CN105523096B - A kind of texturing machine first - Google Patents
A kind of texturing machine first Download PDFInfo
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- CN105523096B CN105523096B CN201610100644.7A CN201610100644A CN105523096B CN 105523096 B CN105523096 B CN 105523096B CN 201610100644 A CN201610100644 A CN 201610100644A CN 105523096 B CN105523096 B CN 105523096B
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- foreleg
- motor
- back leg
- wheel
- driven
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Classifications
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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 kind of texturing machine first, including head, driving cabin, arm and two forelegs and two back legs, the rear end of the foreleg is rotatably connected with the front end of back leg by rotating cylinder component, front-wheel is provided with the front end of foreleg, the rear end of back leg is provided with trailing wheel, the front-wheel is connected with steering spindle lower end, and a sleeve is arranged with steering spindle, and the upper end of the opposite sides of the sleeve is rotatablely connected by the both sides of a L-shaped link and foreleg respectively；A foreleg strut is respectively equipped with its both ends in rotating cylinder component, the rear end of two foreleg struts is connected with a telescoping mechanism respectively；A foreleg strut is respectively equipped with its both ends on the outer barrel of rotating cylinder component, the driving cabin is located above foreleg and back leg, and with being fixedly connected at the top of driving cabin, the arm is located at head rear on the head.The present invention can be manned, and can carry out relevant action according to the manipulation of driver, so as to enable people to truly to experience the entertainment effect that fighter toy is brought.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of texturing machine first can be manned and can lifted.
Background technology
With the development of science and technology, production operation of the appearance of robot technology to the mankind, amusement etc. are brought greatly
Facility.In terms of amusement, existing driving class amusement recreation product, mainly based on wheeled carriage, railcar etc., not
Deformability, it can not also manipulate arm；Existing robot especially transformable robot, such as transformer, main performance
For toy.And the machine mankind can be ridden on, and robot is driven, operation robot is deformed and control machine
Device people such as is shot at the robot of action, often occurs on TV, but in actual life, also no correlation machine people goes out
It is existing, thus people can not truly experience the entertainment effect that fighter toy is brought.It is although also gradual in manned robot field
Start to occur, such as the product of Japanese aqueduct heavy industry and the megabot in the U.S., but the lifting of existing robot, operation etc. are all
It is heavy and compare the hydraulic structure of power consumption to employ comparison；Importantly, these robots are highly becoming caused by deformation
Change all smaller；Especially after lifting, the position of front-wheel often changes, so that front-wheel steer axle can not be with ground
Keep vertical, in turn result in steering difficulty, make energy consumption higher；Also, driving cabin in lifting process can not keep level, so as to
Influence driving safety and driver comfort and manipulation；Meanwhile existing robot arm flexibility is poor, also not both arms
Function is integrated together, therefore driver can not experience the enjoyment for driving texturing machine first.
Therefore, how to provide one kind can be manned, and the texturing machine of relevant action can be carried out according to the manipulation of driver
Device people, it has also become those skilled in the art are badly in need of the technical problem solved.
The content of the invention
, can it is an object of the invention to how to provide a kind of texturing machine first for deficiencies of the prior art
It is manned, and relevant action can be carried out according to the manipulation of driver, so as to enable people to truly experience fighter toy band
The entertainment effect come.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is such：A kind of texturing machine first, its feature
It is：Including head, driving cabin, arm and two forelegs and two back legs, the rear end of the foreleg and the front end of back leg are by turning
Cartridge module is rotatably connected, and the rotating cylinder component includes outer barrel and inner cylinder, wherein, two forelegs are fixed with the both ends of outer barrel respectively to be connected
Connect, two back legs are fixedly connected with the both ends of inner cylinder respectively, and can the rotate axial line of cartridge module of foreleg and back leg rotates；In foreleg
Front end is provided with front-wheel, and the rear end of back leg is provided with trailing wheel, and the front-wheel is connected with steering spindle lower end, is arranged with steering spindle a set of
Cylinder, the upper end of the opposite sides of the sleeve is connected with a L-shaped link respectively, two L-shaped links respectively by a rotating shaft with
The both sides rotation connection of foreleg；The steering spindle is rotatably connected with sleeve, its upper end pass through sleeve after with one turn to driven tooth
Wheel is connected, and steering motor is provided with sleeve, and the motor shaft of the steering motor is connected with diversion driving-gear, and the steering is actively
Gear is meshed with turning to driven gear, and front-wheel steer can be driven by steering motor；Motor, institute are provided with back leg
State motor by drive gear and chain with trailing wheel to be connected, and rear wheel can be driven；
A foreleg strut is respectively equipped with its both ends on the outer barrel of rotating cylinder component, and foreleg strut is distinguished with foreleg
The both sides relative positioned at outer barrel；The front end of two foreleg struts is connected with outer barrel, and rear end is connected with a telescoping mechanism respectively, meanwhile,
Two telescoping mechanisms are connected with two back legs respectively；Two telescoping mechanisms are driven by a lifting motor, are stretched by lifting motor driving two
Contracting mechanism can change the angle between foreleg strut and back leg, so as to change the angle between foreleg and back leg, and then change
The whole height of machine first；
The driving cabin is located above foreleg and back leg, and with being fixedly connected at the top of driving cabin, the arm is on the head
Two, it is installed on by bar shaped installing plate at the top of driving cabin, and be located at head rear.
