CN110433504B - Bionic combat robot - Google Patents
Bionic combat robot Download PDFInfo
- Publication number
- CN110433504B CN110433504B CN201910850743.0A CN201910850743A CN110433504B CN 110433504 B CN110433504 B CN 110433504B CN 201910850743 A CN201910850743 A CN 201910850743A CN 110433504 B CN110433504 B CN 110433504B
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- gear
- walking
- driving motor
- machine body
- driving
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 32
- 230000005540 biological transmission Effects 0.000 claims abstract description 31
- 230000000712 assembly Effects 0.000 claims abstract description 15
- 238000000429 assembly Methods 0.000 claims abstract description 15
- 230000001360 synchronised effect Effects 0.000 claims abstract description 7
- 238000013016 damping Methods 0.000 claims description 7
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 229910002804 graphite Inorganic materials 0.000 claims description 3
- 239000010439 graphite Substances 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 claims 3
- 230000009347 mechanical transmission Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 230000037147 athletic performance Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a bionic combat robot, which comprises a machine body and a transmission driving mechanism arranged in the machine body, wherein both sides of the machine body are connected with leg assemblies through the transmission driving mechanism, the transmission driving mechanism comprises a walking driving motor and a synchronous gear set mainly composed of a walking gear and a driving gear, the output end of the driving mechanism is connected with the driving gear through a planetary reducer, both sides of the driving gear are respectively meshed with the walking gear, eccentric holes are formed in the end faces of the walking gears, the eccentric holes of two adjacent walking gears are symmetrically arranged relative to the driving gear, the eccentric holes are connected with the leg assemblies, and the leg assemblies are connected with the side parts of the machine body. The bionic combat robot with the structure avoids damage caused by collision by adopting a simple mechanical transmission driving mechanism, and simultaneously ensures that the robot cannot damage any part of the robot under the conditions of collision and clamping by arranging the torsion release mechanism.
Description
Technical Field
The invention relates to a robot technology, in particular to a bionic combat robot.
Background
A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run pre-programmed program and act according to the principle set by artificial intelligence technology. Its task is to assist or replace human work, such as in the industry, construction, or dangerous work.
In the field of robots, different kinds of robot forms are generated according to different working contents, so that robots are classified into industrial robots, service robots, educational athletic performance robots and military robots. Including, for example, various types of robotic arms, welding robot platforms, logistics robot platforms, and the like. Service robots include, for example, greeting robots, attendant robots, guidance robots, answering robots, and the like. Military robots include, for example, unmanned aircraft platforms, automatic weapon station platforms, military transport platforms, and the like. Educational athletic performance robots include, for example, combat robots, ball robots, ski robots, submersible robots, and the like.
Most of the existing robots are steering engine robots, namely walking actions are completed mainly by means of cooperation programming of steering engines, but planetary reduction mechanisms in the steering engines are complex in structure, and in severe athletic combat collision, the steering engines are damaged easily due to collision, so that the robots are damaged.
Disclosure of Invention
The invention aims to provide a bionic combat robot, which avoids damage caused by collision by adopting a simple mechanical transmission driving mechanism, and simultaneously ensures that the robot cannot damage any part of the robot under the conditions of collision and clamping by arranging a torsion release mechanism.
In order to achieve the above purpose, the invention provides a bionic combat robot, which comprises a machine body and a transmission driving mechanism arranged in the machine body, wherein two sides of the machine body are connected with leg assemblies through the transmission driving mechanism, the transmission driving mechanism comprises a walking driving motor and a synchronous gear set mainly composed of a walking gear and a driving gear, the output end of the driving mechanism is connected with the driving gear through a planetary reducer, two sides of the driving gear are respectively meshed with the walking gear, eccentric holes are formed in the end faces of the walking gears, the eccentric holes of two adjacent walking gears are symmetrically arranged relative to the driving gear, the eccentric holes are connected with the leg assemblies, and the leg assemblies are connected with the side parts of the machine body.
