CN101856564B - Robot - Google Patents
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- CN101856564B CN101856564B CN2009100490508A CN200910049050A CN101856564B CN 101856564 B CN101856564 B CN 101856564B CN 2009100490508 A CN2009100490508 A CN 2009100490508A CN 200910049050 A CN200910049050 A CN 200910049050A CN 101856564 B CN101856564 B CN 101856564B
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Abstract
The invention discloses a robot for scrambling for objects in competition, which comprises a body part, a walking part and mechanical hands, wherein the body part comprises a lower chassis, a lifting mechanism and an upper chassis; one end of the lifting mechanism is coupled with the lower chassis, and the other end thereof is coupled with the upper chassis. The walking part is pivoted with the lower chassis for realizing the walking and the steering of the robot. The mechanical hands are pivoted with the body part for scrambling for objects in competition. The robot is applicable to a wide range in height and size and to working at different heights with excellent stabilization to guarantee the stable completion of each instruction; and as the parts of the robot are standardized parts, the commonality and the interchangeability of the robot are excellent.
Description
Technical field
The present invention is relevant for a kind of athletic competition field, and particularly relevant for a kind of robot that is used for athletic competition.
Background technology
The robot contest is a kind of high-tech countermeasure activity of carrying out rapidly in the world in recent years, it relates to the forward position research and the technological incorporation in a plurality of fields such as artificial intelligence, control automatically, mechano-electronic, communication, sensing and mechanism, integrate high-tech, amusement and compete, caused the public's extensive concern and very big interest.At present, various dissimilar robot contests have been released in the world, as robot soccer, robot dancing and robot race etc.The robot contest not only for the teenager provides the good carrier of teaching through lively activities, has also greatly promoted the research and development of practical intelligent robot.
Along with the attention of China to colleges and universities' creativity, many colleges and universities all hold some robot competitions every year.The present invention designs in order to participate in the pulling out the flag match an of robot, in pulling out the flag match specifically, the robot that takes part in game must resist, under the prerequisite that guarantees best defence dynamics, promote from efficient and competitiveness when pulling out flag the biglyyest, also to have certain attack and enough stability simultaneously, guarantee when being subjected to other machines people interference, flag can be successfully pulled out, and under the stable situation of maintenance itself, the attack of intervening the other machines people can also be made.
The objective of the invention is in order to participate in the robot match, according to the condition of defined, design studies voluntarily, make robot have the flag of pulling out and function, the ability that also will have defence simultaneously and attack, and keep its stability, strive in the robot match, winning.Robot provided by the invention can adapt to bigger height dimension scope, carries out work at various height, and has good stability, guarantees that robot can finish each instruction reposefully, and the part of robot adopts standard component, and versatility, interchangeability are good.
Summary of the invention
The present invention proposes a kind of robot, is used for fighting in play object.Robot comprises: fuselage part, running gear and manipulator part.The main body section branch comprises low bottom-disc, elevating mechanism and top bottom-disc, and an end of above-mentioned elevating mechanism couples above-mentioned low bottom-disc, and the other end couples above-mentioned top bottom-disc.Running gear is articulated in above-mentioned low bottom-disc, is used to finish the walking and the go to action of above-mentioned robot.The manipulator part is articulated in above-mentioned fuselage part, and is used for fighting in play above-mentioned object.
In the robot that the present invention proposes, described running gear comprises: driving wheel is arranged at above-mentioned low bottom-disc; First drive unit couples above-mentioned driving wheel, and drives above-mentioned driving wheel to finish the walking action of above-mentioned robot; And universal wheel, be arranged at above-mentioned low bottom-disc, be used for the walking and the go to action of above-mentioned robot are led.
In the robot that the present invention proposes, described elevating mechanism comprises: first guide rail is arranged at above-mentioned top bottom-disc; Second guide rail is arranged at above-mentioned low bottom-disc; Support, above-mentioned support one end is articulated in above-mentioned first guide rail, and the other end is articulated in above-mentioned second guide rail; And second drive unit, above-mentioned second drive unit drives above-mentioned support, makes above-mentioned support slide in above-mentioned first guide rail and above-mentioned second guide rail, to finish the lifting action of above-mentioned fuselage part.