Further, the telescoping mechanism includes worm decelerating machine, screw mandrel, screw rod bushing, push rod and two pull bars, in foreleg
The opposite sides of strut rear end is provided with two connecting plates, and the lower end of two pull bars is rotatablely connected with a connecting plate respectively, and upper end leads to respectively
The both sides that a connecting rod is crossed with worm decelerating machine housing are connected；The screw mandrel and screw rod bushing, which coordinate, to be connected together, wherein, screw mandrel
The length of set is more than the length of screw mandrel；The upper end of the screw rod bushing is fixedly connected with the output shaft of worm decelerating machine, the push rod
Upper end be fixedly connected with screw mandrel, lower end is connected by connecting bracket with back leg, wherein, the push rod and connecting bracket, which rotate, to be connected
Connect；The motor shaft of the lifting motor is connected with two worm decelerating machines simultaneously by Synchronous Transmission axle.
Further, be additionally provided with two gas springs between two pull bars, the upper ends of two gas springs respectively with a connecting rod phase line,
Lower end is connected with connecting bracket.
Further, the driving cabin bottom is provided with auto-leveling mechanism, and the auto-leveling mechanism includes two pressure pins, and two
Pressure pin is between two forelegs and back leg, and respectively close to the both ends of outer barrel, the middle part of the pressure pin by connection component with it is outer
Cylinder rotation connection；It is provided with first straight line guide rail and the first sliding block in the top at pressure pin rear portion, the first sliding block on two pressure pins passes through
One leveling linkage is connected, and the both ends of the leveling linkage are rotated by upper strut and lower supporting rod with foreleg strut and back leg respectively to be connected
Connect；The driving cabin is fixedly connected with the front portion of two pressure pins.
Further, in addition to front-wheel steer axle automatic alignment mechanism, the front-wheel steer axle automatic alignment mechanism include
Drive sprocket, driven sprocket, tightener sprocket and chain；The drive sprocket is fixedly connected with inner cylinder, its axial line and inner cylinder
Axial line overlap, and can be with inner cylinder synchronous axial system；Rotating shaft between the driven sprocket and L-shaped link and foreleg, which is fixed, to be connected
Connect, and the rotating shaft and L-shaped link synchronous axial system can be driven；The chain around being located on drive sprocket and driven sprocket, and
It is tensioned by tightener sprocket；The tightener sprocket is installed on foreleg by strainer, can be adjusted and opened by the strainer
The position of tight sprocket wheel.
Further, the arm includes large arm and forearm, on a mounting board provided with second straight line guide rail and the second sliding block,
Second sliding block is connected with linear electric motors, can be moved under the drive of linear electric motors along second straight line guide rail；Slided second
Block is provided with shoulder joint motor, and the upper end of the large arm is connected by upper contiguous block with shoulder joint motor, passes through shoulder joint motor
Large arm swing can be driven；Be provided with large-arm joint motor on upper contiguous block, the large-arm joint motor and large arm it is upper
End is connected, and can drive large arm is inside and outside to swing；Lower connecting block is provided with the lower end of large arm, elbow joint is provided with the lower connecting block
Motor, the upper end of the forearm are connected with the elbow joint motor, and forearm swing can be driven by elbow joint motor.
Compared with prior art, the invention has the advantages that：
1st, it is simple in construction, can be manned, and relevant action can be carried out according to the manipulation of driver, and it is easy to operate,
So as to enable people to truly to experience the entertainment effect that fighter toy is brought.
