CN109331477B - Horse and land bionic deformation robot capable of throwing ball - Google Patents
Horse and land bionic deformation robot capable of throwing ball Download PDFInfo
- Publication number
- CN109331477B CN109331477B CN201811513433.1A CN201811513433A CN109331477B CN 109331477 B CN109331477 B CN 109331477B CN 201811513433 A CN201811513433 A CN 201811513433A CN 109331477 B CN109331477 B CN 109331477B
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- robot
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 238000005096 rolling process Methods 0.000 claims abstract description 17
- 230000007306 turnover Effects 0.000 claims description 13
- 230000003592 biomimetic effect Effects 0.000 claims description 7
- 238000004804 winding Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 5
- 238000011835 investigation Methods 0.000 abstract description 5
- 230000006872 improvement Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 244000062645 predators Species 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
- A63H13/02—Toy figures with self-moving parts, with or without movement of the toy as a whole imitating natural actions, e.g. catching a mouse by a cat, the kicking of an animal
- A63H13/04—Mechanical figures imitating the movement of players or workers
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H29/00—Drive mechanisms for toys in general
- A63H29/22—Electric drives
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
- A63H33/003—Convertible toys, e.g. robots convertible into rockets or vehicles convertible into planes
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
The application discloses a horseland bionic deformation robot capable of throwing balls, which comprises a head shell, a tail shell, a middle shell, a head shell and a head assembly, a tail shell and a tail assembly, wherein the head assembly and the tail assembly are elastically connected, the horseland bionic deformation robot further comprises a head travelling mechanism, a tail travelling mechanism and a first winch mechanism, the first winch mechanism comprises a first winch, and a rolling device is arranged on the head shell. When the robot is unfolded, the head travelling mechanism and the tail travelling mechanism can enable the robot to move; when the robot needs to be thrown, the robot can be contracted, the head shell, the tail shell and a plurality of middle shells surround the head component and the tail component, and when the robot is impacted, the robot can absorb the impact; the rolling device can turn the robot up and down; the rolling device can drive the robot to roll. A life detector or other devices can be arranged in the robot to achieve the aims of rescue, detection or investigation. The present disclosure is useful for rescue, detection or investigation.
Description
Technical Field
The disclosure relates to the field of biomimetic robots, in particular to a tossable ball and horse land biomimetic deformation robot.
Background
Bionics is an emerging discipline that has greatly improved the human living standard by simulating animal functions to improve existing and create new machines, building structures and materials, new instrumentation and technological studies, creating many advanced technologies suitable for production, learning and people's life.
After suffering from some disasters, the environment of the disaster-affected site changes greatly; or there are areas that need to be explored and are difficult for humans to reach, making rescue, detection or investigation an additional difficulty. This places higher demands on robots that can rescue, detect or detect activities in complex and harsh terrain environments such as valley bottoms, cliffs, pipes, ruins, cave, etc.
The body of the ball horse land can be contracted into a spherical protection soft part when the ball horse land encounters danger, the ball horse land can roll away when the ball horse land is in danger, and a predator can not damage the ball horse land even if the ball horse land falls from high altitude Ma Liuye milli-hair, so that a inspiration is provided for the research and development of the bionic ball horse land robot.
Disclosure of Invention
The technical problem to be solved by the present disclosure is: the bionic deformation robot for throwing the ball and the horse and land can realize the movement functions of walking, deforming, rolling and turning over, and can enter a specific area through throwing and air-drop and other special modes.
The solution for solving the technical problems of the present disclosure is as follows:
the utility model provides a can throw ball horse land bionic deformation robot, including head shell, afterbody shell, a plurality of middle shells, head shell, a plurality of middle shells, afterbody shell are articulated from left to right in series through a plurality of hinge, head shell below is equipped with head subassembly, head shell and head subassembly elastic connection, afterbody shell below is equipped with the afterbody subassembly, afterbody shell and afterbody subassembly elastic connection, head subassembly includes head running gear, the afterbody subassembly includes afterbody running gear, first winch mechanism includes first lashing, the leading-out end of first lashing is connected with head subassembly, the hinge is perpendicular with first lashing space; the head shell, the tail shell and the middle shells are all in a sphere shape, the head shell, the tail shell and the middle shells can be wound and contracted into a sphere along with winding of the first rope, and the head shell is provided with a rolling device.
As a further improvement of the technical scheme, the four middle shells are connected in series from left to right through the three hinge shafts.