In the robot that the present invention proposes, described fuselage part also comprises: rotating mechanism, be articulated in above-mentioned top bottom-disc, and be used to finish the spinning movement of above-mentioned manipulator part; And the mechanism of standing up, be used to finish the action of standing up of above-mentioned robot.
In the robot that the present invention proposes, described rotating mechanism comprises rotating circular disk, band and the 3rd drive unit synchronously, and above-mentioned the 3rd drive unit drives above-mentioned synchronous band, and then drives above-mentioned rotating circular disk and be rotated.
In the robot that the present invention proposes, the described mechanism of standing up comprises stand up bar and four-drive device, and the above-mentioned bar pivot of standing up is connected to above-mentioned top bottom-disc, and above-mentioned four-drive device drives the above-mentioned bar of standing up, to finish the action of standing up of above-mentioned robot.
In the robot that the present invention proposes, described manipulator partly comprises: telescoping mechanism, comprise increment bar and the 5th drive unit, and above-mentioned the 5th drive unit drives above-mentioned increment bar, to finish the expanding-contracting action of above-mentioned manipulator part; And gripping body, be articulated in above-mentioned stretching structure, be used for the above-mentioned object of gripping in play.
In the robot that the present invention proposes, described gripping body, comprise first magnetic devices and second magnetic devices, when first magnetic devices input first direction electric current, has first distance between above-mentioned first magnetic devices and above-mentioned second magnetic devices, when first magnetic devices input second direction electric current, has second distance between above-mentioned first magnetic devices and above-mentioned second magnetic devices.
In the robot that the present invention proposes, described first magnetic devices is an electromagnet, and above-mentioned second magnetic devices is a permanent magnet.
In the robot that the present invention proposes, described first distance is greater than above-mentioned second distance.
For above-mentioned feature and advantage of the present invention can be become apparent, preferred embodiment cited below particularly, and conjunction with figs. are described in detail below.
Description of drawings
Figure 1 shows that robot construction schematic diagram according to an embodiment of the invention.
Figure 2 shows that the partial structurtes schematic diagram of the rotating mechanism of robot according to an embodiment of the invention.
Figure 3 shows that the partial structurtes schematic diagram of the running gear of robot according to an embodiment of the invention.
Figure 4 shows that the partial structurtes schematic diagram of the manipulator part of robot according to an embodiment of the invention.
The specific embodiment
In order more to understand technology contents of the present invention, especially exemplified by specific embodiment and cooperate appended graphic being described as follows.
Figure 1 shows that robot construction schematic diagram according to an embodiment of the invention.Figure 2 shows that the partial structurtes schematic diagram of the rotating mechanism of robot according to an embodiment of the invention.Please in the lump with reference to Fig. 1 and Fig. 2.The robot 1 that present embodiment provided controls by wireless remote controller (figure does not show), is used for fighting in play object.
The robot 1 that present embodiment provided comprises fuselage part 10, running gear 11 and manipulator part 12.As shown in Figure 1, running gear 11 is articulated in fuselage part 10, is used to finish the walking and the go to action of robot 1.Manipulator part 12 is articulated in fuselage part 10, is used for fighting in play object.
In the present embodiment, fuselage part 10 comprises low bottom-disc 101, elevating mechanism 102, top bottom-disc 103, rotating mechanism 104 and the mechanism 105 of standing up.Wherein, elevating mechanism 102 comprises first guide rail 1020, second guide rail 1021, support 1022 and second drive unit 1023.
As shown in Figure 2, first guide rail 1020 is arranged at top bottom-disc 103.As shown in Figure 1, second guide rail 1021 is arranged at low bottom-disc 101.One end of support 1022 is articulated in first guide rail 1020, and the other end is articulated in second guide rail 1021.Second drive unit, 1023 driving arms 1022 slide in first guide rail 1020 and second guide rail 1021, to finish the lifting action of fuselage part 10.