Preferably, the synchronous gear set further comprises a follower gear, the traveling gear comprises a main traveling gear meshed with the driving gear and a secondary traveling gear meshed with the main traveling gear through the follower gear, and the eccentric hole formed in the secondary traveling gear and the eccentric hole of the main traveling gear are symmetrically arranged with respect to the follower gear.
Preferably, the leg assembly comprises a spherical joint shaft and an L-shaped walking leg which are rotationally connected with the eccentric hole, the spherical joint shaft is connected with the top end of the L-shaped walking leg, the bottom end of the L-shaped walking leg is rotationally connected with a walking wheel, and the walking wheel is a rubber wheel.
Preferably, the machine body comprises a top plate and a bottom plate connected with the top plate through a support column, wherein the top plate and the bottom plate are formed by assembling at least two splicing blocks through mortise and tenon joints.
Preferably, one end of the L-shaped walking leg, which is close to the spherical joint shaft, is connected with the middle part of a guide rod through a universal cross shaft, two ends of the guide rod are respectively connected with the top plate and the bottom plate, a damping spring is sleeved on the guide rod, and the damping spring is sleeved on the outer side of the guide rod between the universal cross shaft and the top plate and the outer side of the guide rod between the universal cross shaft and the bottom plate.
Preferably, the invention further comprises an attack mechanism arranged at the head of the machine body, the attack mechanism comprises an attack driving motor arranged on the machine body, a first transmission gear and a shovel plate, the first transmission gear and the shovel plate are rotatably arranged on the machine body, the output end of the attack driving motor is meshed with a second transmission gear through the first transmission gear, the second transmission gear is rotatably arranged at one end, close to the machine body, of the shovel plate, and a jaw is arranged at the other end of the shovel plate.
Preferably, the invention further comprises a torsion release mechanism for releasing redundant power, the torsion release mechanism comprises a planetary reducer, the outer side of the planetary reducer is in friction contact with the inner side of the driving gear, the input end of the planetary reducer is connected with the output end of the walking driving motor or the attack driving motor, an inner friction block and an outer friction block are sequentially sleeved on the output shaft of the planetary reducer, one side of the inner friction block is fixedly connected with the machine body through a positioning column, the other side of the inner friction block is in friction contact with the outer friction block, the outer friction block is fixedly connected with the output shaft of the planetary reducer, and the friction coefficient between the inner friction block and the outer friction block is larger than the friction coefficient between the outer side of the planetary reducer and the inner side of the driving gear.
Preferably, the walking driving motor and the attack driving motor are both connected with an electronic speed regulator, and the electronic speed regulator is communicated with a remote control or Bluetooth through a wireless transceiver.
Preferably, the walking driving motor and the attack driving motor are brushless motors, and the walking driving motor and the attack driving motor are electrically connected with and fixed on the body storage battery.
Preferably, the spherical joint shaft is rotatably connected with the eccentric hole through a graphite wear-resistant copper sleeve.
Therefore, the bionic combat robot adopting the structure avoids damage caused by collision by adopting a simple mechanical transmission driving mechanism, and simultaneously ensures that the robot cannot damage any part of the robot under the conditions of collision and clamping by arranging the torsion release mechanism.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a schematic diagram of a bionic combat robot according to an embodiment of the present invention;
fig. 2 is an external view of a bionic combat robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a leg assembly of a bionic combat robot according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a torsion release mechanism of a bionic combat robot according to an embodiment of the present invention.
Wherein: 1. a shovel plate; 2. a jaw; 3. a torsion release mechanism; 4. a drive gear; 5. a walking wheel; 6. l-shaped walking legs; 7. a damping spring; 8. a walking driving motor; 9. a bottom plate; 10. an eccentric hole; 11. a universal cross shaft; 12. a main traveling gear; 13. a follower gear; 14. attack the driving motor; 15. a secondary walking gear; 16. a first transmission gear; 17. a second transmission gear; 18. a top plate; 19. a spherical joint shaft; 20. a guide rod; 21. a planetary reducer; 22. an inner friction block; 23. and an outer friction block.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, and it should be noted that, while the present embodiment provides a detailed implementation and a specific operation process on the premise of the present technical solution, the protection scope of the present invention is not limited to the present embodiment.