2nd, by gas spring counterweight and Worm Wheel System the methods of, the energy that the machine first consumes in deformation is smaller, fits
Use power drives；Simultaneously when motor power damages, worm and gear can be self-locking to prevent driver's cabin to drop suddenly.
3rd, by driving cabin auto-leveling mechanism, the machine first can ensure that driving cabin is in horizontality all the time, ensure to drive
The person of sailing is constantly in comparison safety and comfortable posture in driving procedure.
4th, it is by chain drive, machine onychodystrophy angle and front-wheel steer axle is associated with the angle of foreleg, ensure becoming
In the overall process of shape, for front-wheel steer axle all the time in state vertically downward, now torque needed for steering is minimum, can save power supply
Energy.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is Fig. 1 front view.
Fig. 3 is Fig. 1 side view.
Fig. 4 is the structural representation of wherein one 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 steer axle automatic alignment mechanism.
In figure：1-head, 2-driving cabin, 3-arm, 31-bar shaped installing plate, 32-large arm, 33-forearm, 34-
Second straight line guide rail, the 35-the second sliding 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 component, 7-foreleg strut, 8-telescoping mechanism, 81-worm decelerating machine,
82-screw rod bushing, 83-push rod, 84-pull bar, 85-connecting plate, 86-connecting bracket, 87-Synchronous Transmission axle, 88-gas bullet
Spring, 9-auto-leveling mechanism, 91-pressure pin, 92-first straight line guide rail, the 93-the first sliding block, 94-go up strut, 95-support down
Bar, 96-bracing piece, 10-front-wheel steer axle automatic alignment mechanism, 101-drive sprocket, 102-driven sprocket, 103-
Tight sprocket wheel, 104-chain, 11-lifting motor.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment：Referring to Fig. 1, Fig. 2 and Fig. 3, a kind of texturing machine first, including head 1, driving cabin 2, arm 3 and two
The back leg 5 of foreleg 4 and two.The rear end of the foreleg 4 is rotatably connected with the front end of back leg 5 by rotating cylinder component 6, the rotating cylinder group
Part 6 includes outer barrel and inner cylinder, and bearing is provided between outer barrel and inner cylinder, so that it is smaller to be rubbed in rotation process, rotates more
It is smooth.Wherein, two forelegs 4 are fixedly connected with the both ends of outer barrel respectively, and two back legs 5 are fixedly connected with the both ends of inner cylinder respectively, preceding
Leg 4 and back leg 5 can rotate cartridge module 6 axial line rotate；When it is implemented, the both ends of the outer barrel have breach, after described
Leg 5 is stretched into from the breach and is fixedly connected afterwards with inner cylinder, and back leg 5 can rotate certain distance in the breach.
Front-wheel is provided with the front end of foreleg 4, the rear end of back leg 5 is provided with trailing wheel.The front-wheel is connected with steering spindle lower end,
A sleeve is arranged with steering spindle, the upper end of the opposite sides of the sleeve is connected with a L-shaped link respectively, the connection of two L-shaped
Frame is rotatablely connected by the both sides of a rotating shaft and foreleg 4 respectively；Wherein, L-shaped link is fixedly connected with rotating shaft, rotating shaft and foreleg
4 are rotatably connected；So, in machine first lifting process, steering spindle can rotate in perpendicular.The steering spindle and sleeve
It is rotatably connected, its upper end is connected after passing through sleeve with a steering driven gear, steering motor is provided with sleeve, the steering
The motor shaft of motor is connected with diversion driving-gear, and the diversion driving-gear is meshed with turning to driven gear, by turning to electricity
Machine can drive front-wheel steer.Be provided with motor on back leg 5, the motor by drive gear and chain 104 with
Trailing wheel is connected, and can drive rear wheel.
