall；The upper part of the body of the machine image is fastened by predecessor's shell and rear body shell, and predecessor's shell is located at the machine The front of people, the rear body shell are located at the rear portion of the robot；The machine image further includes the left arm and right arm for having the body rotation with the machine image, the left arm and the right side Arm is all connected between predecessor's shell and the rear body shell, and the left shoulder of the left arm and the machine image is hinged, The right shoulder of the right arm and the machine image is hinged；The lower arm of the upper arm of the left arm and the left arm is hinged, and the upper arm of the right arm and the lower arm of the right arm are hinged；The Convenient table upper end is equipped with the leg root hole passed through for the secondary drive shaft, and the leg root hole is located at the lower limit wall Lower section is that pine is matched between the leg root hole and the secondary drive shaft；The Convenient table lower end is fixed with the vola bearing passed through for the primary transmission axis, the lower end of the primary transmission axis It is socketed with input gear, the input gear is located at outside the first chamber shell, the input gear and the power take-off mechanism Connection, so that the rotary shaft lower end couples with the power take-off mechanism；The secondary drive shaft is successively socketed with the first axle sleeve and the second axle sleeve, first axle sleeve and the second level from top to bottom It is that pine is matched between transmission shaft, is close-fitting between second axle sleeve and the secondary drive shaft；First axle sleeve, described second Axle sleeve is respectively positioned between the upper limit wall and the lower limit wall；The first axle is arranged with first step, second axis It is arranged with second step, the end face outside of the second step is bonded with the inner side end of the lower limit wall, and described first Between step and the second step be equipped in compressive state the first spring so that the end face outside of the first step with The inner side end of the upper limit wall is bonded, so that the rotary shaft upper end couples with the upper part of the body of the machine image.
- 2. the robot according to claim 1 for kicking side leg, it is characterised in that: it is described lead leg with the rotary shaft it Between form the second oblique angle.
- 3. the robot according to claim 1 or 2 for kicking side leg, it is characterised in that: the primary transmission axis and described The angle that secondary drive shaft is formed therebetween is not less than 140 °.
- 4. the robot according to claim 1 or 2 for kicking side leg, which is characterized in that the left arm and the robot The specific structure that even left shoulder is hinged and the right shoulder of the right arm and the machine image is hinged includes:It is fixed with first predecessor's locking plate being in a horizontal state on the corresponding predecessor's shell of the left shoulder, the left arm The first end of upper arm is fixed with the first upper arm elastic slice that flexible deformation can occur；When the first upper arm elastic slice is located at institute When stating the lower section of first predecessor's locking plate, first predecessor locking plate limits the first upper arm elastic slice rotation, so that the left arm Locking is in the horizontal direction；When the first upper arm elastic slice is located at the top of first predecessor locking plate, first predecessor Locking plate is free to rotate, and the left arm is freely swung；It is fixed with second predecessor's locking plate being in a horizontal state on the corresponding predecessor's shell of the right shoulder, the right arm The second end of upper arm is fixed with the second upper arm elastic slice that flexible deformation can occur；When the second upper arm elastic slice is located at institute When stating the lower section of second predecessor's locking plate, second predecessor locking plate limits the second upper arm elastic slice rotation, so that the right arm Locking is in the horizontal direction；When the second upper arm elastic slice is located at the top of second predecessor locking plate, second predecessor Locking plate is free to rotate, and the right arm is freely swung.
- 5. the robot according to claim 1 or 2 for kicking side leg, which is characterized in that the upper arm of the left arm and described The lower arm of left arm is hinged and the upper arm of the right arm and the hinged specific structure of the lower arm of the right arm include:The third end of the upper arm of the left arm is equipped with the first spine line, and lower arm one end of the left arm, which is fixed with, can occur bullet Property deformation the first lower arm elastic slice, each groove on the first spine line can cooperate with the first lower arm elastic slice to limit State the lower arm rotation of left arm；4th end of the upper arm of the right arm is equipped with the second spine line, and lower arm one end of the right arm, which is fixed with, can occur bullet Property deformation the second lower arm elastic slice, each groove on the second spine line can cooperate with the second lower arm elastic slice to limit State the lower arm rotation of right arm.
