CN106903719A - Confrontation humanoid robot hair based on friction pulley plays device - Google Patents
Confrontation humanoid robot hair based on friction pulley plays device Download PDFInfo
- Publication number
- CN106903719A CN106903719A CN201710219101.1A CN201710219101A CN106903719A CN 106903719 A CN106903719 A CN 106903719A CN 201710219101 A CN201710219101 A CN 201710219101A CN 106903719 A CN106903719 A CN 106903719A
- Authority
- CN
- China
- Prior art keywords
- friction pulley
- chassis
- confrontation
- motor
- humanoid robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
Device, including one group of supporting plate being oppositely arranged are played the invention discloses a kind of confrontation humanoid robot hair based on friction pulley, launching tube is provided between supporting plate；Supporting plate top is provided with chassis, and storage internal weapon bays is provided with the chassis, and shell hole is provided with out on chassis, and what this went out shell hole alignment launching tube enters bullet mouthful；Launching tube both sides are symmetrically arranged with opening, are embedded with friction pulley respectively at each opening, and each friction pulley is driven by motor respectively, and each motor is arranged on connecting shaft rack, and connecting shaft rack is connected with supporting plate.A kind of hair bullet device of confrontation humanoid robot based on friction pulley of the invention, the storage certain bullet amount of internal weapon bays memory storage, transmitting tube top is fallen under shell hole by going out, reached at the friction turbin generator of rotation at a high speed by itself whereabouts inertia, friction pulley drives bullet to accelerate by frictional force, preferable launch velocity is reached after accelerating by friction pulley, with good strike effect, cooperation can be realized preferably hitting accuracy with external equipments such as gyroscopes.
Description
Technical field
The present invention relates to robot field, specifically a kind of confrontation humanoid robot hair based on friction pulley plays device.
Background technology
With the innovative development of robot field, at present, research and development and the test of Intelligent robot have been stepped into new
Stage.Thing followed robot competition is continued to develop with cloud computing, big data technology and deep learning.Wherein resist
It is also a most excellent part that humanoid robot has become mostly important in robot competition, and it is relative to common contest robot
For need enough mobility and flexibilities, to have stronger fitness to adverse circumstances, while to possess accurately hitting
Ability, requirement higher is proposed to electromechanical integration and microcontroller level.For to a certain extent, the comprehensive of humanoid robot is resisted
Close the R ＆ D Level that performance embodies current field in intelligent robotics.It is spherical to launch in numerous confrontation humanoid robot species
Bullet is that the robot of strike mode accounts for major part.And the transmitting of Spherical Projectiles is just into the core technology of robot.Research and development strike
Device is needed from the functional requirement of robot, at the same device realize requirements at the higher level are it is also proposed in effect：Keep
The striking frequency of stabilization；Ensure range, launch velocity will reach certain numerical value；Possess to be pinpointed without dead angle in certain limit and hit
Ability etc..So the design to such trigger mechanism will carry out multi-faceted thinking, it is ensured that realizing its desired work
Performance, while device is succinct reliable as far as possible, easily manipulation.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention to provide a kind of confrontation based on friction pulley
The hair bullet device of humanoid robot.
Technical scheme：In order to solve the above technical problems, a kind of confrontation humanoid robot hair bullet based on friction pulley of the invention
Device, including one group of supporting plate being oppositely arranged, are provided with launching tube between supporting plate；Supporting plate top is provided with chassis,
The chassis is provided with storage internal weapon bays, and shell hole is provided with out on chassis, and what this went out shell hole alignment launching tube enters bullet mouthful；Launching tube both sides
Friction pulley notch is symmetrically arranged with, friction pulley is embedded with respectively at each friction pulley notch, each friction pulley is driven by motor respectively
It is dynamic, and each motor is arranged on connecting shaft rack, connecting shaft rack two ends are flexibly connected with supporting plate respectively.
Wherein, rotating shaft is provided between supporting plate, connecting shaft rack is fixedly connected with the rotating shaft, and rotating shaft one end connection motor,
Motor is fixed in adjacent supporting plate.
