CN109955268B - Cam energy storage modularization chiseling mechanism and fighting robot - Google Patents
Cam energy storage modularization chiseling mechanism and fighting robot Download PDFInfo
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- CN109955268B CN109955268B CN201910336931.1A CN201910336931A CN109955268B CN 109955268 B CN109955268 B CN 109955268B CN 201910336931 A CN201910336931 A CN 201910336931A CN 109955268 B CN109955268 B CN 109955268B
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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
- A63H13/06—Mechanical figures imitating the movement of players or workers imitating boxing or fighting
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- 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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Abstract
The invention provides a cam energy storage modular chiseling mechanism and a fighting robot, wherein the cam energy storage modular chiseling mechanism comprises a driving motor, a cam, a swinging gear and a telescopic chiseling component; the telescopic chiseling component is provided with a telescopic driving mechanism, a displacement sensor and a telescopic control device; the driving motor drives the cam to rotate; the cam pushes the swing gear to rotate; the swinging gear drives the chiseling component to rotate; the telescopic chiseling component is provided with a telescopic driving mechanism, a displacement sensor and a telescopic control device; the telescopic driving mechanism drives the telescopic chiseling member to stretch and retract; the telescopic control device receives the distance test value transmitted by the displacement sensor and controls the telescopic driving mechanism to stop and start according to the received distance test value. According to the cam energy storage modular chiseling mechanism, due to the design of the cam, the cam is in high-pair contact, the self-adaption to the height of the opposite robot is realized when a chiseling member attacks, and the mechanism has a high attacking effect.
Description
Technical Field
The invention relates to the technical field of fighting robots, in particular to a cam energy storage modular chiseling mechanism and a fighting robot.
Background
The conventional combat robot generally adopts a motor to directly drive a chiseling member to realize reciprocating swing, or adopts a motor to drive an incomplete gear intermittent mechanism, and utilizes torsion spring energy storage to realize the reciprocating swing of the chiseling member, wherein the mode of directly driving the chiseling member to realize the reciprocating swing is adopted, and the motor needs to be repeatedly and suddenly started and stopped and is subjected to forward and reverse rotation operation, so that on one hand, the cost of circuit design is increased, the operation difficulty is increased, on the other hand, the motor is easy to damage, and in the mode, the torque of the motor is insufficient, so that the chiseling effect is poor; adopt motor drive incomplete gear intermittent type mechanism, utilize torsional spring energy storage to realize the mode of the reciprocal swing of chisel power component, because of using incomplete gear mechanism, the inside required space of robot is great, and space utilization is low, lead to being difficult to realize miniaturized design requirement, and extra quality has been increased, in the fight robot match that has the weight level restriction, only can alleviate attack weapon partial mass in a proper amount, meanwhile weakened the robot attack power, in addition, this kind of mode is at the in-process of chisel power, chisel power component end height position is uncertain, on the one hand, lead to robot attack effect not good, on the other hand, addendum and addendum in operation process very big can appear and contact each other, cause the interference latch, and then cause the dedendum to break easily, thereby make the motor stall, burn out even generating heat.
Disclosure of Invention
In view of this, the present invention provides a cam energy storage modular chiseling mechanism to solve the problem of poor attacking effect of the existing combat robot.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a cam energy storage modular chiseling mechanism comprises a driving motor, a cam, a swinging gear and a telescopic chiseling component; the telescopic chiseling component is provided with a telescopic driving mechanism, a displacement sensor and a telescopic control device; the driving motor drives the cam to rotate; the cam pushes the swing gear to rotate; the swinging gear drives the chiseling member to rotate; the telescopic chiseling component is provided with a telescopic driving mechanism, a displacement sensor and a telescopic control device; the telescopic driving mechanism drives the telescopic chiseling member to stretch and retract; the telescopic control device receives the distance test value transmitted by the displacement sensor and controls the telescopic driving mechanism to stop and start according to the received distance test value.