As a further improvement of the technical scheme, the rolling device comprises a turnover lever, wherein the arc-shaped turnover lever is parallel to the side plane, a long arm of the turnover lever is close to the upper surface of the head shell, a through hole is formed in the head shell, a rotating shaft is arranged on the through hole, the turnover lever is rotationally connected with the head shell through the transversely arranged rotating shaft, and a short arm of the turnover lever is arranged between the head assembly and the head shell; the head assembly is provided with a second winch mechanism, the second winch mechanism comprises a second winch rope, the leading-out end of the second winch rope is connected with the short arm of the turning lever, and the turning lever is elastically connected with the head shell through an elastic component.
As a further improvement of the technical scheme, the head travelling mechanism comprises two head wheels and two motors, and the two head wheels are respectively driven by the two motors; the tail travelling mechanism comprises two tail wheels and two motors, and the two tail wheels are driven by the two motors respectively.
As a further improvement of the technical scheme, the head shell is connected with the head assembly through a first spring, the tail shell is connected with the tail assembly through a second spring, the head assembly is connected with the tail assembly through a third spring, and the third spring which is transversely arranged is arranged above the first hinge.
As a further improvement of the technical scheme, the novel spiral shell comprises a plurality of baffles, wherein the head shell, the tail shell and the middle shell are all called shells, the baffles are arranged below the two adjacent shells, the baffles are fixedly connected to one of the shells, and the baffles are attached to the other shell when all the shells are contracted into spheres.
As a further improvement of the above technical solution, the flip lever is slidably embedded in the head housing, and an upper surface of the flip lever is coplanar with an upper surface of the head housing.
The beneficial effects of the present disclosure are: when the robot is used, the robot is unfolded, and the head travelling mechanism and the tail travelling mechanism can realize the forward movement, the steering and the backward movement of the robot; when encountering special environments or needing to be thrown, the robot can be wound and contracted along with the winding of the first rope, and the head shell, the tail shell and the plurality of middle shells surround the head assembly and the tail assembly; if the robot is overturned up and down and cannot move after being unfolded, the rolling device is started, and the whole robot is overturned up and down, so that the robot can normally move; or when the rolling device is rolled up to be clamped, the rolling device operates to drive the robot to roll. A life detector or other devices can be arranged in the robot to achieve the aims of rescue, detection or investigation.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is apparent that the drawings described are only some embodiments, but not all embodiments, of the present disclosure, and that other designs and drawings may be made by those skilled in the art without the inventive effort.
FIG. 1 is a front elevational view of a structure of an embodiment of the present disclosure;
FIG. 2 is a structural top view of an embodiment of the present disclosure;
FIG. 3 is a structural left-side view of an embodiment of the present disclosure;
FIG. 4 is a schematic illustration of an embodiment of the present disclosure crimped into a sphere;
FIG. 5 is an enlarged schematic view of a portion A of FIG. 1;
fig. 6 is a partially enlarged schematic view of the portion B in fig. 3.
Detailed Description
The conception, specific structure, and technical effects produced by the present disclosure will be clearly and completely described below in connection with the embodiments and the drawings to fully understand the objects, features, and effects of the present disclosure. It is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present disclosure. In addition, all connection relationships mentioned herein do not refer to direct connection of the components, but rather, refer to a connection structure that may be better formed by adding or subtracting connection aids depending on the particular implementation. The technical features in the present disclosure may be interactively combined without contradiction and conflict.
Referring to fig. 1 to 6, this is one embodiment of the present disclosure, specifically:
the utility model provides a can throw ball horse land bionic deformation robot, including head shell 001, afterbody shell 003, a plurality of middle shell 002, head shell 001, a plurality of middle shell 002, afterbody shell 003 are articulated in series from left to right through a plurality of hinge 008, head shell 001 below is equipped with head assembly, head shell 001 and head assembly elastic connection, afterbody assembly is equipped with afterbody assembly below afterbody shell 003, afterbody assembly and afterbody assembly elastic connection, head assembly includes head running gear, the afterbody assembly includes afterbody running gear, first winch mechanism 203 includes first lashing 204, the leading-out end and the head assembly of first lashing 204 are connected, the both ends of hinge 008 set up front and back, first winch 204 transversely sets up; the head shell 001 is provided with a rolling device. When the robot is used, the robot is unfolded, and the head travelling mechanism and the tail travelling mechanism can realize the forward movement, steering and backward movement of the robot; when encountering special environments or needing to be thrown, the robot can be wound and contracted along with the winding of the first rope 204, the head shell 001, the tail shell 003 and the plurality of middle shells 002 surround the head component and the tail component, and as the head component is elastically connected with the head shell 001, the tail component is elastically connected with the tail shell 003, the robot can absorb the impact when being impacted or falling to the ground after being thrown, the internal structure is protected, and the purpose that the robot can be thrown is achieved; if the robot is overturned up and down and cannot move after being unfolded, the rolling device is started, and the whole robot is overturned up and down, so that the robot can normally move; or when the rolling device is rolled up to be clamped, the rolling device operates to drive the robot to roll. A life detector or other devices can be arranged in the robot to achieve the aims of rescue, detection or investigation; the two ends of the hinge shaft 008 are arranged front and back, and the first rope 204 is transversely arranged, so that the head shell 001, the tail shell 003 and the plurality of middle shells 002 can be smoothly contracted when the first rope 204 is wound.