Wherein, at least two friction pulleys are respectively arranged with each friction pulley notch of launching tube, each friction pulley passes through respectively
Motor drives.
Wherein, driver plate is provided with chassis, chassis lower section is provided with motor, the motor shaft of the motor stretches out chassis top
And connect driver plate；Multiple leakage shell holes are evenly equipped with driver plate periphery, the size of each leakage shell hole is not less than the chi for going out shell hole on chassis
It is very little.
Wherein, driver plate upper surface is downward-sloping to edge from its center so that by paracentral bullet under gravity
Rolled to edge, and then leaked down from leakage shell hole.
Wherein, launching tube includes emitter junction and gun tube, and gun tube set is nested in emitter junction, enters after bullet mouthful is arranged at emitter junction
End, it is directed at out shell hole after at right angles and to chassis direction extending with gun tube；Friction pulley notch is symmetricly set on emitter junction both sides,
Gun tube both sides are symmetrically provided with through hole.
Wherein, enter rear side at bullet mouthful end port and the bottom that extension forms butting section, butting section and chassis is continued with thin-walled
It is in contact, gun tube lower pressure that may be present is balanced by Contact reaction-force, prevents that gun tube center of gravity is forward to cause gun tube sagging.
Wherein, connected platform is provided with above emitter junction, the platform that is connected is fixedly connected with connecting shaft rack.
Wherein, connecting shaft rack includes the middle interconnecting piece of rectangle, the connected platform of middle interconnecting piece connection；Middle interconnecting piece is respectively pushed up
Point stretches out to form motor coupling portion respectively, is respectively used to the motor that connection drives friction pulley；Set respectively in each motor connection
Boss is equipped with, the space between boss is used to countershaft screens.
Wherein, rubber crust set of the friction pulley by core and on the outside of core is constituted.
Beneficial effect：The hair bullet device of a kind of confrontation humanoid robot based on friction pulley of the invention, with following beneficial
Effect：
The storage certain bullet amount of internal weapon bays memory storage, transmitting tube top is fallen by going out under shell hole, reached by itself whereabouts inertia
At a high speed at the friction turbin generator of rotation, friction pulley drives bullet to accelerate by frictional force, and reason is reached after accelerating by friction pulley
The launch velocity thought, with good strike effect, cooperation can be realized preferably hitting accuracy with external equipments such as gyroscopes.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is backsight structural representation of the invention；
Fig. 3 overlooking the structure diagrams of the invention；
Fig. 4 is for Fig. 1 conceals supporting plate and base plate and stores up the structural representation after magazine；
Fig. 5 is launching tube structural representation；
Fig. 6 is connecting shaft rack structural representation；
Fig. 7 is dial structure schematic diagram.
Specific embodiment
The present invention is further described below in conjunction with the accompanying drawings.
The hair bullet device of described a kind of confrontation humanoid robot based on friction pulley as shown in Figure 1 to Figure 4, including one group relative set
The supporting plate 7 put, is provided with launching tube 3 between supporting plate 7；The top of supporting plate 7 sets chassis 2, is provided with the chassis 2
Storage internal weapon bays 1, is provided with out shell hole 21 on chassis 2, and what this went out the alignment launching tube 3 of shell hole 21 enters bullet mouthfuls 33；The both sides pair of launching tube 3
Title is provided with friction pulley notch 31, is embedded with friction pulley 4 respectively at each friction pulley notch 31, and each friction pulley 4 passes through nothing respectively
Brush motor is driven, and each brushless electric machine is arranged on connecting shaft rack 6, and connecting shaft rack 6 is connected with supporting plate 7.Preferably, supporting plate 7 it
Between be provided with rotating shaft 5, connecting shaft rack 6 is fixedly connected with the rotating shaft 5, and the one end of rotating shaft 5 connection brushless electric machine 8, and brushless electric machine 8 fixes
In in adjacent supporting plate 7.Two friction pulleys 4,4 points of each friction pulley are respectively arranged with each friction pulley notch 31 of launching tube 3
Do not driven by motor.Driver plate 9 is provided with chassis, the lower section of chassis 9 is provided with motor, and the motor shaft of the motor stretches out chassis
2 tops simultaneously connect driver plate 9；Multiple leakage shell holes 91 are evenly equipped with the periphery of driver plate 9, the size of each leakage shell hole 91 is not less than chassis 2
On go out the size of shell hole 21.And friction pulley 4 can be made up of core and the rubber being wrapped on the outside of core crust set.
