CN105523096A - Transformable mecha - Google Patents
Transformable mecha Download PDFInfo
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- CN105523096A CN105523096A CN201610100644.7A CN201610100644A CN105523096A CN 105523096 A CN105523096 A CN 105523096A CN 201610100644 A CN201610100644 A CN 201610100644A CN 105523096 A CN105523096 A CN 105523096A
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- Prior art keywords
- foreleg
- drive
- motor
- back leg
- arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
The invention discloses a transformable mecha. The transformable mecha comprises a head, a control cabin, arms, two front legs and two rear legs, wherein the rear ends of the front legs and the front ends of the rear legs are rotationally connected through drum assemblies; front wheels are arranged at the front ends of the front legs, and rear wheels are arranged at the rear ends of the rear legs; the front wheels are connected with the lower end of a steering shaft, and a sleeve is arranged on the steering shaft in a sleeving manner; through an L-shaped connecting frame, the upper ends of the two opposite sides of the sleeve are respectively and rotationally connected with the both sides of the front legs; front leg brace rods are respectively arranged near the both ends of the drum assemblies, and the rear ends of the two front leg brace rods are respectively connected with a telescopic mechanism; front leg brace rods are respectively arranged near the both ends of outer cylinders of the drum assemblies; the control cabin is arranged above the front legs and the rear legs; the head is fixedly connected with the top of the control cabin; the arms are positioned at the rear of the head. The transformable mecha disclosed by the invention can carry people and can perform related motion according to the manipulation of a driver, so that people can truly feel entertainment effects from transformable robots.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of can be manned and the texturing machine first that is elevated can be carried out.
Background technology
Along with the development of science and technology, the aspect such as production operation, amusement of appearance to the mankind of Robotics brings great convenience.In amusement, existing driving class amusement recreation product, mainly based on wheeled carriage, rail vehicle etc., deformability, cannot not handle arm yet; Existing robot especially transformable robot, as transformer etc., main manifestations is toy.And the machine mankind can be ridden on, and robot is driven, manipulation robot is out of shape and control carries out shooting etc. the robot of action, often occur on TV, but in actual life, also do not have correlation machine people to occur, thus people cannot experience the entertainment effect that fighter toy brings truly.Although also start gradually in manned robot field to occur, the such as product of Japanese water bridge heavy industry and the megabot of the U.S., the lifting, operation etc. of existing robot all have employed heavier and compare the hydraulic structure of power consumption; The more important thing is, the height change that these robots produce when being out of shape is all smaller; Especially after lifting, the position of front-wheel often changes, thus makes front-wheel steering axle cannot keep vertical with ground, and then causes and turn to difficulty, makes energy consumption higher; Further, driving compartment cannot keep level in lifting process, thus affects driving safety and driver comfort and manipulation; Meanwhile, existing robot arm alerting ability is poor, also not both arms function i ntegration to together, therefore driver cannot experience the enjoyment of driving texturing machine first.
Therefore, how to provide one can be manned, and the fighter toy of relevant action can be carried out according to the manipulation of chaufeur, become the technical matters that those skilled in the art are badly in need of solving.