The head shell 001, the tail shell 003 and the middle shell 002 can be set into different shapes according to the need by simulating the behavior of the soft part of the ball and the martensii, and in order to enable the robot to smoothly roll when being wound, the head shell 001, the tail shell 003 and the middle shell 002 are all in the shape of a sphere, and the head shell 001, the tail shell 003 and the middle shells 002 can be wound into a sphere along with the winding of the first winch 204.
Further as a preferred embodiment, the number of the intermediate housings 002 is four, and the four intermediate housings 002 are connected in series from left to right by the three hinge shafts 008. The robot needs to have a certain length to prevent the left and right turning, and at the same time cannot be too long to move inconveniently, and the arrangement of four middle shells 002 is an excellent solution.
Further as a preferred embodiment, the rolling device includes a turning lever 301, the turning lever 301 having an arc shape is disposed parallel to the side plane, a long arm of the turning lever 301 is close to the upper surface of the head housing 001, a through hole 302 is disposed on the head housing 001, a rotating shaft is disposed on the through hole 302, the turning lever 301 is rotatably connected with the head housing 001 through the rotating shaft disposed transversely, and a short arm of the turning lever 301 is disposed between the head assembly and the head housing 001; the head assembly is provided with a second capstan mechanism 103, the second capstan mechanism 103 comprises a second capstan 104, the leading end of the second capstan 104 is connected with the short arm of a flip lever 301, and the flip lever 301 is elastically connected with the head housing 001 through an elastic member 303. When not in use, the long arm of the turnover lever 301 is close to the upper surface of the head housing 001 under the action of the elastic member 303, and when in use, the long arm of the turnover lever 301 is far away from the upper surface of the head housing 001 along with the winding of the second hinge 104, so that the purpose of turnover is achieved.
Further as a preferred embodiment, the head walking mechanism comprises two head wheels 101 and two motors 102, wherein the two head wheels 101 are respectively driven by the two motors 102; the tail travelling mechanism comprises two tail wheels 201 and two motors 102, and the two tail wheels 201 are respectively driven by the two motors 102. The two head wheels 101 and the two tail wheels 201 are respectively driven by four motors 102, so that the structure is simple, and the steering and the forward and backward movement can be flexibly realized.
Further as a preferred embodiment, the head housing 001 is connected with the head assembly through a first spring 004, the tail housing 003 is connected with the tail assembly through a second spring 005, the head assembly is connected with the tail assembly through a third spring 006, and the third spring 006 arranged transversely is arranged above the first hinge 204. When the robot is contracted into a sphere, the third spring 006 is folded in half, so that the head component and the tail component can be mutually close, the space in the sphere is fully utilized, and the volume of the robot is reduced.
Further, as a preferred embodiment, the device further comprises a plurality of baffles 007, wherein the head shell 001, the tail shell 003 and the middle shell 002 are all called shells, the baffles 007 are arranged below the two adjacent shells, the baffles 007 are fixedly connected to one of the shells, and the baffles 007 are attached to the other shell when all the shells are contracted into a sphere. When the robot expands, the baffle 007 can shield the gap between the shells to protect the internal mechanism, and when the robot is contracted into a sphere, the baffle 007 is attached to the shells, which corresponds to the increase of the thickness of the shells and the increase of the structural strength.
Further as a preferred embodiment, the flip lever 301 is slidably inserted into the head housing 001, and the upper surface of the flip lever 301 is coplanar with the upper surface of the head housing 001. Thus, when the robot is contracted into a sphere, the overturning lever 301 is prevented from obstructing the rolling of the robot.
While the preferred embodiments of the present disclosure have been illustrated and described, the present disclosure is not limited to the embodiments described above, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present disclosure, and these equivalent modifications and substitutions are intended to be included in the scope of the present disclosure as defined in the appended claims.