The drum that storage internal weapon bays 1 is curved for galvanized iron sheet, can as needed be processed into different height；Storage internal weapon bays 1 and table in chassis 2
Face is fitted, and is embedded in chassis 2；Motor axis hole 22 is equipped with chassis 2, goes out shell hole 21 and fixation screw hole position, a high pulling torque is straight
The stream motor laminating lower surface of chassis 2 fixed installation, motor shaft passes motor axis hole 22 upwards, and driver plate 9 is fixed on what is stretched on motor
On axle；The both sides of chassis 2 are provided with through hole, and are connected with supporting plate 7 by bolt, and rotating shaft 5 is then stuck between two supporting plates 7,
The one end of rotating shaft 5 is connected with the brushless electric machine 7 of outside；The downside of rotating shaft 5 is connected with connecting shaft rack 6 by screw, and launching tube 3 is attached to
On connecting shaft rack 6 and centrally arranged, two pairs of friction pulley groups 4 are fixed on the lower surface of connecting shaft rack 6 by screw, are embedded in launching tube 3 and output
Friction pulley notch 31 in.
Used as preferred scheme, as shown in figure 5, launching tube 3 includes emitter junction 34 and gun tube 32,32 sets of gun tube is nested in hair
Penetrate in knot 34, enter bullet mouthful 33 and be arranged at the rear end of emitter junction 34, it is aligned out after at right angles and to the direction of chassis 2 extending with gun tube 32
Shell hole 21；Friction pulley notch 31 is symmetricly set on the both sides of emitter junction 34, and the both sides of gun tube 32 are symmetrically provided with through hole 35.Enter the end of bullet mouthful 33
End port rear side continues extension and forms butting section 36 with thin-walled, and butting section 36 is touched with the bottom connection on chassis 2, by Contact reaction-force
The balance lower pressure that may be present of gun tube 32, prevents that the center of gravity of gun tube 32 is forward to cause gun tube 32 sagging.Set in the top of emitter junction 34
Connected platform 10 is equipped with, the platform 10 that is connected is fixedly connected with connecting shaft rack 6.
As shown in fig. 6, connecting shaft rack 6 includes the middle interconnecting piece 61 of rectangle, middle interconnecting piece 61 is bolted connected
Platform 10；Each summit of middle interconnecting piece 61 stretches out to form motor coupling portion 62 respectively, is respectively used to connection and drives friction pulley
Motor；Boss 63 is respectively arranged with each motor connection, the space between boss 63 is used to the screens of countershaft 5.
As shown in fig. 7, the upper surface of driver plate 9 is downward-sloping to edge from its center, sloped top face is formed so that near center
Bullet under gravity to edge roll, and then from leakage shell hole 91 leak down.Leakage shell hole 91 is arranged on being angularly equidistant to be dialled
The edge of disk 9.