In the present embodiment, support 1022 is a truss structure, and second drive unit 1023 is linear push-rod electric machine.Specifically, truss structure is made up of the linkage that one one end is fixed, an end moves freely, moving up and down by linear push rod of they drives, make push rod in very little moving range, allow very high that truss rises, in addition, in order to improve the stability of vehicle body, will weld bracing piece between the truss of both sides in propradation.First guide rail 1020 and second guide rail 1021 have adopted linear cylindrical guide, and the stability of the form of the two guide rails of utilization when rising or descending to be increased in robot 1.
Above-mentioned rotating mechanism 104 comprises rotating circular disk 1040, is with the 1041 and the 3rd drive unit 1042 synchronously.Wherein, the 3rd drive unit 1042 drives is with 1041 synchronously, and then driven rotary disk 1040 is rotated.In the present embodiment, the 3rd drive unit 1042 is a stepper motor.
Specifically, on top bottom-disc 103, be provided with rotating rotating circular disk 1040, with the stepper motor 1042 that is used to rotate, when stepper motor 1042 rotates, make rotating circular disk 1040 rotate by being with 1041 synchronously, thereby the mechanism on the ground rotating circular disk 1040 is rotated.
The above-mentioned mechanism 105 of standing up comprises stand up bar 1050 and four-drive device (figure does not show).The bar 1050 of standing up is articulated in the edge of top bottom-disc 103, drives to finish the action of standing up of above-mentioned robot 1 by four-drive device.In the present embodiment, four-drive device is a stepper motor.
Specifically, when robot 1 is poured on the ground because of being subjected to outside power, the erectility before can recovering by the bar 1050 of standing up.The bar 1050 of standing up is connected with stepper motor by gear, when stepper motor rotates, drives the bar 1050 of standing up, and makes to stand up bar 1050 supports on the ground.The angle that stepper motor turns over is big more, and the angle that the bar 1050 of then standing up is turned over is also big more, until till robot 1 is supportted original erectility.
Figure 3 shows that the partial structurtes schematic diagram of the running gear of robot according to an embodiment of the invention.In conjunction with Fig. 1, running gear 11 comprises driving wheel 110, first drive unit 111, universal wheel 112 and gear 113.Wherein, first drive unit 111 couples driving wheel 110, and drives driving wheel 110 to finish the walking action of robot 1.
Specifically, in the present embodiment, running gear 110 comprises two driving wheels 110 and two universal wheels 112.Above-mentioned driving wheel 110 is to drive by first drive unit 111, and driving wheel 110 is connected and transmission by gear 113 with first drive unit 111.In the present embodiment, first drive unit 111 is a stepper motor, and in other embodiments, first drive unit 111 also can be other equivalent drive unit, and the present invention does not make restriction to this.
For example, when first drive unit 111 was rotated in the forward, first drive unit, 111 driven gears 113 can be realized the forward motion of robot 1; When first drive unit 111 carried out reverse rotation, first drive unit, 111 driven gears 113 can be finished the backward movement of robot 1.
And, in the present embodiment, when robot 1 need turn to, utilize the rotating speed of two first drive units 111 inequality, make that the rotating speed of two driving wheels 110 is unequal, thereby finish robot 1 go to action.
Above-mentioned universal wheel 112 is arranged at low bottom-disc 101, cooperates driving wheel 110 actions, is used for the walking and the go to action of robot 1 are led.In the present embodiment, the top of universal wheel 112 also is equipped with damping spring 114.
Figure 4 shows that the partial structurtes schematic diagram of the manipulator part of robot according to an embodiment of the invention.In conjunction with Fig. 1, manipulator part 12 comprises telescoping mechanism 120 and gripping body 121.Wherein, gripping body 121 is articulated in stretching structure 120, is used for gripping object in play.
As shown in Figure 4, telescoping mechanism 120 comprises increment bar 1201 and the 5th drive unit 1202, and the 5th drive unit 1202 drives increment bar 1201, to finish the expanding-contracting action of manipulator part 12.In the present embodiment, the 5th drive unit 1202 is a stepper motor.
Specifically, telescoping mechanism 120 is the parallel-crank mechanisms that are made of four metallic rod 1203.Increment bar 1201 is installed on the parallel-crank mechanism, and when stepper motor rotated, increment bar 1201 can drive parallel-crank mechanism, with the purpose that realizes stretching.