Claims (6)
1. The utility model provides a can throw ball horse land bionic deformation robot which characterized in that: the novel multifunctional winch comprises a head shell (001), a tail shell (003) and a plurality of middle shells (002), wherein the head shell (001), the plurality of middle shells (002) and the tail shell (003) are hinged in series from left to right through a plurality of hinge shafts (008), a head assembly is arranged below the head shell (001), the head shell (001) is elastically connected with the head assembly, a tail assembly is arranged below the tail shell (003), the tail shell (003) is elastically connected with the tail assembly, the head assembly comprises a head travelling mechanism, the tail assembly comprises a tail travelling mechanism and a first winch mechanism (203), the first winch mechanism (203) comprises a first winch (204), a leading-out end of the first winch (204) is connected with the head assembly, two ends of the hinge shafts (008) are arranged front and back, and the first winch mechanism (204) is transversely arranged; the head shell (001) is provided with a rolling device; the head shell (001), the tail shell (003) and the middle shell (002) are all in the shape of spherical petals, and the head shell (001), the tail shell (003) and the plurality of middle shells (002) can be wound and contracted into a sphere along with the winding of the first twisted rope (204); the rolling device comprises a turnover lever (301), wherein the arc-shaped turnover lever (301) is parallel to a side plane, a long arm of the turnover lever (301) is close to the upper surface of the head shell (001), a through hole (302) is formed in the head shell (001), a rotating shaft is arranged on the through hole (302), the turnover lever (301) is rotationally connected with the head shell (001) through the transversely arranged rotating shaft, and a short arm of the turnover lever (301) is arranged between the head assembly and the head shell (001); the head assembly is provided with a second winch mechanism (103), the second winch mechanism (103) comprises a second winch rope (104), the leading-out end of the second winch rope (104) is connected with the short arm of the turning lever (301), and the turning lever (301) is elastically connected with the head shell (001) through an elastic component (303).
2. The throwable horseland biomimetic deformation robot of claim 1, wherein: the number of the middle shells (002) is four, and the four middle shells (002) are connected in series from left to right through three hinge shafts (008).
3. The throwable horseland biomimetic deformation robot of claim 1, wherein: the head travelling mechanism comprises two head wheels (101) and two motors (102), and the two head wheels (101) are driven by the two motors (102) respectively; the tail travelling mechanism comprises two tail wheels (201) and two motors (102), and the two tail wheels (201) are driven by the two motors (102) respectively.
4. The throwable horseland biomimetic deformation robot of claim 1, wherein: the head shell (001) is connected with the head assembly through a first spring (004), the tail shell (003) is connected with the tail assembly through a second spring (005), the head assembly is connected with the tail assembly through a third spring (006), and the third spring (006) which is transversely arranged is arranged above the first hinge (204).
5. The throwable horseland biomimetic deformation robot of claim 1, wherein: still include a plurality of baffles (007), head shell (001), afterbody shell (003), middle shell (002) all are called the shell, and the below between two adjacent shells is located to baffle (007), baffle (007) rigid coupling in one of them shell, and baffle (007) laminate with another shell when all shells are contractedly contracted into the sphere.
6. The throwable horseland biomimetic deformation robot of claim 1, wherein: the flip lever (301) is slidably embedded in the head housing (001), and the upper surface of the flip lever (301) is coplanar with the upper surface of the head housing (001).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811513433.1A CN109331477B (en) | 2018-12-11 | 2018-12-11 | Horse and land bionic deformation robot capable of throwing ball |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811513433.1A CN109331477B (en) | 2018-12-11 | 2018-12-11 | Horse and land bionic deformation robot capable of throwing ball |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109331477A CN109331477A (en) | 2019-02-15 |
| CN109331477B true CN109331477B (en) | 2023-11-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811513433.1A Active CN109331477B (en) | 2018-12-11 | 2018-12-11 | Horse and land bionic deformation robot capable of throwing ball |
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| Country | Link |
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| CN (1) | CN109331477B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114939877B (en) * | 2022-05-18 | 2023-11-10 | 北京邮电大学 | A portable operation spherical robot for moon base is built |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2009076519A1 (en) * | 2007-12-11 | 2009-06-18 | Catnip Kitties, Inc. | Simulated animal |
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| KR20120116672A (en) * | 2011-04-13 | 2012-10-23 | 한국과학기술원 | Reconnaissance robot inspired by pill bugs |
| KR101400095B1 (en) * | 2012-11-15 | 2014-05-30 | 한국과학기술원 | Bio-inspired protection shell for articulated robot protection |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109331477A (en) | 2019-02-15 |
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