When using, the certain bullet amount of the memory storage of internal weapon bays 1 is stored up, after the motor circuit of driver plate 9 is connected, uniform rotation drives position
Rotated in the bullet in leakage shell hole 91, when 21 surface of shell hole is gone to out bullet from going out under shell hole to fall the top of launching tube 3,
Exactly enter at bullet mouthful 33, reached at the friction pulley 4 of rotation at a high speed by itself whereabouts inertia, friction pulley 4 is driven by frictional force
Bullet accelerates, by after two-stage acceleration, being flown out launching tube 3 with certain initial velocity, in the process can be by bluetooth on single-chip microcomputer
Module carries out angle control, emission mode control, completes corresponding emission process.And can also install bullet additional in gun tube 1 and test the speed
Module, the speed for determining bullet, and then by the angle of Single-chip Controlling gun tube 1, the speed of motor, so as to adjust bullet
Initial velocity and launch angle.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of confrontation humanoid robot hair based on friction pulley plays device, it is characterised in that：Including one group of support being oppositely arranged
Plate, is provided with launching tube between supporting plate；Supporting plate top is provided with chassis, storage internal weapon bays is provided with the chassis, on chassis
Shell hole is provided with out, what this went out shell hole alignment launching tube enters bullet mouthful；Launching tube both sides are symmetrically arranged with friction pulley notch, are respectively rubbing
Wipe and be embedded with friction pulley at wheel notch respectively, each friction pulley is driven by motor respectively, and each motor is arranged on connecting shaft rack, even
Pedestal two ends are flexibly connected with supporting plate respectively.
2. a kind of confrontation humanoid robot hair based on friction pulley according to claim 1 plays device, it is characterised in that：Its
In, rotating shaft is provided between supporting plate, connecting shaft rack is fixedly connected with the rotating shaft, and rotating shaft one end connects motor, and motor is fixed on
In adjacent supporting plate.
3. a kind of confrontation humanoid robot hair based on friction pulley according to claim 1 plays device, it is characterised in that：Its
In, at least two friction pulleys are respectively arranged with each friction pulley notch of launching tube, each friction pulley is driven by motor respectively.
4. a kind of confrontation humanoid robot hair based on friction pulley according to claim 1 plays device, it is characterised in that：Its
In, driver plate is provided with chassis, chassis lower section is provided with motor, and the motor shaft of the motor stretches out chassis top and connects to be dialled
Disk；Multiple leakage shell holes are evenly equipped with driver plate periphery, the size of each leakage shell hole is not less than the size for going out shell hole on chassis.
5. a kind of confrontation humanoid robot hair based on friction pulley according to claim 4 plays device, it is characterised in that：Its
In, driver plate upper surface is downward-sloping to edge from its center so that rolled to edge under gravity by paracentral bullet,
And then leak down from leakage shell hole.
6. a kind of confrontation humanoid robot hair based on friction pulley according to claim 1 plays device, it is characterised in that：Its
In, launching tube includes emitter junction and gun tube, and gun tube set is nested in emitter junction, enters bullet mouthful and is arranged at emitter junction rear end, itself and big gun
Pipe at right angles and after extending to chassis direction is directed at out shell hole；Friction pulley notch is symmetricly set on emitter junction both sides, gun tube both sides
Symmetrically it is provided with through hole.
7. a kind of confrontation humanoid robot hair based on friction pulley according to claim 6 plays device, it is characterised in that：Its
In, entering rear side at bullet mouthful end port and butting section is formed with thin-walled continuation extension, butting section is touched with the bottom connection on chassis, is abutted against
Counter-force balance gun tube lower pressure that may be present is touched, prevents that gun tube center of gravity is forward to cause gun tube sagging.
8. a kind of confrontation humanoid robot hair based on friction pulley according to claim 6 plays device, it is characterised in that：Its
In, connected platform is provided with above emitter junction, the platform that is connected is fixedly connected with connecting shaft rack.
9. a kind of confrontation humanoid robot hair based on friction pulley according to claim 8 plays device, it is characterised in that：Its
In, connecting shaft rack includes the middle interconnecting piece of rectangle, the connected platform of middle interconnecting piece connection；Each summit of middle interconnecting piece is outside respectively
Extension forms motor coupling portion, is respectively used to the motor that connection drives friction pulley；Boss is respectively arranged with each motor connection, it is convex
Space between platform is used to countershaft screens.