Optionally, the cam energy-storing modular chiseling mechanism further comprises an energy-storing torsion spring; the energy storage torsion spring is positioned at one end of the telescopic chiseling member, which is adjacent to the swinging gear; the driving motor is a unidirectional rotating motor.
Optionally, the cam energy storage modular chiseling mechanism further comprises a first bracket and a second bracket; the first bracket and the second bracket are detachably connected, and the first bracket and the second bracket enclose an accommodating cavity; the driving motor, the cam and the swing gear are arranged in the accommodating cavity.
Optionally, the cam energy accumulating modular chiseling mechanism further comprises a reduction gear train; the reducing gear train drives the cam to rotate, and is arranged in the accommodating cavity; the driving motor drives the reduction gear train to rotate.
Optionally, the swing gear is provided with a boss matched with the cam; the cam pushes the swing gear to rotate through the boss.
Optionally, one end of the retractable chiseling member adjacent to the swing gear is provided with a transmission gear; the swing gear drives the telescopic chiseling member to rotate through meshing with the transmission gear.
Optionally, one end of the retractable chiseling member adjacent to the swing gear is provided with a torsion spring slot housing the energy storing torsion spring.
Optionally, the telescopic chiseling member comprises a chiseling arm and a chiseling hammer; one end of the chiseling arm is rotatably connected with the swing gear, and the other end of the chiseling arm is connected with the chiseling hammer.
Optionally, the reduction gear train is integrally connected with the cam.
Compared with the prior art, the cam energy storage modular chiseling mechanism has the following advantages:
1. the cam energy storage modularization chiseling mechanism provided by the invention has the advantages that the cam pushes the swing gear, the swing gear drives the telescopic chiseling component to rotate in the rotation process, the swing attack of the telescopic chiseling component is realized, the cam high-pair contact is adopted in the whole attack process, the self-adaptation of the telescopic chiseling component to the height of an opposite robot in the attack process is realized, the telescopic chiseling component has a higher attack effect, the tooth root breakage caused by the interference of a latch can be avoided, the motor stalling is avoided, the service life of the motor is prolonged, in addition, the chiseling mechanism can realize chiseling only by the unidirectional rotation of the driving motor in the whole attack process, and the design of a control circuit and the operation difficulty of an operator are simplified.
2. According to the cam energy storage modular chiseling mechanism, the telescopic chiseling member is arranged, and the telescopic driving mechanism, the displacement sensor and the telescopic control device are arranged on the telescopic chiseling member, so that the telescopic chiseling member can automatically strike at a proper position, and the attacking effect is further improved.
3. The cam energy storage modular chiseling mechanism provided by the invention drives the telescopic chiseling member to swing by taking the cam and the swinging gear as the transmission mechanism, once the robot is overturned, the swing of the telescopic chiseling member can be utilized to turn over the robot, and the phenomenon that the robot loses mobility due to being overturned is avoided.
Another objective of the present invention is to provide a fighting robot to solve the problem of poor attack effect of the fighting robot.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a fighting robot comprises the cam energy storage modular chiseling mechanism.
Compared with the prior art, the fighting robot has the same advantages as the cam energy storage modular chiseling mechanism, and the details are not repeated.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a first assembly structural diagram of a cam energy storage modular chiseling mechanism according to an embodiment of the invention;
FIG. 2 is a schematic view of an assembly structure of a cam energy storage modular chiseling mechanism according to an embodiment of the invention
FIG. two; FIG. 3 is an explosive junction of a cam energy storage modular chiseling mechanism according to an embodiment of the invention
A first structural schematic diagram;
fig. 4 is a schematic diagram of an explosive structure of the cam energy storage modular chiseling mechanism according to the embodiment of the invention;
fig. 5 is a first schematic view of an attack process of the cam energy storage modular chiseling mechanism according to the embodiment of the invention;
fig. 6 is a schematic view of an attack process of the cam energy storage modular chiseling mechanism according to the embodiment of the invention;
fig. 7 is a third schematic view of an attack process of the cam energy storage modular chiseling mechanism according to the embodiment of the invention;
fig. 8 is a fourth schematic view of an attack process of the cam energy storage modular chiseling mechanism according to the embodiment of the present invention;
fig. 9 is a fifth schematic view of an attack process of the cam energy storage modular chiseling mechanism according to the embodiment of the present invention;
fig. 10 is a first schematic diagram of the turning process of the cam energy storage modular chiseling mechanism according to the embodiment of the invention;
fig. 11 is a schematic view showing a turning process of the cam energy storage modular chiseling mechanism according to the embodiment of the invention;
fig. 12 is a third schematic diagram of the turning process of the cam energy storage modular chiseling mechanism according to the embodiment of the invention;
fig. 13 is a fourth schematic view of the cam energy storage modular chiseling mechanism according to the embodiment of the present invention during turning;
fig. 14 is a schematic structural diagram of a combat robot according to an embodiment of the present invention.