FIG. 1 is a schematic diagram of a bionic combat robot according to an embodiment of the present invention; fig. 2 is an external view of a bionic combat robot according to an embodiment of the present invention; FIG. 3 is a schematic diagram of a leg assembly of a bionic combat robot according to an embodiment of the present invention; fig. 4 is a schematic diagram of a torsion release mechanism of a bionic combat robot according to an embodiment of the present invention, as shown in fig. 1, 2, 3 and 4, the structure of the present invention includes a machine body and a transmission driving mechanism disposed in the machine body, both sides of the machine body are connected with leg assemblies via the transmission driving mechanism, the transmission driving mechanism includes a walking driving motor 8 and a synchronous gear set mainly composed of a walking gear and a driving gear 4, an output end of the driving mechanism is connected with the driving gear 4 via a planetary reducer 21, both sides of the driving gear 4 are respectively engaged with the walking gear, eccentric holes 10 are formed on end surfaces of the walking gear, eccentric holes 10 of two adjacent walking gears are symmetrically disposed about the driving gear 4, the eccentric holes 10 are connected with the leg assemblies, the leg assemblies are connected with a side of the machine body, preferably, the synchronous gear set further includes a follower gear 13, the walking gear includes a main walking gear 12 engaged with the driving gear 12 via the follower gear 13, the eccentric holes 10 formed on the follower gear 15 are symmetrically disposed about the follower gear 13, i.e., both sides of the machine body in this embodiment are provided with three leg assemblies. Specifically, the leg assembly includes spherical joint axle 19 and L type walking leg 6 of rotating with eccentric hole 10 to be connected, and spherical joint axle 19 is connected with the top of L type walking leg 6, and the rotation of L type walking leg 6 bottom is connected with walking wheel 5, and walking wheel 5 is the rubber wheel. The machine body comprises a top plate 18 and a bottom plate 9 connected with the top plate 18 through support columns, the top plate 18 and the bottom plate 9 are formed by splicing at least two splicing blocks through mortise and tenon joints, the machine body is compact, firm and high in reliability, and the machine body is made of high-strength titanium alloy, aviation aluminum, carbon fiber, high-strength nylon and other materials, so that the strength is higher. One end of the L-shaped walking leg 6, which is close to the spherical joint shaft 19, is connected with the middle part of a guide rod 20 through a universal cross shaft 11, two ends of the guide rod 20 are respectively connected with a top plate 18 and a bottom plate 9, a damping spring 7 is sleeved on the guide rod 20, and the damping springs 7 are sleeved on the outer sides of the guide rod 20 between the universal cross shaft 11 and the top plate 18 and the outer sides of the guide rod 20 between the universal cross shaft 11 and the bottom plate 9. Preferably, the invention further comprises a torsion release mechanism 3 for releasing redundant power, wherein the torsion release mechanism 3 comprises a planetary reducer 21, the outer side of the planetary reducer 21 is in friction contact with the inner side of the driving gear 4, the input end of the planetary reducer 21 is connected with the output end of the walking driving motor 8 or the attack driving motor 14, an inner side friction block 22 and an outer side friction block 23 are sequentially sleeved on the output shaft of the planetary reducer 21, one side of the inner side friction block 22 is fixedly connected with the machine body through a positioning column, the other side of the inner side friction block 22 is in friction contact with the outer side friction block 23, the outer side friction block 23 is fixedly connected with the output shaft of the planetary reducer, and the friction coefficient between the inner side friction block 22 and the outer side friction block 23 is larger than the friction coefficient between the outer side of the planetary reducer 21 and the inner side of the driving gear 4. Walking principle: the sun gear of the planetary reducer 21 is driven to rotate by starting the running driving motor 8, the sun gear drives the planetary gears around the sun gear to rotate, the planetary gears drive the outer ring