Summary of the invention
For prior art above shortcomings, the object of the invention is to how to provide a kind of texturing machine first, can be manned, and relevant action can be carried out according to the manipulation of chaufeur, thus the entertainment effect enabling people experience fighter toy truly to bring.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is such: a kind of texturing machine first, it is characterized in that: comprise head, driving compartment, arm and two forelegs and two back legs, the rear end of described foreleg is rotatably connected by rotating cylinder assembly with the front end of back leg, described rotating cylinder assembly comprises urceolus and inner core, and wherein, two forelegs are fixedly connected with the two ends of urceolus respectively, two back legs are fixedly connected with the two ends of inner core respectively, foreleg and back leg can rotate cartridge module axial line rotate; Front-wheel is provided with in the front end of foreleg, the rear end of back leg is provided with trailing wheel, described front-wheel is connected with steering shaft lower end, steering shaft is arranged with a sleeve, the upper end of the relative both sides of described sleeve is connected with a L shape link span respectively, and two L shape link spans are rotationally connected respectively by the both sides of a rotating shaft and foreleg; Described steering shaft and sleeve are rotatably connected, its upper end turns to driven gear to be connected through after sleeve with one, sleeve is provided with steer motor, the motor shaft of this steer motor is connected with diversion driving-gear, this diversion driving-gear is meshed with turning to driven gear, can drive front-wheel steering by steer motor; Back leg is provided with drive motor, and described drive motor is connected with trailing wheel by driven wheel and chain, and can drive rear wheel;
The urceolus of rotating cylinder assembly is respectively equipped with a foreleg strut near its two ends place, and foreleg strut and foreleg lay respectively at the relative both sides of urceolus; The front end of two foreleg struts is connected with urceolus, and rear end is connected with a telescoping mechanism respectively, and meanwhile, two telescoping mechanisms are connected with two back legs respectively; Two telescoping mechanisms are driven by a lifting motor, drive two telescoping mechanisms can change angle between foreleg strut and back leg, thus change the angle between foreleg and back leg, and then change the whole height of machine first by this lifting motor;
Described driving compartment is positioned at above foreleg and back leg, and described head is fixedly connected with driving compartment top, and described arm is two, is installed on driving compartment top by bar shaped adapter plate, and is positioned at head rear.
Further, described telescoping mechanism comprises worm decelerating machine, screw mandrel, screw rod bushing, push rod and two pull bars, two connecting panels are provided with in the relative both sides of foreleg strut rear end, the lower end of two pull bars is rotationally connected with a plate respectively, and upper end is connected respectively by the both sides of a pipe link with worm speed-down engine housing; Described screw mandrel and screw rod bushing cooperation are connected together, and wherein, the length of screw rod bushing is greater than the length of screw mandrel; The upper end of described screw rod bushing is fixedly connected with the output shaft of worm decelerating machine, and the upper end of described push rod is fixedly connected with screw mandrel, and lower end is connected with back leg by connection bracket, and wherein, this push rod and connection bracket are rotationally connected; The motor shaft of described lifting motor is connected with two worm decelerating machines by synchrodrive axle simultaneously.
Further, between two pull bars, be also provided with two gas springs, the upper end of two gas springs respectively with a pipe link phase line, lower end is connected with connection bracket.
Further, be provided with auto-leveling mechanism bottom described driving compartment, described auto-leveling mechanism comprises two pressure pins, and two pressure pins are between two forelegs and back leg, and respectively near the two ends of urceolus, the middle part of described pressure pin is rotationally connected by coupling assembling and urceolus; Above pressure pin rear portion, be provided with the first line slideway and the first slide block, the first slide block on two pressure pins is connected by a leveling linkage, and the two ends of described leveling linkage are rotationally connected respectively by upper strut and lower supporting rod and foreleg strut and back leg; Described driving compartment is fixedly connected with the front portion of two pressure pins.
Further, also comprise front-wheel steering axle automatic alignment mechanism, described front-wheel steering axle automatic alignment mechanism comprises drive sprocket, driven sprocket, idler sprocket and chain; Described drive sprocket is fixedly connected with inner core, and its axial line overlaps with the axial line of inner core, and can with inner core synchronous axial system; Described driven sprocket is fixedly connected with the rotating shaft between L shape link span and foreleg, and can drive this rotating shaft and L shape link span synchronous axial system; Described chain winding on drive sprocket and driven sprocket, and by idler sprocket tensioning; Described idler sprocket is installed on foreleg by stretching device, can be regulated the position of idler sprocket by this stretching device.