Description of reference numerals:
1-a driving motor, 2-a cam, 3-a swinging gear, 4-a telescopic chiseling component, 5-a torsion spring groove, 6-a first bracket, 7-a second bracket and 8-a reduction gear train;
61-accommodating cavity, 31-boss;
41-transmission teeth, 42-energy storage torsion spring, 43-chiseling arm and 44-chiseling hammer;
101-robot housing.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example 1
Referring to fig. 1-4, a cam energy storage modular chiseling mechanism comprises a driving motor 1, a cam 2, a swing gear 3 and a telescopic chiseling member 4; the telescopic chiseling component 4 is provided with a telescopic driving mechanism, a displacement sensor and a telescopic control device; the driving motor 1 drives the cam 2 to rotate; the cam 2 pushes the swing gear 3 to rotate; the swinging gear 3 drives the chiseling component to rotate; the telescopic chiseling member 4 is provided with a telescopic driving mechanism (not shown in the figure), a displacement sensor (not shown in the figure) and a telescopic control device (not shown in the figure); the telescopic driving mechanism drives the telescopic chiseling member 4 to extend and retract; the telescopic control device receives the distance test value transmitted by the displacement sensor and controls the telescopic driving mechanism to stop and start according to the received distance test value.
The swing gear 3 is an incomplete gear, so that the interference of the swing gear to the operation of other members can be avoided on the premise of meeting the chiseling stroke of the telescopic chiseling member 4, the reasonability of the design of the whole chiseling mechanism is improved, and the attacking effect of the chiseling mechanism of the embodiment is further improved; the cam 2 pushes the oscillating gear 3 to rotate, which is realized by the following way: the swing gear 3 is provided with a boss 31 matched with the cam 2, the cam 2 pushes the swing gear 3 to rotate through the boss 31, at the moment, the small boss 31 on the swing gear 3 is used as a driven piece stirred by the cam 2 and is driven by the cam 2 to complete reciprocating motion, meanwhile, the swing gear 3 in the form of an incomplete gear drives the telescopic chiseling member 4, the whole transmission process has high continuity, and therefore the attack efficiency of the chiseling mechanism in the embodiment is improved; the swinging gear 3 drives the telescopic chiseling member 4 to rotate, which is realized by the following way: one end of the telescopic chiseling member 4 adjacent to the swing gear 3 is provided with a transmission gear 41; the swing gear 3 is meshed with the transmission gear 41 to drive the telescopic chiseling member 4 to rotate, the transmission ratio of the swing gear 3 to the transmission gear 41 on the telescopic chiseling member 4 is 1.5: 1-4: 1, the optimal transmission efficiency can be 35: 14, the swing of the telescopic chiseling member 4 is realized through the meshing of the gears, the continuity of the transmission process can be further improved, impact among the members is avoided, and the attack efficiency of the chiseling mechanism is further improved.