gear of the planetary reducer 21 to rotate, the outer ring gear drives the driving gear 4 on the outer side of the planetary reducer 21 to rotate, at this moment, the output shaft of the planetary reducer 21 is fixedly connected with the machine body by the inner friction block 22, the inner friction block 22 is in friction contact with the outer friction block 23, and the friction coefficient is larger than that of the driving gear 4 and the outer ring gear, so that the output shaft of the reducer fixedly connected with the outer friction block 23 does not rotate at this moment, when the driving gear 4 rotates to drive the main running gears 12 on two sides of the driving gear 4, the rotation directions of the two main running gears 12 are consistent because the main running gears 12 are respectively positioned on two sides of the driving gear 4, the main walking gear 12 is meshed with the auxiliary walking gear 15 through the follower gear 13, so that the rotation direction of the auxiliary walking gear 15 is consistent with that of the main walking gear 12, because the eccentric holes 10 on the two adjacent walking gears are symmetrically arranged (namely, the angle difference is 180 degrees), meanwhile, the angle difference relative to the eccentric holes 10 on the two walking gears is 180 degrees, at least one leg of the three L-shaped walking legs 6 on one side is ensured to be contacted with the ground, at least one leg on two sides is ensured to be contacted with the ground, at least two legs are ensured to walk stably, continuous output is ensured, the L-shaped walking legs 6 are driven to walk in a striding way, when the robot collides or is blocked, the legs are blocked to not move, the driving gear 4 stops rotating, at the moment, the output torque of the driving motor drives the outer friction block 23 through the output shaft of the planetary reducer 21 to overcome the friction force between the outer friction block and the inner friction block 22 to start rotating, thereby outputting redundant force, so that even if the driving gear 4 outside the outer ring of the gear of the planetary speed reducer 21 is clamped, the internal gear of the planetary speed reducer 21 is not damaged, and the electronic and electronic speed regulator is not burnt; meanwhile, by arranging a mechanized transmission driving mechanism, the impact is ensured not to be damaged, and the impact is firm, flexible and not easy to damage; it should be noted that the two sides of the machine body are both provided with transmission driving mechanisms, that is, the leg assemblies on the two sides are driven by two different rotation driving mechanisms, so that the movement states of the leg assemblies on the two sides are the same, and the movement states of the leg assemblies on the two sides are different, and the movement states of the leg assemblies are not limited.
Preferably, the invention also comprises an attack mechanism arranged at the head of the machine body, the attack mechanism comprises an attack driving motor 14 arranged on the machine body, a first transmission gear 16 and a shovel plate 1 which are rotatably arranged on the machine body, the output end of the attack driving motor 14 is meshed with a second transmission gear 17 through the first transmission gear 16, the second transmission gear 17 is rotatably arranged at one end of the shovel plate 1 close to the machine body, the other end of the shovel plate 1 is provided with a jaw 2, the attack driving motor 14 drives the shovel plate 1 to lift up through the transmission gear, the shovel hits an opponent, the opponent is lifted up and turned over, and meanwhile, the opponent can be clamped through the jaw 2 to attack, so that the aim of fighting teaching is achieved.
Preferably, the walking driving motor 8 and the attack driving motor 14 are both connected with an electronic speed regulator, and the electronic speed regulator is communicated with a remote control or Bluetooth through a wireless transceiver, so that the starting, stopping and speed regulation can be realized through the remote control or Bluetooth.
Preferably, the walking driving motor 8 and the attack driving motor 14 are brushless motors, and the walking driving motor 8 and the attack driving motor 14 are electrically connected with a storage battery fixed on the machine body.
Preferably, the spherical joint shaft 19 is rotatably connected with the eccentric hole 10 through a graphite wear-resistant copper sleeve.