When it is implemented, referring to Fig. 7, in addition to front-wheel steer axle automatic alignment mechanism 10, the front-wheel steer axle is automatic
Bar straightening mechanism 10 includes drive sprocket 101, driven sprocket 102, tightener sprocket 103 and chain 104；The drive sprocket 101
It is fixedly connected with inner cylinder, its axial line overlaps with the axial line of inner cylinder, and can be with inner cylinder synchronous axial system；During actual fabrication, inside
The both ends of cylinder are provided with plectane, and the edge of the plectane is fixedly connected with the inwall of inner cylinder, and the drive sprocket 101 rotates with plectane to be connected
Connect.The end for the rotating shaft that the driven sprocket 102 is connected with by L-shaped link and foreleg 4 is fixedly connected, and can drive this turn
Axle and L-shaped link synchronous axial system.The gear ratio of the drive sprocket 101 and driven sprocket 102 need to can ensure that in deformation process
Steering spindle vertically downward, substantially 1：2 or so.The chain 104 around being located on drive sprocket 101 and driven sprocket 102, and by
Tightener sprocket 103 is tensioned；The tightener sprocket 103 is installed on foreleg 4 by strainer, can be adjusted by the strainer
Save the position of tightener sprocket 103.In the course of work, drive sprocket 101 rotates together with inner cylinder around its axial line, and passes through chain
104 drive driven sprockets 102 rotate, and so as to drive steering spindle to be rotated in perpendicular, ensure that front-wheel steer axle lifts in machine first
During, all the time perpendicular to ground（Keep vertical state）, so as to ensure the stability turned to.
A foreleg strut 7, and foreleg strut 7 and foreleg 4 are respectively equipped with its both ends on the outer barrel of rotating cylinder component 6
Respectively positioned at the relative both sides of outer barrel.The front end of two foreleg struts 7 is connected with outer barrel, and rear end is connected with a telescoping mechanism 8 respectively,
Meanwhile two telescoping mechanism 8 be connected respectively with two back legs 5；Two telescoping mechanisms 8 are driven by a lifting motor 11, pass through lifting electricity
Machine 11 drives two telescoping mechanisms 8 to change angle between foreleg strut 7 and back leg 5, so as to change foreleg 4 and back leg 5 it
Between angle, and then change machine first whole height.
Referring to Fig. 5, the telescoping mechanism 8 includes worm decelerating machine 81, screw mandrel, screw rod bushing 82, the pull bar of push rod 83 and two
84.Opposite sides in the rear end of foreleg strut 7 is provided with two connecting plates 85, and the lower end of two pull bars 84 rotates with a connecting plate 85 respectively
Connection, upper end is connected by a connecting rod with the both sides of the housing of worm decelerating machine 81 respectively.The screw mandrel and screw rod bushing 82 coordinate
It is connected together, wherein, the length of screw rod bushing 82 is more than the length of screw mandrel.The upper end of the screw rod bushing 82 and worm decelerating machine 81
Output shaft be fixedly connected, by worm decelerating machine 81 screw rod bushing 82 can be driven to rotate, so drive screw mandrel in screw rod bushing 82
Inside move up and down.The upper end of the push rod 83 is fixedly connected with screw mandrel, and lower end is connected by connecting bracket 86 with back leg 5, wherein,
The push rod 83 is rotatablely connected with connecting bracket 86.The worm decelerating machine 81 has auto-lock function, when lifting motor 11 damages,
Its auto-lock function can prevent driver's cabin from dropping suddenly.The motor shaft of the lifting motor 11 by Synchronous Transmission axle 87 simultaneously with
Two worm decelerating machines 81 are connected, and so as to ensure the synchronism of two screw mandrels movement, and then ensure the foreleg 4 and back leg 5 of machine first both sides
The synchronism of lifting.Be additionally provided with two gas springs 88 between two pull bars 84, the upper ends of two gas springs 88 respectively with a connecting rod phase
Even, lower end is rotatablely connected with connecting bracket 86；Machine first is supported by gas spring 88（The deadweight of counteracting machine first）, so that
Screw mandrel is more smooth, quick during control machine first lifts.Travel switch is additionally provided with screw rod bushing 82, the stroke is opened
Pass is connected with lifting motor 11；The position of screw mandrel is detected by travel switch, exceeds predetermined stroke so as to prevent from stretching.
The driving cabin 2 is located at foreleg 4 and the top of back leg 5, and the head 1 is fixedly connected with the top of driving cabin 2.Wherein,
The bottom of driving cabin 2 is provided with auto-leveling mechanism 9, and referring to Fig. 6, the auto-leveling mechanism 9 includes two pressure pins 91, two pressure pins
91 between two forelegs 4 and back leg 5, and respectively close to the both ends of outer barrel, the middle part of the pressure pin 91 by connection component with
Outer barrel is rotatablely connected.It is provided with the sliding block 93 of first straight line guide rail 92 and first in the top at the rear portion of pressure pin 91, on two pressure pins 91
One sliding block 93 is connected by a leveling linkage, and the both ends of the leveling linkage pass through upper strut 94 and lower supporting rod 95 and foreleg respectively
Strut 7 and back leg 5 are rotatablely connected.The driving cabin 2 is fixedly connected with the front portion of two pressure pins 91.The rear end of two pressure pins 91 passes through one
Bracing piece 96 is connected, and makes the stability of auto-leveling mechanism 9 more preferable.In the course of work, the angle of machine first foreleg 4 and back leg 5 becomes
During change, leveling linkage is driven to move by upper strut 94 and lower supporting rod 95（Existing translation also has rotation, with double leval jib motion mode
It is identical）, the first straight line guide rail 92 being fixed on so as to drive the first sliding block 93 to prolong on drawbar slides, and then drives drawbar around connection
The rotary shaft of component rotates, final to ensure that the bottom of driving cabin 2 is basically parallel to ground all the time.