The cam energy storage modularization chisel of this embodiment hits mechanism passes through cam 2 and promotes swing gear 3, and swing gear 3 rotates the in-process and drives scalable chisel and hit component 4 and rotate, realize scalable chisel and hit the swing attack of component 4, in whole attack process, adopt the high vice contact of cam 2, to the high self-adaptation of other party's robot when having realized scalable chisel and hit component 4 and attack, make it have higher attack effect, and can avoid interfering the latch and the tooth root rupture that arouses, thereby avoid the motor stall, the service life of motor is improved. In addition, the cam energy storage modular chiseling mechanism of the embodiment is provided with the telescopic chiseling member 4, and the telescopic driving mechanism, the displacement sensor and the telescopic control device are arranged on the telescopic chiseling member 4, so that the telescopic chiseling member 4 can automatically extend and retract according to the distance between the telescopic chiseling member 4 and an attack object, the telescopic chiseling member is not influenced by the distance between the telescopic chiseling member 4 and the attack object, the short-distance attack can be sent out at any time, and the attack effect is further improved. In addition, the cam energy storage modular chiseling mechanism of the invention uses the cam 2 and the swinging gear 3 as a transmission mechanism to drive the telescopic chiseling member 4 to swing, once the robot is overturned, the swing of the telescopic chiseling member 4 can be used for turning over the robot, and the phenomenon that the robot loses mobility due to being overturned is avoided.
In this embodiment, the cam energy storage modular chiseling mechanism further comprises an energy storage torsion spring 42; an energy-storing torsion spring 42 is located at one end of the telescopic chiseling member 4 adjacent to the oscillating gear 3; the drive motor 1 is a unidirectional rotary motor. In this embodiment, through set up energy storage torsional spring 42 in the one end that scalable chisel hits component 4 and is close to swing gear 3, make scalable chisel hit component 4 carry out the energy storage at the rotation in-process, after energy storage torsional spring 42 energy storage, swing gear 3 breaks away from the moment of cam 2 promptly, scalable chisel hits component 4 and bounces under energy storage torsional spring 42's elasticity effect and attacks, in whole attack process, driving motor 1 only needs the unidirectional rotation, driving motor 1 only need set up to unidirectional rotation motor promptly, control circuit design and operator's the operation degree of difficulty has been simplified, and this embodiment is as energy storage structure's energy storage torsional spring 42 and as transmission structure's cam 2, swing gear 3 adopts the design of an organic whole body, the inside space utilization of robot has been improved greatly, thereby be favorable to realizing miniaturized design requirement.
Moreover, in the embodiment, the cam energy storage modular chiseling mechanism further comprises a first bracket 6 and a second bracket 7; the first bracket 6 and the second bracket 7 are detachably connected, and the first bracket 6 and the second bracket 7 enclose an accommodating cavity 61; the driving motor 1, the cam 2 and the oscillating gear 3 are disposed in the accommodating chamber 61. Wherein, one end of the driving motor 1 is fixed on the first bracket 6, the other end of the driving motor 1 is rotatably connected with the second bracket 7 through a motor output shaft, the driving motor 1 drives the cam 2 to rotate through the motor output shaft, and the swinging gear 3 and the telescopic chiseling member 4 are rotatably connected with the second bracket 7 through a fixed shaft. In this embodiment, with driving motor 1, cam 2, swing gear 3 setting by first support 6 with second support 7 enclose become to hold chamber 61 in, prevent that the part from exposing, and then be favorable to avoiding at the robot fight in-process, cause the damage to it, and because of first support 6 and second support 7 detachable connections, convenient maintenance.
In addition, in the present embodiment, the cam energy storage modular chiseling mechanism further includes a reduction gear train 8; the reducing gear train 8 drives the cam 2 to rotate, and the reducing gear train 8 is arranged in the accommodating cavity 61; the driving motor 1 drives the reduction gear train 8 to rotate. The reduction gear train 8 is a 3-stage gear train, the reduction ratio of the reduction gear train can be preferably 38: 8, the modulus of the reduction gear train can be preferably 0.5, the motor output shaft of the driving motor 1 is a toothed output shaft, the reduction gear train 8 and the driving motor 1 are meshed through teeth to drive the reduction gear train 8 by the driving motor 1, the reduction gear train 8 can be integrally connected with the cam 2 through one shaft, namely the reduction gear train 8 and the cam 2 are coaxially fixed into a whole, and therefore the reduction gear train 8 drives the cam 2 to rotate. In this embodiment, the reduction gear train 8 is arranged to reduce the speed of the driving motor 1 in multiple stages, so as to increase the torque of the driving motor 1, enable the chiseling mechanism to drive a torsion spring with higher torsional rigidity, and increase the energy which can be stored in the single energy storage process of the torsion spring without changing the compression amount of the torsion spring, thereby increasing the attack force of the chiseling mechanism of this embodiment.