Further, described arm comprises large arm and forearm, is provided with the second line slideway and the second slide block on a mounting board, and described second slide block is connected with linear electric motors, can move under the drive of linear electric motors along the second line slideway; Second slide block is provided with shoulder joint motor, and the upper end of described large arm is connected with shoulder joint motor by upper contiguous block, can drive large arm swing by shoulder joint motor; Upper contiguous block is provided with large-arm joint motor, and described large-arm joint motor is connected with the upper end of large arm, can drive the inside and outside swing of large arm; Be provided with lower connecting block in the lower end of large arm, this lower connecting block is provided with elbow joint motor, the upper end of described forearm is connected with this elbow joint motor, can drive forearm swing by elbow joint motor.
Compared with prior art, tool of the present invention has the following advantages:
1, structure is simple, can be manned, and can carry out relevant action according to the manipulation of chaufeur, and easy to operate, thus the entertainment effect enabling people experience fighter toy truly to bring.
2, by methods such as gas spring counterweight and Worm Wheel Systems, the energy that the machine first consumes when being out of shape is less, is suitable for power drives; Simultaneously when motor power damages, worm and gear can be self-locking to prevent operator's compartment to drop suddenly.
3, by driving compartment auto-leveling mechanism, the machine first can ensure that driving compartment is in horizontality all the time, ensures that driver is in the attitude comparing safety and comfort in driving procedure always.
4, by chain gear, machine onychodystrophy angle and front-wheel steering axle are associated with the angle of foreleg, ensure that, in the overall process of distortion, front-wheel steering axle is in state vertically downward all the time, now turns to required moment minimum, can save power supply energy.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the front view of Fig. 1.
Fig. 3 is the lateral plan of Fig. 1.
Fig. 4 is the structural representation of a wherein arm.
Fig. 5 is the structural representation of telescoping mechanism.
Fig. 6 is the structural representation of auto-leveling mechanism.
Fig. 7 is the structural representation of front-wheel steering axle automatic alignment mechanism.
In figure: 1-head, 2-driving compartment, 3-arm, 31-bar shaped adapter plate, 32-large arm, 33-forearm, 34-the second line slideway, 35-the second slide block, 36-linear electric motors, 37-shoulder joint motor, 38-large-arm joint motor, 39-elbow joint motor, 4-foreleg, 5-back leg, 6-rotating cylinder assembly, 7-foreleg strut, 8-telescoping mechanism, 81-worm decelerating machine, 82-screw rod bushing, 83-push rod, 84-pull bar, 85-connecting panel, 86-connection bracket, 87-synchrodrive axle, 88-gas spring, 9-auto-leveling mechanism, 91-pressure pin, 92-the first line slideway, 93-the first slide block, 94-upper strut, 95-lower supporting rod, 96-stirrup, 10-front-wheel steering axle automatic alignment mechanism, 101-drive sprocket, 102-driven sprocket, 103-idler sprocket, 104-chain, 11-lifting motor.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment: see Fig. 1, Fig. 2 and Fig. 3, a kind of texturing machine first, comprises head 1, driving compartment 2, arm 3 and two foreleg 4 and two back legs 5.The rear end of described foreleg 4 is rotatably connected by rotating cylinder assembly 6 with the front end of back leg 5, and described rotating cylinder assembly 6 comprises urceolus and inner core, between urceolus and inner core, be provided with bearing, thus it is less to make to rub in rotation process, rotates more smooth and easy.Wherein, two forelegs 4 are fixedly connected with the two ends of urceolus respectively, and two back legs 5 are fixedly connected with the two ends of inner core respectively, foreleg 4 and back leg 5 can rotate cartridge module 6 axial line rotate; During concrete enforcement, the two ends of described urceolus have breach, and described back leg 5 is fixedly connected with inner core after this breach stretches into, and back leg 5 can rotate certain distance in this breach.