The arm 3 is two, is installed on the top of driving cabin 2 by bar shaped installing plate 31, and be located at the rear of head 1.Ginseng
See Fig. 4, the arm 3 includes large arm 32 and forearm 33；The sliding block 35 of second straight line guide rail 34 and second, institute are provided with a mounting board
State the second sliding block 35 with linear electric motors 36 to be connected, can be moved under the drive of linear electric motors 36 along second straight line guide rail 34.
Second sliding block 35 is provided with shoulder joint motor 37, and the upper end of the large arm 32 is connected by upper contiguous block with shoulder joint motor 37,
The swing of large arm 32 can be driven by shoulder joint motor 37.Large-arm joint motor 38 is provided with upper contiguous block, it is described big
Shoulder joint motor 38 is connected with the upper end of large arm 32, can drive large arm 32 is inside and outside to swing；Lower company is provided with the lower end of large arm 32
Block is connect, elbow joint motor 39 is provided with the lower connecting block, the upper end of the forearm 33 is connected with the elbow joint motor 39, passed through
Elbow joint motor 39 can drive the swing of forearm 33.In shoulder joint motor 37, large-arm joint motor 38 and elbow joint electricity
Angular transducer is additionally provided with machine 39, so as to, by the real-time measurement angle of angular transducer, work as joint angles when rotating
Needed for arrival during angle, motor automatic stop rotates.During actual fabrication, shoot-simulating is additionally provided with the front end of forearm 33
Class weapon, such as machine gun, laser gun, further to increase the entertainment effect of machine first.
Seat, controller and power supply are provided with driving cabin 2, whole machine first can be controlled by the controller
System, the power supply are powered for the electric elements of whole machine first.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention rather than restriction technologies side
Case, it will be understood by those within the art that, technical scheme is modified for those or equivalent substitution, and
The objective and scope of the technical program are not departed from, all should be covered among scope of the presently claimed invention.
Claims (4)
- A kind of 1. texturing machine first, it is characterised in that：Including head, driving cabin, arm and two forelegs and two back legs, before described The rear end of leg is rotatably connected with the front end of back leg by rotating cylinder component, and the rotating cylinder component includes outer barrel and inner cylinder, wherein, two Foreleg is fixedly connected with the both ends of outer barrel respectively, and two back legs are fixedly connected with the both ends of inner cylinder respectively, and foreleg and back leg can rotate The axial line of cartridge module rotates；Be provided with front-wheel in the front end of foreleg, the rear end of back leg is provided with trailing wheel, the front-wheel with steering spindle End is connected, and a sleeve is arranged with steering spindle, and the upper end of the opposite sides of the sleeve is connected with a L-shaped link respectively, Two L-shaped links are rotatablely connected by the both sides of a rotating shaft and foreleg respectively；The steering spindle is rotatably connected with sleeve, thereon End is connected through after sleeve with a steering driven gear, and steering motor is provided with sleeve, the motor shaft of the steering motor with Diversion driving-gear is connected, and the diversion driving-gear is meshed with turning to driven gear, and front-wheel can be driven by steering motor Turn to；Motor is provided with back leg, the motor is connected by drive gear and chain with trailing wheel, and can be driven Rear wheel；A foreleg strut is respectively equipped with its both ends on the outer barrel of rotating cylinder component, and foreleg strut is located at respectively with foreleg The relative both sides of outer barrel；The front end of two foreleg struts is connected with outer barrel, and rear end is connected with a telescoping mechanism respectively, meanwhile, two stretch Contracting mechanism is connected with two back legs respectively；Two telescoping mechanisms are driven by a lifting motor, and two telescopic machines are driven by the lifting motor Structure can change the angle between foreleg strut and back leg, so as to change the angle between foreleg and back leg, and then change machine first Whole height；The telescoping mechanism includes worm decelerating machine, screw mandrel, screw rod bushing, push rod and two pull bars, after foreleg strut The opposite sides at end is provided with two connecting plates, and the lower end of two pull bars is rotatablely connected with a connecting plate respectively, and upper end connects by one respectively Extension bar is connected with the both sides of worm decelerating machine housing；The screw mandrel and screw rod bushing, which coordinate, to be connected together, wherein, the length of screw rod bushing Length of the degree more than screw mandrel；The