Furthermore, in the present embodiment, the end of the retractable chiseling member 4 adjacent to the swing gear 3, i.e. the end of the retractable chiseling member 4 provided with the transmission teeth 41, is provided with a torsion spring groove 5 accommodating an energy accumulating torsion spring 42, the torsion spring groove 5 being circular. In the embodiment, the torsion spring groove 5 is arranged on the telescopic chiseling member 4, the energy storage torsion spring 42 is arranged in the torsion spring groove 5, the energy storage torsion spring 42 performs torsion energy storage in the same direction along with the swinging of the telescopic chiseling member 4 in the process that the swinging gear 3 drives the telescopic chiseling member 4 to rotate, because the rotating direction of the swinging gear 3 is opposite to the swinging direction of the telescopic chiseling member 4, when the swinging gear 3 is separated from the cam 2, the telescopic chiseling member 4 can perform chiseling attack under the action of the energy storage torsion spring 42, after the chiseling attack of the telescopic chiseling member 4 is finished, the swinging gear 3 is contacted with the cam 2 again to perform energy storage and chiseling attack in the next period, the whole structural arrangement is more compact, so that the miniaturization and modularization of the fighting robot are facilitated, in addition, the torsion spring is adopted in the embodiment to drive the telescopic chiseling member 4, the component force in the length, therefore, the attacking force of the chiseling mechanism is improved, and in addition, the torsion spring is arranged on the telescopic chiseling member 4 in a built-in mode, so that the torsion spring can be prevented from scratching an operator in the process of assembling and disassembling.
Meanwhile, in the present embodiment, the retractable hammering member 4 includes a hammering arm 43 and a hammering hammer 44; one end of the chiseling arm 43 is rotatably connected with the swing gear 3, and the other end of the chiseling arm 43 is connected with the chiseling hammer 44 to form a T-shaped chiseling structure; the chiseling arm 43 includes a first telescopic arm (not shown) rotatably connected to the swing gear 3 and a second telescopic arm (not shown) connected to the chiseling hammer 44, the first telescopic arm is telescopically connected to the second telescopic arm by providing a compression spring having a suitable rigidity inside the first telescopic arm, and the telescopic driving mechanism realizes telescopic control of the telescopic chiseling member 4 by driving the compression spring to be telescopic. In the embodiment, the telescopic chiseling member 4 is set to be a T-shaped chiseling structure, wherein the length of the chiseling end of the chiseling hammer 44 is greater than the turning support end of the chiseling hammer 44, so that on one hand, the chiseling hammer 44 can be ensured to be in effective contact with an object to be attacked, on the other hand, the chiseling hammer 44 can be enabled to swing backwards in an energy storage manner to have a sufficient swing space, and when a robot is overturned to be required to turn over, a large turning thrust can be formed between the turning support end of the chiseling hammer 44 and a vehicle body formed by two supports, so that the chiseling mechanism of the embodiment can be quickly turned over, and. And in order to lighten the weight of the retractable chiseling member 4 and improve the chiseling convenience of the retractable chiseling member 4, the chiseling arm 43 may be configured to be a hollow structure, in addition, in order to facilitate turning over and improve the operation space in front of the chiseling arm 43 during chiseling, the chiseling arm 43 may be configured to be a bending structure with a certain bending angle or an arc structure with a certain curvature, wherein the bending structure is bent toward the chiseling direction of the chiseling hammer 44, or the center of the arc structure is located on the chiseling direction side of the chiseling hammer 44, and the bending angle of the bending structure or the curvature of the arc structure is designed according to the size and chiseling force requirements of the chiseling mechanism of the present embodiment.