Be provided with front-wheel in the front end of foreleg 4, the rear end of back leg 5 is provided with trailing wheel.Described front-wheel is connected with steering shaft lower end, and steering shaft is arranged with a sleeve, and the upper end of the relative both sides of described sleeve is connected with a L shape link span respectively, and two L shape link spans are rotationally connected respectively by the both sides of a rotating shaft and foreleg 4; Wherein, L shape link span is fixedly connected with rotating shaft, and rotating shaft and foreleg 4 are rotatably connected; Like this, in machine first lifting process, steering shaft can rotate in perpendicular.Described steering shaft and sleeve are rotatably connected, its upper end turns to driven gear to be connected through after sleeve with one, sleeve is provided with steer motor, the motor shaft of this steer motor is connected with diversion driving-gear, this diversion driving-gear is meshed with turning to driven gear, can drive front-wheel steering by steer motor.Back leg 5 is provided with drive motor, and described drive motor is connected with trailing wheel by driven wheel and chain 104, and can drive rear wheel.
During concrete enforcement, see Fig. 7, also comprise front-wheel steering axle automatic alignment mechanism 10, described front-wheel steering axle automatic alignment mechanism 10 comprises drive sprocket 101, driven sprocket 102, idler sprocket 103 and chain 104; Described drive sprocket 101 is fixedly connected with inner core, and its axial line overlaps with the axial line of inner core, and can with inner core synchronous axial system; During actual fabrication, be provided with plectane at the two ends of inner core, the edge of this plectane is fixedly connected with the inwall of inner core, and described drive sprocket 101 is rotationally connected with plectane.Described driven sprocket 102 is connected with the end winding support of the rotating shaft be connected with foreleg 4 by L shape link span, and can drive this rotating shaft and L shape link span synchronous axial system.Described drive sprocket 101 needs to guarantee that in deformation process, steering shaft vertically downward, is roughly about 1:2 with the ratio of number of teeth of driven sprocket 102.The winding of described chain 104 on drive sprocket 101 and driven sprocket 102, and by idler sprocket 103 tensioning; Described idler sprocket 103 is installed on foreleg 4 by stretching device, can be regulated the position of idler sprocket 103 by this stretching device.In working process, drive sprocket 101 rotates around its axial line together with inner core, and drive driven sprocket 102 to rotate by chain 104, thus drive steering shaft to rotate at perpendicular, ensure in the process that front-wheel steering axle is elevated in machine first, all the time perpendicular to ground (keeping vertical state), thus the stability that guarantee turns to.
The urceolus of rotating cylinder assembly 6 is respectively equipped with a foreleg strut 7 near its two ends place, and foreleg strut 7 and foreleg 4 lay respectively at the relative both sides of urceolus.The front end of two foreleg struts 7 is connected with urceolus, and rear end is connected with a telescoping mechanism 8 respectively, and meanwhile, two telescoping mechanisms 8 are connected with two back legs 5 respectively; Two telescoping mechanisms 8 are driven by a lifting motor 11, drive two telescoping mechanisms 8 can change angle between foreleg strut 7 and back leg 5, thus change the angle between foreleg 4 and back leg 5, and then change the whole height of machine first by this lifting motor 11.
See Fig. 5, described telescoping mechanism 8 comprises worm decelerating machine 81, screw mandrel, screw rod bushing 82, push rod 83 and two pull bars 84.The lower end being provided with two connecting panel 85, two pull bars 84 in the relative both sides of foreleg strut 7 rear end is rotationally connected with a plate 85 respectively, and upper end is connected respectively by the both sides of a pipe link with worm decelerating machine 81 housing.Described screw mandrel and screw rod bushing 82 cooperation are connected together, and wherein, the length of screw rod bushing 82 is greater than the length of screw mandrel.The upper end of described screw rod bushing 82 is fixedly connected with the output shaft of worm decelerating machine 81, screw rod bushing 82 can be driven to rotate by worm decelerating machine 81, and then drives screw mandrel to move up and down in screw rod bushing 82.The upper end of described push rod 83 is fixedly connected with screw mandrel, and lower end is connected with back leg 5 by connection bracket 86, and wherein, this push rod 83 is rotationally connected with connection bracket 86.Described worm decelerating machine 81 has auto-lock function, and when lifting motor 11 damages, its auto-lock function can prevent operator's compartment from dropping suddenly.The motor shaft of described lifting motor 11 is connected with two worm decelerating machines 81 by synchrodrive axle 87 simultaneously, thus ensures the synchronism of two screw mandrel movements, and then ensures the foreleg 4 of machine first both sides and the synchronism of back leg 5 lifting.The upper end being also provided with two gas spring 88, two gas springs 88 between two pull bars 84 is connected with a pipe link respectively, and lower end and connection bracket 86 are rotationally connected; The deadweight of first (offset machine) is supported by gas spring 88 pairs of machine first, thus more smooth and easy, quick in the process that screw mandrel is elevated in controlling machine first.Screw rod bushing 82 is also provided with travel switch, and described travel switch is connected with lifting motor 11; Detect the position of screw mandrel by travel switch, thus prevent from flexiblely exceeding predetermined stroke.