- 6. the robot according to claim 1 or 2 for kicking side leg, it is characterised in that:The robot further includes the pedestal having below the machine image, and the pedestal includes pedestal top shell and pedestal Bottom case, the Convenient table are rigidly fixed with the pedestal top shell, and the pedestal top shell and the pedestal bottom case fasten to be formed up and down Second chamber shell；The first chamber shell is connected to the second chamber shell, and the power take-off mechanism and the input gear are respectively positioned on described In two chamber shells, it is additionally provided in the second chamber shell and the internal battery of power source is provided；The pedestal is equipped with the circuit board for controlling the power take-off mechanism work, and the bottom rear of the pedestal is additionally provided with auxiliary Help the support wheel assembly of the robot realization movement.
- 7. the robot according to claim 6 for kicking side leg, it is characterised in that: the power take-off mechanism includes dynamic Make driving assembly and first gear group, the circuit board is electrically connect with the action drives component；The action drives group The gear end of part is engaged with the first gear group, and the final-stage gear of the first gear group is engaged with the input gear.
- 8. the robot according to claim 7 for kicking side leg, it is characterised in that:It further include having the mobile driving assembly electrically connecting with the circuit board and the mobile driving assembly on the pedestal The second gear group of engagement, front axle, left wheel, left wheel lid, the first front-wheel axle sleeve, second spring, the second front-wheel axle sleeve, One ratchet and right wheel；The left wheel, the first front-wheel axle sleeve, the second spring, the final-stage gear of the second gear group, described Two front-wheel axle sleeves and the right wheel are from left to right sequentially sleeved on the front axle, the final-stage gear of the first gear group It is movably set on the front axle and between the second front-wheel axle sleeve and the right wheel；It is close-fitting between the first front-wheel axle sleeve, the second front-wheel axle sleeve, the right wheel and the front axle, it is described Second spring, the second gear group final-stage gear and the front axle between be that pine is matched, the second spring in compression State is so that the right side of the final-stage gear of the second gear group is bonded with the left side of the second front-wheel axle sleeve；The right side of the left wheel be equipped with positioned at the left wheel center the first cavity and be located at described first The second cavity and third cavity of cavity two sides, first cavity, second cavity and the third cavity are interconnected；The right side of the left wheel lid and the left wheel fastens, and the end face of the left wheel lid is equipped with the second unidirectional tooth Wheel, the second ratchet fixing sleeve are set on the front axle and are located in first cavity；The first unidirectional tooth The quantity of wheel is two, two first ratchets be respectively placed in second cavity and the third cavity and with The second ratchet engagement；The pair of horns of first cavity is provided with the first incision fillet and the second incision fillet, institute State the another of the first cavity and be diagonally provided with the first stop right angle and the second stop right angle, thus control pedestal straight trip or The rotation of pedestal described in person.
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 |
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| 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 |
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| CN106039726A CN106039726A (en) | 2016-10-26 |
| CN106039726B true 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110575381A (en) * | 2019-09-30 | 2019-12-17 | 深圳市倍轻松科技股份有限公司 | Reciprocating muscle relaxing equipment and movement thereof |
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| 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 |
| 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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2016
- 2016-07-29 CN CN201610617545.6A patent/CN106039726B/en active Active
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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 |
| 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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| CN106039726A (en) | 2016-10-26 |
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Effective date of registration: 20230323 Address after: Room 2, Room 12, Jinzi Shijia Commercial Building, No. 95 Jinhu Road, Jinping District, Shantou City, Guangdong Province, 515041 Patentee after: Guangdong Hanchuan Intelligent Equipment Co.,Ltd. Address before: 515800 Building 1, Huawei Technology Co., Ltd., Chenghua Industrial Zone, Chenghai District, Shantou City, Guangdong Province Patentee before: HUASTAR TECHNOLOGY DEVELOPMENT Co.,Ltd. |