CN107140047A - One kind sports pin formula confrontation robot - Google Patents
One kind sports pin formula confrontation robot Download PDFInfo
- Publication number
- CN107140047A CN107140047A CN201710301135.5A CN201710301135A CN107140047A CN 107140047 A CN107140047 A CN 107140047A CN 201710301135 A CN201710301135 A CN 201710301135A CN 107140047 A CN107140047 A CN 107140047A
- Authority
- CN
- China
- Prior art keywords
- pin
- attack
- plate
- walking mechanism
- baffle plate
- Prior art date
- 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.)
- Granted
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Classifications
-
- 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
- B62D57/022—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 consisting of members having both rotational and walking movements
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
- A63H33/26—Magnetic or electric toys
Abstract
A kind of pin formula confrontation robot for being used to race, including chassis, by baffle plate and chassis connection and symmetrical pre-walking mechanism and rear walking mechanism, the attack mechanism between left baffle, the drive device of power be provided for rear walking mechanism, connect the transmission device of pre-walking mechanism and rear walking mechanism；The forward and backward walking mechanism includes walking pin, and the walking pin is connected in parallel on bent axle by three pin pieces and can rotated around the diameter of axle of bent axle.Present invention has the advantages that can realize fast forward through, retreat, the function such as pivot turn, due to three pin structure type in parallel, the robot can adapt to rugged ground environment；Attack pincers and attack plate can cooperate during robot motion and coordinate the confrontation robot for the other side that throws；Robot has stronger mobility and stronger antagonism.
Description
Art
The present invention relates to a kind of sports robot, especially a kind of sports pin formula confrontation robot.
Background technology
The athletics opposition robot for being generally used for contest uses wheeled mostly, and in Chinese patent literature, notification number is
CN205699435U, the utility model patent of entitled " one kind sports robot toy " disclose a kind of sports robot and played
Tool, including car shell, the wheel for being arranged on car shell bottom, the drive mechanism for driving the wheel to rotate, the drive mechanism
It is arranged in car shell, the front end of car shell is provided with the grappling device for attacking enemy.Wheeled or caterpillar type robot is typically fitted
The scarce capacity of space enrironment complicated and changeable is answered, the inertia attack other side that offensive means are typically produced using displacement attacks
Hitter's section is single；And after being thrown by other side robot, it is typically no to rotate forward the ability of returning.
The content of the invention
In order to solve the above technical problems, the present invention provides a kind of sports pin formula confrontation robot, it can not only adapt to rugged
Ground environment, and its attack mechanism being equipped with is with stronger attack；And when itself is knocked over by other side, attack pincers
Ground is patted downwards, makes oneself to turn in time.
To reach above-mentioned purpose, technical scheme is as follows：
A kind of pin formula confrontation robot for being used to race, including chassis, be connected with chassis and symmetrical by baffle plate
Pre-walking mechanism and rear walking mechanism, the attack mechanism between left baffle, the driving that power is provided for rear walking mechanism
The transmission device of device, connection pre-walking mechanism and rear walking mechanism；The forward and backward walking mechanism includes walking pin, described
Walking pin is connected in parallel on bent axle by three pin pieces and can rotated around the diameter of axle of bent axle.
Compared to the prior art, this programme is based on adapting to the design of the demand in different places, to traditional wheeled competing
Skill robot is improved, and is devised three pin pieces in parallel and is constituted a walking pin, three pin pieces are connected in parallel on a bent axle,
It can be rotated around the diameter of axle of bent axle, in the presence of drive device, before three pin pieces of rear walking pin are under the drive of crank rotation
Alternating movement afterwards；In the presence of drive device and transmission mechanism, preceding walking pin is moved also with the motion of rear walking pin.With
Traditional structure forms are compared, and this improvement project can quickly realize that advance, retrogressing, original place such as are spinned at the function；In this improvement project
Using three pin structure type in parallel so that robot architecture is stable, and can adapt to rugged ground environment.
In addition, the technical program has also carried out following improvement：
The attack mechanism includes the attack panel assembly installed in left baffle middle and upper part and attacking on the inside of baffle plate
Hit clamp device.The attack mechanism for having attack plate and attack pincers concurrently is devised in this improvement project, with stronger attacking ability；Attack
Hitting plate and attack pincers can cooperate during robot motion and coordinate the confrontation robot for the other side that throws, and attack
The design of pincers, in robot after being thrown, can be realized and rotates forward by patting ground by means of power.
The attack panel assembly including attack plate, being fixed on attack plate coupling spindle on baffle plate, with attacking for will attack plate
Hit the connected attack plate travelling gear in plate connecting shaft one end, the attack board motor being connected by travelling gear with attack plate.Originally change
It is the specific design to attacking panel assembly to enter scheme, and attack board motor transmits power by travelling gear, drives the attack version inverse time
Pin is overturn.
The attack clamp device includes across the axis on baffle plate, is separately mounted to the two ends of axis and is close to gear
Attack on the inside of plate clamps and driven the motivation transfer motion part that attack pincers are spun upside down.This improvement project is to attack clamp device
Specific design, two attack pincers are arranged on the inner side of baffle plate by axis, and attack the upper of pincers by motivation transfer motion part realization
Lower flip-flop movement.