Described driving compartment 2 is positioned at above foreleg 4 and back leg 5, and described head 1 is fixedly connected with driving compartment 2 top.Wherein, auto-leveling mechanism 9 is provided with, see Fig. 6 bottom described driving compartment 2, described auto-leveling mechanism 9 comprises two pressure pins 91, two pressure pins 91 are between two forelegs 4 and back leg 5, and respectively near the two ends of urceolus, the middle part of described pressure pin 91 is rotationally connected by coupling assembling and urceolus.The first line slideway 92 and the first slide block 93 is provided with above pressure pin 91 rear portion, the first slide block 93 on two pressure pins 91 is connected by a leveling linkage, and the two ends of described leveling linkage are rotationally connected with foreleg strut 7 and back leg 5 respectively by upper strut 94 and lower supporting rod 95.Described driving compartment 2 is fixedly connected with the front portion of two pressure pins 91.The rear end of two pressure pins 91 is connected by a stirrup 96, makes the stability of auto-leveling mechanism 9 better.In working process, during the variable angle of machine first foreleg 4 and back leg 5, (existing translation also has rotation to drive leveling linkage to move by upper strut 94 with lower supporting rod 95, identical with double leval jib mode of motion), thus drive the first slide block 93 to prolong the first line slideway 92 be fixed on drawbar and slide, and then driving drawbar to rotate around the turning cylinder of coupling assembling, final guarantee is basically parallel to ground bottom driving compartment 2 all the time.
Described arm 3 is two, is installed on driving compartment 2 top by bar shaped adapter plate 31, and is positioned at head 1 rear.See Fig. 4, described arm 3 comprises large arm 32 and forearm 33; Be provided with the second line slideway 34 and the second slide block 35 on a mounting board, described second slide block 35 is connected with linear electric motors 36, can move under the drive of linear electric motors 36 along the second line slideway 34.Second slide block 35 is provided with shoulder joint motor 37, and the upper end of described large arm 32 is connected with shoulder joint motor 37 by upper contiguous block, can drive large arm 32 swing by shoulder joint motor 37.Upper contiguous block is provided with large-arm joint motor 38, and described large-arm joint motor 38 is connected with the upper end of large arm 32, can drive the inside and outside swing of large arm 32; Be provided with lower connecting block in the lower end of large arm 32, this lower connecting block is provided with elbow joint motor 39, the upper end of described forearm 33 is connected with this elbow joint motor 39, can drive forearm 33 swing by elbow joint motor 39.Shoulder joint motor 37, large-arm joint motor 38 and elbow joint motor 39 are also provided with angular transducer, thus can be taken measurement of an angle in real time by angular transducer when rotating, when joint angles arrives required angle, motor automatic stop rotates.In actual fabrication process, be also provided with shoot-simulating class weapon in the front end of forearm 33, as machine gun, laser gun etc., to increase the entertainment effect of machine first further.
In driving compartment 2, be provided with seat, controller and power supply, can be controlled by this controller to whole machine first, described power supply is that the electric elements of whole machine first are powered.