Above-mentioned gripping body 121 comprises first magnetic devices 1210 and second magnetic devices 1211, when first magnetic devices, 1210 input first direction electric currents, has first distance between first magnetic devices 1210 and second magnetic devices 1211, when first magnetic devices, 1210 input second direction electric currents, has second distance between first magnetic devices 1210 and second magnetic, 1211 devices.In the present embodiment, first magnetic devices 1210 is an electromagnet, and second magnetic devices 1211 is a permanent magnet, and above-mentioned first distance is greater than above-mentioned second distance.
Specifically, in the present embodiment, gripping body 121 is to be made of quadric chain.The magnetic that after the electromagnet energising, has, the permanent magnet of attraction gripping body 121 tail ends makes clamp mechanism be in relaxation state; After electromagnet passes to rightabout electric current, produced opposite magnetic, again gripping body 121 has been released, made gripping body 121 be in clamped condition.In the present embodiment, clamping and buffer spring has been installed in the place of release position, avoiding gripping body 121 in clamping with loosen the power that is subjected to electromagnet in the process and produce damage.
Though the present invention discloses as above with preferred embodiment; right its is not in order to limit the present invention; have in the technical field under any and know the knowledgeable usually; without departing from the spirit and scope of the present invention; when can doing a little change and retouching, so protection scope of the present invention is as the criterion when looking claims person of defining.
Claims (10)
1. a robot is used for fighting in play object, it is characterized in that, comprising:
The fuselage part comprises low bottom-disc, elevating mechanism and top bottom-disc, and an end of above-mentioned elevating mechanism couples above-mentioned low bottom-disc, and the other end couples above-mentioned top bottom-disc;
Running gear is articulated in above-mentioned low bottom-disc, is used to finish the walking and the go to action of above-mentioned robot; And
The manipulator part is articulated in above-mentioned fuselage part, and is used for fighting in play above-mentioned object.
2. robot according to claim 1 is characterized in that, above-mentioned running gear comprises:
Driving wheel is arranged at above-mentioned low bottom-disc;
First drive unit couples above-mentioned driving wheel, and drives above-mentioned driving wheel to finish the walking action of above-mentioned robot; And
Universal wheel is arranged at above-mentioned low bottom-disc, is used for the walking and the go to action of above-mentioned robot are led.
3. robot according to claim 1 is characterized in that, above-mentioned elevating mechanism comprises:
First guide rail is arranged at above-mentioned top bottom-disc;
Second guide rail is arranged at above-mentioned low bottom-disc;
Support, above-mentioned support one end is articulated in above-mentioned first guide rail, and the other end is articulated in above-mentioned second guide rail; And
Second drive unit, above-mentioned second drive unit drives above-mentioned support, makes above-mentioned support slide in above-mentioned first guide rail and above-mentioned second guide rail, to finish the lifting action of above-mentioned fuselage part.
4. robot according to claim 1 is characterized in that, above-mentioned fuselage part also comprises:
Rotating mechanism is articulated in above-mentioned top bottom-disc, is used to finish the spinning movement of above-mentioned manipulator part; And
The mechanism of standing up is used to finish the action of standing up of above-mentioned robot.
5. robot according to claim 4 is characterized in that above-mentioned rotating mechanism comprises rotating circular disk, band and the 3rd drive unit synchronously, and above-mentioned the 3rd drive unit drives above-mentioned synchronous band, and then drives above-mentioned rotating circular disk and be rotated.
6. robot according to claim 4, it is characterized in that the above-mentioned mechanism of standing up comprises stand up bar and four-drive device, the above-mentioned bar pivot of standing up is connected to above-mentioned top bottom-disc, above-mentioned four-drive device drives the above-mentioned bar of standing up, to finish the action of standing up of above-mentioned robot.
7. robot according to claim 1 is characterized in that, above-mentioned manipulator partly comprises:
Telescoping mechanism comprises increment bar and the 5th drive unit, and above-mentioned the 5th drive unit drives above-mentioned increment bar, to finish the expanding-contracting action of above-mentioned manipulator part; And
Gripping body is articulated in above-mentioned stretching structure, is used for the above-mentioned object of gripping in play.