upper end of the screw rod bushing is fixedly connected with the output shaft of worm decelerating machine, the upper end of the push rod It is fixedly connected with screw mandrel, lower end is connected by connecting bracket with back leg, wherein, the push rod is rotatablely connected with connecting bracket；It is described The motor shaft of lifting motor is connected with two worm decelerating machines simultaneously by Synchronous Transmission axle；The driving cabin is located above foreleg and back leg, and with being fixedly connected at the top of driving cabin, the arm is two on the head, It is installed on by bar shaped installing plate at the top of driving cabin, and is located at head rear；The driving cabin bottom is provided with auto-leveling mechanism, The auto-leveling mechanism includes two pressure pins, wherein, a pressure pin is between a foreleg and a back leg, another pressure pin Between another foreleg and another back leg, and two pressure pins pass through in the middle part of the pressure pin respectively close to the both ends of outer barrel Connection component is rotatablely connected with outer barrel；First straight line guide rail and the first sliding block are provided with the top at pressure pin rear portion, on two pressure pins First sliding block is connected by a leveling linkage, and the both ends of the leveling linkage pass through upper strut and lower supporting rod and foreleg strut respectively It is rotatablely connected with back leg；The driving cabin is fixedly connected with the front portion of two pressure pins.
- A kind of 2. texturing machine first according to claim 1, it is characterised in that：Two gas springs are additionally provided between two pull bars, The upper end of two gas springs is connected with a connecting rod respectively, and lower end is connected with connecting bracket.
- A kind of 3. texturing machine first according to claim 1, it is characterised in that：Also include front-wheel steer axle automatic straightening Structure, the front-wheel steer axle automatic alignment mechanism include drive sprocket, driven sprocket, tightener sprocket and chain；The active Sprocket wheel is fixedly connected with inner cylinder, and its axial line overlaps with the axial line of inner cylinder, and can be with inner cylinder synchronous axial system；The driven sprocket Rotating shaft between L-shaped link and foreleg is fixedly connected, and can drive the rotating shaft and L-shaped link synchronous axial system；It is described Chain is tensioned by tightener sprocket around being located on drive sprocket and driven sprocket；The tightener sprocket is installed by strainer In on foreleg, the position of tightener sprocket can be adjusted by the strainer.
- A kind of 4. texturing machine first according to claim 1, it is characterised in that：The arm includes large arm and forearm, in bar Shape installing plate is provided with second straight line guide rail and the second sliding block, and second sliding block is connected with linear electric motors, in linear electric motors It can be moved under driving along second straight line guide rail；It is provided with shoulder joint motor on the second sliding block, the upper end of the large arm passes through upper Contiguous block is connected with shoulder joint motor, and large arm swing can be driven by shoulder joint motor；It is provided with upper contiguous block big Shoulder joint motor, the large-arm joint motor are connected with the upper end of large arm, can drive large arm is inside and outside to swing；In the lower end of large arm Provided with lower connecting block, elbow joint motor is provided with the lower connecting block, the upper end of the forearm is connected with the elbow joint motor, leads to Forearm swing can be driven by crossing 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 |
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| Publication Number | Publication Date |
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| CN105523096A CN105523096A (en) | 2016-04-27 |
| CN105523096B true CN105523096B (en) | 2018-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610100644.7A Expired - Fee Related CN105523096B (en) | 2016-02-24 | 2016-02-24 | A kind of texturing machine first |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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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| 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 |
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| 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 |
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| CN105523096A (en) | 2016-04-27 |
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Effective date of registration: 20161206 Address after: 402100 Yongchuan City District, Chongqing Avenue, No. 999, No. 1 Applicant after: Chongqing Yue Kai robot technology development limited liability company Address before: The northern section of Jiulongpo District, Chongqing city 400052 Huafu Road No. 16 building 13 of 12 - 2. Applicant before: CHONGQING XIDADA ROBOT CO., LTD. |
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