The baffle plate includes inner side baffle and outer side shield, and inner side baffle is got up with outer side shield by pin shaft joint, passes
Dynamic device is arranged between interior outer baffle.Transmission device is arranged between two baffle plates in this improvement project, prevents from resisting
Transmission mechanism is destroyed in journey, and baffle plate can also protect other devices of inside to fix miscellaneous part as carrier.
The forward and backward walking mechanism also includes being arranged on the pin lid on the outside of baffle plate, and walking pin is arranged on outside pin lid and baffle plate
Between side.This improvement project is to protect walking pin mechanism.
The baffle plate, chassis and attack plate use hollow-out aluminum plate；Through hole is provided with walking pin pin piece.This improvement project has
Beneficial to the weight for mitigating whole robot, reaction sensitivity is improved.
Groove is provided with the pin piece, and for pin piece being reinforced by bearing pin, pin piece can be slided along the bearing pin diameter of axle.This improvement
Scheme is that pin piece is moved under the drive of bent axle, pin in order to further reinforce pin piece between pin lid and outer side shield
The groove of part is passive around pin slide on piece.
Brief description of the drawings
Fig. 1 robots overall structure diagram；
Fig. 2 robots attack clamp device structural representation；
Fig. 3 robots attack panel assembly structural representation；
Fig. 4 robots side running gear structural representation；
Fig. 5 crankshaft structure schematic diagrames；
Fig. 6 pin chip architecture schematic diagrames.
In figure, 1 rear walking mechanism；2 pre-walking mechanisms；3 attack clamp devices；4 attack panel assemblies；5 drive devices；6 transmissions
Device；7 inner side baffles；8 outer side shields；9 chassis；10 bent axles；11 pin pieces；12 grooves；Walked after 1-1 pin；1-2 rear foot lids；2-1
Preceding walking pin；2-2 front foot lids；3-1 attack pincers motors I；3-2 attack pincers motors II；3-3 attack pincers；3-4 axis；3-5 attack pincers
Travelling gear；4-1 attacks plate；4-2 attacks plate coupling spindle；4-3 attacks board motor；4-4 attacks plate travelling gear.
Embodiment
As shown in figure 1, a kind of pin formula confrontation robot for being used to race, including chassis 9, it is connected with chassis 9 by baffle plate
And symmetrical pre-walking mechanism 2 and rear walking mechanism 1, the attack mechanism between baffle plate, provide for rear walking mechanism 1
The drive device of power, the transmission device for connecting pre-walking mechanism 2 and rear walking mechanism 1；Pre-walking mechanism 2 includes preceding walking pin
Walking pin 1-1 after 2-1, rear walking mechanism 1 include, forward and backward walking pin is connected in parallel on bent axle 10 by three pin pieces 11 can flexing
The diameter of axle of axle is rotated；All it is provided with fit well on every pin piece 11 and is provided with groove, bearing pin is reinforced pin piece in outside by groove
Between baffle plate and pin lid, pin piece can be slided along the bearing pin diameter of axle.The drive device of walking mechanism is motor in the application, and transmission device is
Pinion unit, wherein, the motor of the left and right walking pin of rear walking mechanism, rotating forward, a reversion realize that robot is former
Ground 360o curve function.
As shown in Fig. 2 baffle plate includes inner side baffle 7 and outer side shield 8, inner side baffle 7 passes through up and down two with outer side shield 8
Row's pin shaft joint gets up, and transmission device is arranged between interior outer baffle；Transmission device uses pinion unit in the application, can root
Suitable transmission device is selected according to specific design.Forward and backward walking mechanism also includes front foot lid 2-2, rear foot lid 1-2, front foot lid 2-
2nd, rear foot lid 1-2 is respectively by four pin shaft joints to medial and lateral baffle plate, and walking pin is arranged on pin lid and baffle plate outside
Between.
As shown in Fig. 1,3,4, the middle part of robot, equipped with an axis 3-4, two attacks on the bearing hole of two side shields
It is close at inner side baffle at the two ends that pincers 3-3 is separately mounted to axis 3-4.Attack pincers motor I3-1 and attack pincers motor II3-2 lead to
Attack pincers gear 3-5 driving attack pincers 3-3 is crossed to rotate.Attack panel assembly includes attack plate 4-1, for attack plate to be fixed on into gear
Attack plate coupling spindle 4-2 on plate, the attack plate travelling gear 4-4 being connected with attack plate connecting shaft one end, by travelling gear
The attack board motor 4-3 being connected with attack plate.In addition, medial and lateral baffle plate, chassis and attack plate use hollow-out aluminum plate；Walking
Through hole is provided with pin pin piece.
Claims (8)
1. it is a kind of be used for race pin formula confrontation robot, including chassis, by baffle plate be connected with chassis and it is symmetrical before
Walking mechanism and rear walking mechanism, the attack mechanism between left baffle, the driving dress that power is provided for rear walking mechanism
Put, connect the transmission device of pre-walking mechanism and rear walking mechanism；It is characterized in that：The forward and backward walking mechanism includes row
Pin is walked, the walking pin is connected in parallel on bent axle by three pin pieces and can rotated around the diameter of axle of bent axle.