8. robot according to claim 7, it is characterized in that, above-mentioned gripping body, comprise first magnetic devices and second magnetic devices, when first magnetic devices input first direction electric current, have first distance between above-mentioned first magnetic devices and above-mentioned second magnetic devices, when first magnetic devices input second direction electric current, have second distance between above-mentioned first magnetic devices and above-mentioned second magnetic devices.
9. robot according to claim 8 is characterized in that, above-mentioned first magnetic devices is an electromagnet, and above-mentioned second magnetic devices is a permanent magnet.
10. robot according to claim 8 is characterized in that, above-mentioned first distance is greater than above-mentioned second distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100490508A CN101856564B (en) | 2009-04-09 | 2009-04-09 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100490508A CN101856564B (en) | 2009-04-09 | 2009-04-09 | Robot |
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| Publication Number | Publication Date |
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| CN101856564A CN101856564A (en) | 2010-10-13 |
| CN101856564B true CN101856564B (en) | 2011-11-09 |
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| CN2009100490508A Active CN101856564B (en) | 2009-04-09 | 2009-04-09 | Robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102658542A (en) * | 2012-05-07 | 2012-09-12 | 上海电机学院 | Rail type intelligent machine transporting truck |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102366339B (en) * | 2011-11-02 | 2013-10-30 | 上海电机学院 | Rotary lifting type wheel chair |
| CN103406894B (en) * | 2013-07-17 | 2016-04-06 | 吴亚平 | Simple robot |
| CN103612255B (en) * | 2013-11-25 | 2015-10-21 | 浙江理工大学 | A kind of eliminating machine is with the kinematic pair of displacement |
| CN106325302B (en) * | 2015-06-17 | 2020-03-13 | 电子科技大学 | Moving object position tracking platform, tracking device and tracking method |
| CN105883424B (en) * | 2016-05-03 | 2018-08-17 | 上海交通大学 | Can autonomous stacking AGV devices |
| CN110805300B (en) * | 2019-11-11 | 2022-01-04 | 广东博智林机器人有限公司 | Grouting floating mechanism and screw hole plugging robot |
| CN115816482B (en) * | 2022-12-05 | 2023-08-11 | 广东省现代农业装备研究所 | Greenhouse inspection robot |
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| ES2154143A1 (en) * | 1998-05-06 | 2001-03-16 | Sanmartin Vicente Ra Hernandez | Multifunction android robot |
| CN1290590A (en) * | 1999-09-20 | 2001-04-11 | 索尼公司 | Robot walking controller and walking control method |
| KR20030008570A (en) * | 2001-07-19 | 2003-01-29 | 삼성전자 주식회사 | Transporting robot for wafer cassette |
| US6674259B1 (en) * | 2000-10-06 | 2004-01-06 | Innovation First, Inc. | System and method for managing and controlling a robot competition |
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2009
- 2009-04-09 CN CN2009100490508A patent/CN101856564B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2154143A1 (en) * | 1998-05-06 | 2001-03-16 | Sanmartin Vicente Ra Hernandez | Multifunction android robot |
| CN1290590A (en) * | 1999-09-20 | 2001-04-11 | 索尼公司 | Robot walking controller and walking control method |
| US6674259B1 (en) * | 2000-10-06 | 2004-01-06 | Innovation First, Inc. | System and method for managing and controlling a robot competition |
| KR20030008570A (en) * | 2001-07-19 | 2003-01-29 | 삼성전자 주식회사 | Transporting robot for wafer cassette |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102658542A (en) * | 2012-05-07 | 2012-09-12 | 上海电机学院 | Rail type intelligent machine transporting truck |
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| CN101856564A (en) | 2010-10-13 |
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Owner name: STATE GRID SHANGHAI ELECTRIC POWER COMPANY Free format text: FORMER OWNER: SHANGHAI DIANJI UNIVERSITY Effective date: 20140716 Owner name: SHANGHAI DIANJI UNIVERSITY Effective date: 20140716 |
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Effective date of registration: 20140716 Address after: 200437 Handan Road, Shanghai, No. 171, No. Patentee after: State Grid Shanghai Municipal Electric Power Company Patentee after: Shanghai Dianji University Address before: 200240 No. 690, Jiangchuan Road, Shanghai Patentee before: Shanghai Dianji University |