With reference to fig. 5-9, the chiseling attack process of the cam energy storage modular chiseling mechanism of the present embodiment is as follows:
1) after the driving motor 1 is decelerated by the deceleration gear train 8, the deceleration gear train 8 drives the cam 2 to rotate clockwise, the cam 2 pushes the swing gear 3 to swing clockwise, the swing gear 3 drives the telescopic chiseling member 4 to rotate anticlockwise, and the energy storage torsion spring 42 is enabled to store energy;
2) the cam 2 continues to rotate clockwise, when the cam 2 rotates to a critical position, namely the highest position of the cam 2, the control unit of the cam energy storage modular chiseling mechanism sends a signal for stopping rotation to the driving motor 1, and the energy storage of the energy storage torsion spring 42 reaches the maximum;
3) when the attack is needed, the control unit gives a signal for continuously rotating the driving motor 1, the swinging gear 3 is separated from the cam 2 to lose thrust, the telescopic chiseling member 4 swings clockwise under the action of the energy storage torsion spring 42 to attack, in the attacking process of the telescopic chiseling member 4, the swinging gear 3 rotates anticlockwise, the cam 2 still rotates clockwise under the driving of the reduction gear train 8, along with the clockwise swinging attack of the telescopic chiseling member 4, the boss 31 on the swinging gear 3 gradually approaches the cam 2 until the cam 2 contacts again, and the energy storage and chiseling attack process of the next period is carried out.
Referring to fig. 10-13, the turning process of the cam energy storage modular chiseling mechanism of the present embodiment is as follows:
1) the retractable chiseling member 4 is rotated clockwise so that the end, i.e. the chiseling end of the chiseling hammer 44, contacts the ground;
2) the body rotates anticlockwise under the reaction force, and the body rotates anticlockwise through a limit position by means of inertia to turn over.
The design method of the cam 2 in the cam energy storage modular chiseling mechanism of the embodiment is as follows:
because the cam energy storage modular chiseling mechanism of the embodiment needs to store the force of the energy storage torsion spring 42, the smaller the pressure angle of the cam 2 is, the better the transmission performance of the mechanism is, in order to meet the requirement of compact structure, a pendulum mechanism of the clockwise pendulum type cam 2 is considered to be preferred, the push stroke stage of the cam 2 is designed according to the sine acceleration motion law, the speed and acceleration curves of the motion rule are continuous without any sudden change, so that the motion rule has no rigid impact and no flexible impact, can be suitable for a high-speed cam mechanism, can also ensure that the chiseling mechanism can uniformly exert the power of the motor in the whole working process, in addition, the lifting angle of the telescopic chiseling member can be adjusted by adjusting the angle of the cam and the angle of the gear, so that the self-adaption to the height of the opposite robot when the telescopic chiseling member attacks is realized, and the best attack angle and attack effect are achieved.
1) Calculating allowable pressure angle area of cam 2
Taking the rotation center of the cam 2, the rotation center of the swing gear 3 and the center of the boss 31 on the swing gear 3 as the design points of the allowable pressure angle area of the cam 2, preferably selecting a virtual structure formed by connecting the rotation center of the swing gear 3 and the center of the boss 31 on the swing gear 3, wherein the length of a swing rod is 4mm, the maximum value of the swing angle of the swing rod is 72 degrees, the push stroke motion angle is 270 degrees and the allowable push stroke pressure angle is 40 degrees according to the structural size and the motion requirement;
2) determining the radius and the center distance of the base circle of the cam 2, and calculating the theoretical contour line of the cam 2
In the pressure angle allowable area of the cam 2, according to the principles of compact structure and smallest pressure angle as possible, experimental points are taken to calculate the peak value of the thrust, and a large number of experimental calculations show that the effect is better when the base radius of the cam 2 is 4.2mm and the center distance is 7 mm;
3) the size of the swing link roller, namely the size of the boss 31 on the swing gear 3 is determined,
a large number of experimental calculations show that the radius of the swing rod roller is not too large or too small, preferably 2mm, and meets the requirement that the radius of curvature is 3-5 mm smaller than the minimum radius of curvature of the contour line of the cam 2.