Finally it should be noted that, above embodiment is only in order to illustrate technical scheme of the present invention but not restriction technologies scheme, those of ordinary skill in the art is to be understood that, those are modified to technical scheme of the present invention or equivalent replacement, and do not depart from aim and the scope of the technical program, all should be encompassed in the middle of right of the present invention.
Claims (6)
1. a texturing machine first, it is characterized in that: comprise head, driving compartment, arm and two forelegs and two back legs, the rear end of described foreleg is rotatably connected by rotating cylinder assembly with the front end of back leg, described rotating cylinder assembly comprises urceolus and inner core, wherein, two forelegs are fixedly connected with the two ends of urceolus respectively, and two back legs are fixedly connected with the two ends of inner core respectively, foreleg and back leg can rotate cartridge module axial line rotate; Front-wheel is provided with in the front end of foreleg, the rear end of back leg is provided with trailing wheel, described front-wheel is connected with steering shaft lower end, steering shaft is arranged with a sleeve, the upper end of the relative both sides of described sleeve is connected with a L shape link span respectively, and two L shape link spans are rotationally connected respectively by the both sides of a rotating shaft and foreleg; Described steering shaft and sleeve are rotatably connected, its upper end turns to driven gear to be connected through after sleeve with one, sleeve is provided with steer motor, the motor shaft of this steer motor is connected with diversion driving-gear, this diversion driving-gear is meshed with turning to driven gear, can drive front-wheel steering by steer motor; Back leg is provided with drive motor, and described drive motor is connected with trailing wheel by driven wheel and chain, and can drive rear wheel;
The urceolus of rotating cylinder assembly is respectively equipped with a foreleg strut near its two ends place, and foreleg strut and foreleg lay respectively at the relative both sides of urceolus; The front end of two foreleg struts is connected with urceolus, and rear end is connected with a telescoping mechanism respectively, and meanwhile, two telescoping mechanisms are connected with two back legs respectively; Two telescoping mechanisms are driven by a lifting motor, drive two telescoping mechanisms can change angle between foreleg strut and back leg, thus change the angle between foreleg and back leg, and then change the whole height of machine first by this lifting motor;
Described driving compartment is positioned at above foreleg and back leg, and described head is fixedly connected with driving compartment top, and described arm is two, is installed on driving compartment top by bar shaped adapter plate, and is positioned at head rear.
2. a kind of texturing machine first according to claim 1, it is characterized in that: described telescoping mechanism comprises worm decelerating machine, screw mandrel, screw rod bushing, push rod and two pull bars, two connecting panels are provided with in the relative both sides of foreleg strut rear end, the lower end of two pull bars is rotationally connected with a plate respectively, and upper end is connected respectively by the both sides of a pipe link with worm speed-down engine housing; Described screw mandrel and screw rod bushing cooperation are connected together, and wherein, the length of screw rod bushing is greater than the length of screw mandrel; The upper end of described screw rod bushing is fixedly connected with the output shaft of worm decelerating machine, and the upper end of described push rod is fixedly connected with screw mandrel, and lower end is connected with back leg by connection bracket, and wherein, this push rod and connection bracket are rotationally connected; The motor shaft of described lifting motor is connected with two worm decelerating machines by synchrodrive axle simultaneously.
3. a kind of texturing machine first according to claim 2, is characterized in that: between two pull bars, be also provided with two gas springs, and the upper end of two gas springs is connected with a pipe link respectively, and lower end is connected with connection bracket.
4. a kind of texturing machine first according to claim 1, it is characterized in that: bottom described driving compartment, be provided with auto-leveling mechanism, described auto-leveling mechanism comprises two pressure pins, two pressure pins are between two forelegs and back leg, and respectively near the two ends of urceolus, the middle part of described pressure pin is rotationally connected by coupling assembling and urceolus; Above pressure pin rear portion, be provided with the first line slideway and the first slide block, the first slide block on two pressure pins is connected by a leveling linkage, and the two ends of described leveling linkage are rotationally connected respectively by upper strut and lower supporting rod and foreleg strut and back leg; Described driving compartment is fixedly connected with the front portion of two pressure pins.