2. sports pin formula confrontation robot according to claim 1, it is characterised in that：The attack mechanism includes being arranged on
The attack panel assembly of left baffle middle and upper part and the attack clamp device on the inside of baffle plate.
3. sports pin formula confrontation robot according to claim 2, it is characterised in that：The attack panel assembly includes attack
Plate, for attack plate coupling spindle that plate is fixed on baffle plate will to be attacked, with attacking the attack plate transmission that plate connecting shaft one end is connected
Gear, the attack board motor being connected by travelling gear with attack plate.
4. sports pin formula confrontation robot according to claim 2, it is characterised in that：It is described attack clamp device include across
Axis on baffle plate, it is separately mounted to the two ends of axis and is close to the pincers of the attack on the inside of baffle plate and drives attack to clamp
The motivation transfer motion part of lower upset.
5. sports pin formula confrontation robot according to claim 1 or 2, it is characterised in that：The baffle plate includes interior side block
Plate and outer side shield, inner side baffle are got up with outer side shield by pin shaft joint, and transmission device is arranged between interior outer baffle.
6. sports pin formula confrontation robot according to claim 1 or 2, it is characterised in that：The forward and backward walking mechanism is also
Including the pin lid on the outside of baffle plate, between walking pin is arranged on the outside of pin lid and baffle plate.
7. described a kind of sports pin formula confrontation robot according to claim 3, it is characterised in that：The baffle plate, bottom
Disk and attack plate use hollow-out aluminum plate；Through hole is provided with walking pin pin piece.
8. sports pin formula confrontation robot according to claim 1 or 2, it is characterised in that：Groove is provided with the pin piece,
For being reinforced pin piece by bearing pin, pin piece can be slided along the bearing pin diameter of axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710301135.5A CN107140047B (en) | 2017-05-02 | 2017-05-02 | Sports foot type confrontation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710301135.5A CN107140047B (en) | 2017-05-02 | 2017-05-02 | Sports foot type confrontation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107140047A true CN107140047A (en) | 2017-09-08 |
| CN107140047B CN107140047B (en) | 2023-03-14 |
Family
ID=59775219
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710301135.5A Active CN107140047B (en) | 2017-05-02 | 2017-05-02 | Sports foot type confrontation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107140047B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3004032U (en) * | 1994-05-10 | 1994-11-08 | 株式会社トミー | Robot toys |
| JPH10156051A (en) * | 1996-11-29 | 1998-06-16 | Shigemitsu Otake | Walking mechanism and walking robot with the walking mechanism |
| JP2003266336A (en) * | 2002-03-12 | 2003-09-24 | Japan Science & Technology Corp | Multileg walking robot |
| CN101991957A (en) * | 2009-08-26 | 2011-03-30 | 鸿富锦精密工业（深圳）有限公司 | Running gear |
| CN104354785A (en) * | 2014-10-27 | 2015-02-18 | 中北大学 | Bionic crab robot |
| CN204415559U (en) * | 2015-02-06 | 2015-06-24 | 南昌工程学院 | A kind of walking mechanism |
| TWM515405U (en) * | 2015-06-22 | 2016-01-11 | Oriental Inst Technology | Attack-reinforced robot |
| CN205085973U (en) * | 2015-11-04 | 2016-03-16 | 华北电力大学 | Recreation machine people |
| JP3205585U (en) * | 2016-04-28 | 2016-08-04 | 株式会社タカラトミー | Battle toys |
| CN207257821U (en) * | 2017-05-02 | 2018-04-20 | 青岛职业技术学院 | One kind sports foot formula confrontation robot |
-
2017
- 2017-05-02 CN CN201710301135.5A patent/CN107140047B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3004032U (en) * | 1994-05-10 | 1994-11-08 | 株式会社トミー | Robot toys |
| JPH10156051A (en) * | 1996-11-29 | 1998-06-16 | Shigemitsu Otake | Walking mechanism and walking robot with the walking mechanism |
| JP2003266336A (en) * | 2002-03-12 | 2003-09-24 | Japan Science & Technology Corp | Multileg walking robot |
| CN101991957A (en) * | 2009-08-26 | 2011-03-30 | 鸿富锦精密工业（深圳）有限公司 | Running gear |
| CN104354785A (en) * | 2014-10-27 | 2015-02-18 | 中北大学 | Bionic crab robot |
| CN204415559U (en) * | 2015-02-06 | 2015-06-24 | 南昌工程学院 | A kind of walking mechanism |
| TWM515405U (en) * | 2015-06-22 | 2016-01-11 | Oriental Inst Technology | Attack-reinforced robot |
| CN205085973U (en) * | 2015-11-04 | 2016-03-16 | 华北电力大学 | Recreation machine people |
| JP3205585U (en) * | 2016-04-28 | 2016-08-04 | 株式会社タカラトミー | Battle toys |
| CN207257821U (en) * | 2017-05-02 | 2018-04-20 | 青岛职业技术学院 | One kind sports foot formula confrontation robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107140047B (en) | 2023-03-14 |
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