But instead.
Example 2
A fighting robot comprises the cam energy storage modular chiseling mechanism and a robot shell 101; a travel switch (not shown in the figure) electrically connected with the control unit is arranged on the robot shell; the robot shell 101 is a box-shaped structure formed by splicing a plurality of plates, so that the occupied space of the disassembled robot shell can be reduced, and the self defense performance of the robot can be improved; the cam energy storage modular chiseling mechanism is detachably connected with the robot shell 101, and when the parts are damaged, the parts can be replaced conveniently. The travel switch is arranged close to the telescopic chiseling member 4, so that the cam 2 rotates to a critical position, namely the swing gear 3 swings to a maximum angle, when the energy storage torsion spring 42 has maximum energy storage, the telescopic chiseling member 4 can trigger the travel switch, the control unit can send a stop or continuous rotation instruction to the motor, the telescopic chiseling member 4 attacks under the action of the energy storage torsion spring 42 when the attack is needed, and the maximum energy storage state is kept when the attack is not needed, so that the stored energy is released according to the next instruction to attack. The stroke switch in the embodiment makes the control of the chiseling mechanism in the embodiment more intelligent.
The fighting robot of this embodiment adopts above-mentioned cam energy storage modularization chisel to hit mechanism, it promotes swing gear 3 through cam 2, and swing gear 3 rotates the in-process and drives scalable chisel and hit component 4 and rotate, realize the swing attack of scalable chisel and hit component 4, in whole attack process, adopt the high vice contact of cam 2, the self-adaptation to the high of other side robot when having realized scalable chisel and hit component 4 and attack, make it have higher attack effect, and can avoid interfering the latch and the tooth root rupture that arouses, thereby avoid the motor stall, the life of motor is improved. In addition, the cam energy storage modular chiseling mechanism of the embodiment is provided with the telescopic chiseling member 4, and the telescopic driving mechanism, the displacement sensor and the telescopic control device are arranged on the telescopic chiseling member 4, so that the telescopic chiseling member 4 can automatically extend and retract according to the distance between the telescopic chiseling member 4 and an attack object, the telescopic chiseling member is not influenced by the distance between the telescopic chiseling member 4 and the attack object, the short-distance attack can be sent out at any time, and the attack effect is further improved. In addition, the cam energy storage modular chiseling mechanism of the invention uses the cam 2 and the swinging gear 3 as a transmission mechanism to drive the telescopic chiseling member 4 to swing, once the robot is overturned, the swing of the telescopic chiseling member 4 can be used for turning over the robot, and the phenomenon that the robot loses mobility due to being overturned is avoided.
It should be noted that the cam energy storage modular chiseling mechanism of the present embodiment is not only applicable to a fighting robot, but also applicable to other types of robots.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A cam energy storage modular chiseling mechanism is characterized by comprising a driving motor (1), a cam (2), a swinging gear (3), a telescopic chiseling member (4) and a control unit; the driving motor (1) drives the cam (2) to rotate; the cam (2) pushes the swing gear (3) to rotate; the swing gear (3) drives the telescopic chiseling component (4) to rotate; the telescopic chiseling component (4) is provided with a telescopic driving mechanism, a displacement sensor and a telescopic control device; the telescopic driving mechanism drives the telescopic chiseling member (4) to stretch and retract; the telescopic control device receives a distance test value transmitted by the displacement sensor and controls the telescopic driving mechanism to stop and start according to the received distance test value;
the telescopic chiseling member (4) comprises a chiseling arm (43), the chiseling arm (43) is of a bending structure with a certain bending angle or an arc-shaped structure with a certain curvature, the bending structure is bent towards the chiseling direction, or the center of the arc-shaped structure is located on the chiseling direction side; the swing gear (3) is provided with a boss (31) matched with the cam (2); the cam (2) pushes the swing gear (3) to rotate through the boss (31); the cam (2) is a forward swing type cam swing rod mechanism, the length of a swing rod is 4mm, the maximum value of a swing angle of the swing rod is 72 degrees, a push stroke motion angle is 270 degrees, a push stroke allowable pressure angle is 40 degrees, and the swing rod is a virtual structure formed by connecting the rotation center of the swing gear (3) and the center of the boss (31); the control unit is used for controlling the driving motor to continue rotating or stop rotating after the cam (2) rotates to the highest position.