5. a kind of texturing machine first according to claim 1, is characterized in that: also comprise front-wheel steering axle automatic alignment mechanism, and described front-wheel steering axle automatic alignment mechanism comprises drive sprocket, driven sprocket, idler sprocket and chain; Described drive sprocket is fixedly connected with inner core, and its axial line overlaps with the axial line of inner core, and can with inner core synchronous axial system; Described driven sprocket is fixedly connected with the rotating shaft between L shape link span and foreleg, and can drive this rotating shaft and L shape link span synchronous axial system; Described chain winding on drive sprocket and driven sprocket, and by idler sprocket tensioning; Described idler sprocket is installed on foreleg by stretching device, can be regulated the position of idler sprocket by this stretching device.
6. a kind of texturing machine first according to claim 1, it is characterized in that: described arm comprises large arm and forearm, be provided with the second line slideway and the second slide block on a mounting board, described second slide block is connected with linear electric motors, can move under the drive of linear electric motors along the second line slideway; Second slide block is provided with shoulder joint motor, and the upper end of described large arm is connected with shoulder joint motor by upper contiguous block, can drive large arm swing by shoulder joint motor; Upper contiguous block is provided with large-arm joint motor, and described large-arm joint motor is connected with the upper end of large arm, can drive the inside and outside swing of large arm; Be provided with lower connecting block in the lower end of large arm, this lower connecting block is provided with elbow joint motor, the upper end of described forearm is connected with this elbow joint motor, can drive forearm swing by elbow joint motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610100644.7A CN105523096B (en) | 2016-02-24 | 2016-02-24 | A kind of texturing machine first |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610100644.7A CN105523096B (en) | 2016-02-24 | 2016-02-24 | A kind of texturing machine first |
Publications (2)
| Publication Number | Publication Date |
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| CN105523096A true CN105523096A (en) | 2016-04-27 |
| CN105523096B CN105523096B (en) | 2018-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610100644.7A Expired - Fee Related CN105523096B (en) | 2016-02-24 | 2016-02-24 | A kind of texturing machine first |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107457764A (en) * | 2017-09-14 | 2017-12-12 | 智造未来（北京）机器人系统技术有限公司 | Manned machine first |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6237287A (en) * | 1985-08-12 | 1987-02-18 | Mitsubishi Heavy Ind Ltd | Wheel running device |
| GB2278064A (en) * | 1993-05-17 | 1994-11-23 | Kang Chong To | Radio controlled car with rotatable driver. |
| CN103950031A (en) * | 2014-04-28 | 2014-07-30 | 上海大学 | Telescopic robot with adjustable height |
| CN204469217U (en) * | 2015-02-15 | 2015-07-15 | 广东奥飞动漫文化股份有限公司 | Spliced toy |
| CN205345109U (en) * | 2016-02-24 | 2016-06-29 | 重庆喜达达机器人有限公司 | Machine first that can go up and down |
-
2016
- 2016-02-24 CN CN201610100644.7A patent/CN105523096B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6237287A (en) * | 1985-08-12 | 1987-02-18 | Mitsubishi Heavy Ind Ltd | Wheel running device |
| GB2278064A (en) * | 1993-05-17 | 1994-11-23 | Kang Chong To | Radio controlled car with rotatable driver. |
| CN103950031A (en) * | 2014-04-28 | 2014-07-30 | 上海大学 | Telescopic robot with adjustable height |
| CN204469217U (en) * | 2015-02-15 | 2015-07-15 | 广东奥飞动漫文化股份有限公司 | Spliced toy |
| CN205345109U (en) * | 2016-02-24 | 2016-06-29 | 重庆喜达达机器人有限公司 | Machine first that can go up and down |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107457764A (en) * | 2017-09-14 | 2017-12-12 | 智造未来（北京）机器人系统技术有限公司 | Manned machine first |
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| Publication number | Publication date |
|---|---|
| CN105523096B (en) | 2018-04-06 |
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