10. a kind of confrontation humanoid robot hair based on friction pulley according to claim 1 plays device, it is characterised in that：Its
In, rubber crust set of the friction pulley by core and on the outside of core is constituted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710219101.1A CN106903719A (en) | 2017-04-06 | 2017-04-06 | Confrontation humanoid robot hair based on friction pulley plays device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710219101.1A CN106903719A (en) | 2017-04-06 | 2017-04-06 | Confrontation humanoid robot hair based on friction pulley plays device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106903719A true CN106903719A (en) | 2017-06-30 |
Family
ID=59195412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710219101.1A Pending CN106903719A (en) | 2017-04-06 | 2017-04-06 | Confrontation humanoid robot hair based on friction pulley plays device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106903719A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108613793A (en) * | 2018-05-04 | 2018-10-02 | 北京理工大学 | A kind of rotatable water entry test device of structure |
| CN109048961A (en) * | 2018-09-19 | 2018-12-21 | 哈尔滨工业大学 | It can swing and grasp the climbing truss robot and its control method of remote truss rod |
| CN109556451A (en) * | 2018-12-18 | 2019-04-02 | 南京理工大学 | A kind of trigger mechanism with double-gun tube |
| CN109663369A (en) * | 2018-12-18 | 2019-04-23 | 南京理工大学 | A kind of flat push type trigger mechanism |
| CN111226102A (en) * | 2018-01-31 | 2020-06-02 | 深圳市大疆创新科技有限公司 | Projectile launching device and system and shooting robot |
| CN112504017A (en) * | 2020-12-18 | 2021-03-16 | 华南理工大学广州学院 | Working method of defense equipment |
| CN112525006A (en) * | 2020-12-07 | 2021-03-19 | 安徽信息工程学院 | Unattended autonomous defense platform |
| CN112648876A (en) * | 2020-12-28 | 2021-04-13 | 北京工业大学 | Double-tube bullet-sending device with double-helix bullet supply |
| CN113618753A (en) * | 2021-08-23 | 2021-11-09 | 江苏派尔高智能科技有限公司 | Mobile intelligent robot |
| CN113788130A (en) * | 2021-08-17 | 2021-12-14 | 河北汉光重工有限责任公司 | Underwater vehicle launching device of imitation revolver |
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| US6276353B1 (en) * | 1997-02-21 | 2001-08-21 | Koala Corporation | Projectile launcher |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111226102A (en) * | 2018-01-31 | 2020-06-02 | 深圳市大疆创新科技有限公司 | Projectile launching device and system and shooting robot |
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| CN109048961A (en) * | 2018-09-19 | 2018-12-21 | 哈尔滨工业大学 | It can swing and grasp the climbing truss robot and its control method of remote truss rod |
| CN109048961B (en) * | 2018-09-19 | 2021-10-01 | 哈尔滨工业大学 | Truss climbing robot capable of swinging and grabbing remote truss rod and control method thereof |
| CN109556451A (en) * | 2018-12-18 | 2019-04-02 | 南京理工大学 | A kind of trigger mechanism with double-gun tube |
| CN109663369A (en) * | 2018-12-18 | 2019-04-23 | 南京理工大学 | A kind of flat push type trigger mechanism |
| CN112525006A (en) * | 2020-12-07 | 2021-03-19 | 安徽信息工程学院 | Unattended autonomous defense platform |
| CN112504017A (en) * | 2020-12-18 | 2021-03-16 | 华南理工大学广州学院 | Working method of defense equipment |
| CN112504017B (en) * | 2020-12-18 | 2023-05-16 | 华南理工大学广州学院 | Working method of defending equipment |
| CN112648876A (en) * | 2020-12-28 | 2021-04-13 | 北京工业大学 | Double-tube bullet-sending device with double-helix bullet supply |
| CN113788130A (en) * | 2021-08-17 | 2021-12-14 | 河北汉光重工有限责任公司 | Underwater vehicle launching device of imitation revolver |
| CN113618753A (en) * | 2021-08-23 | 2021-11-09 | 江苏派尔高智能科技有限公司 | Mobile intelligent robot |
| CN113618753B (en) * | 2021-08-23 | 2023-02-28 | 江苏派尔高智能科技有限公司 | Mobile intelligent robot |
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Application publication date: 20170630 |