2. The cam energy storing modular chiseling mechanism according to claim 1, further comprising an energy storing torsion spring (42); the energy-storing torsion spring (42) is positioned at one end of the telescopic chiseling member (4) adjacent to the swinging gear (3); the driving motor (1) is a unidirectional rotating motor.
3. The cam energy storing modular chiseling mechanism according to claim 1, characterized in that it further comprises a first bracket (6), a second bracket (7); the first bracket (6) is detachably connected with the second bracket (7), and the first bracket (6) and the second bracket (7) enclose an accommodating cavity (61); the driving motor (1), the cam (2) and the swing gear (3) are arranged in the accommodating cavity (61).
4. The cam energy storing modular chiseling mechanism according to claim 3, characterized in that it further comprises a reduction gear train (8); the reducing gear train (8) drives the cam (2) to rotate, and the reducing gear train (8) is arranged in the accommodating cavity (61); the driving motor (1) drives the reduction gear train (8) to rotate.
5. The cam energy accumulating modular chiseling mechanism according to claim 1, characterized in that the end of the telescopic chiseling member (4) adjacent to the oscillating gear (3) is provided with a transmission tooth (41); the swing gear (3) drives the telescopic chiseling member (4) to rotate by being meshed with the transmission gear (41).
6. A cam energy accumulating modular chiseling mechanism according to claim 2, characterized in that the end of the telescopic chiseling member (4) adjacent to the oscillating gear (3) is provided with a torsion spring slot (5) housing the energy accumulating torsion spring (42).
7. A cam accumulating modular chiseling mechanism according to any one of claims 1 to 6, characterized in that the telescopic chiseling member (4) further comprises a chiseling hammer (44); one end of the chiseling arm (43) is rotatably connected with the swing gear (3), and the other end of the chiseling arm (43) is connected with the chiseling hammer (44).
8. Modular cam-accumulating chiseling mechanism according to claim 4, characterized in that said reduction gear train (8) is integrally connected with said cam (2).
9. A combat robot comprising a cam energy accumulating modular chiseling mechanism as claimed in any one of claims 1 to 8.
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| CN201910336931.1A CN109955268B (en) | 2019-04-25 | 2019-04-25 | Cam energy storage modularization chiseling mechanism and fighting robot |
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| CN201910336931.1A CN109955268B (en) | 2019-04-25 | 2019-04-25 | Cam energy storage modularization chiseling mechanism and fighting robot |
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| CN109955268B true CN109955268B (en) | 2021-02-05 |
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| CN203488321U (en) * | 2013-10-17 | 2014-03-19 | 华北电力大学 | Power generating device based on pressure accumulation technique as well as power generating system |
| WO2016067474A1 (en) * | 2014-10-31 | 2016-05-06 | 株式会社タカラトミー | Robot toy |
| CN107745992A (en) * | 2017-11-28 | 2018-03-02 | 桐乡越顺经编有限公司 | A kind of interval guide organisation of working |
| CN208582977U (en) * | 2018-05-31 | 2019-03-08 | 奥飞娱乐股份有限公司 | Swing hammer toy |
| CN109364496B (en) * | 2018-12-24 | 2024-05-07 | 安徽建筑大学 | Combat robot capable of realizing simultaneous chiseling and lifting |
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