Therefore, the bionic combat robot adopting the structure avoids damage caused by collision by adopting a simple mechanical transmission driving mechanism, and simultaneously ensures that the robot cannot damage any part of the robot under the conditions of collision and clamping by arranging the torsion release mechanism.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (8)
1. The utility model provides a bionical fight robot, includes the fuselage with set up in the inside transmission actuating mechanism of fuselage, its characterized in that: the two sides of the machine body are connected with leg assemblies through transmission driving mechanisms, each transmission driving mechanism comprises a walking driving motor and a synchronous gear set mainly composed of a walking gear and a driving gear, the output end of each walking driving motor is connected with each driving gear through a planetary reducer, the two sides of each driving gear are respectively meshed with each walking gear, eccentric holes are formed in the end faces of each walking gear, the eccentric holes of two adjacent walking gears are symmetrically arranged relative to each driving gear, each eccentric hole is connected with each leg assembly, and each leg assembly is connected with one side of the machine body;
the synchronous gear set further comprises a follower gear, the traveling gear comprises a main traveling gear meshed with the driving gear and a subsidiary traveling gear meshed with the main traveling gear through the follower gear, and the eccentric hole formed in the subsidiary traveling gear and the eccentric hole of the main traveling gear are symmetrically arranged about the follower gear;
the leg assembly comprises a spherical joint shaft and an L-shaped walking leg which are rotationally connected with the eccentric hole, the spherical joint shaft is connected with the top end of the L-shaped walking leg, the bottom end of the L-shaped walking leg is rotationally connected with a walking wheel, and the walking wheel is a rubber wheel.
2. A bionic combat robot according to claim 1, wherein: the machine body comprises a top plate and a bottom plate connected with the top plate through a support column, wherein the top plate and the bottom plate are formed by assembling at least two splicing blocks through mortise and tenon joints.
3. A bionic combat robot according to claim 2, characterized in that: the utility model discloses a ball-shaped joint axle, including the bottom plate, the ball-shaped joint axle, the L type walking leg is close to the one end of ball-shaped joint axle is connected with the guide bar middle part through the universal cross axle, the guide bar both ends respectively with the roof with the bottom plate is connected, cup jointed damping spring on the guide bar, the universal cross axle with between the roof the guide bar outside and the universal cross axle with between the bottom plate the guide bar outside has all cup jointed damping spring.
4. A bionic combat robot according to claim 1, wherein: the attack mechanism comprises an attack driving motor arranged on the machine body, a first transmission gear and a shovel plate, wherein the first transmission gear and the shovel plate are arranged on the machine body in a rotating mode, the output end of the attack driving motor is meshed with the second transmission gear through the first transmission gear, the second transmission gear is arranged on one end, close to the machine body, of the shovel plate in a rotating mode, and a jaw is arranged on the other end of the shovel plate.
5. The biomimetic combat robot of claim 4, wherein: the planetary reducer is characterized by further comprising a torsion release mechanism used for releasing redundant power, the torsion release mechanism comprises a planetary reducer, the outer side of the planetary reducer is in friction contact with the inner side of a driving gear, the input end of the planetary reducer is connected with a walking driving motor or the output end of an attack driving motor, an inner side friction block and an outer side friction block are sequentially sleeved on an output shaft of the planetary reducer, one side of the inner side friction block is fixedly connected with the machine body through a positioning column, the other side of the inner side friction block is in friction contact with the outer side friction block, the outer side friction block is fixedly connected with an output shaft of the planetary reducer, and the friction coefficient between the inner side friction block and the outer side friction block is larger than the friction coefficient between the outer side of the planetary reducer and the inner side of the driving gear.
6. The biomimetic combat robot of claim 4, wherein: the walking driving motor and the attack driving motor are connected with an electronic speed regulator, and the electronic speed regulator is communicated with a remote control or Bluetooth through a wireless transceiver.
7. The biomimetic combat robot of claim 4, wherein: the walking driving motor and the attack driving motor are brushless motors, and the walking driving motor and the attack driving motor are electrically connected with the storage battery fixed on the machine body.
8. A bionic combat robot according to claim 1, wherein: the spherical joint shaft is rotationally connected with the eccentric hole through a graphite wear-resistant copper sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910850743.0A CN110433504B (en) | 2019-09-10 | 2019-09-10 | Bionic combat robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910850743.0A CN110433504B (en) | 2019-09-10 | 2019-09-10 | Bionic combat robot |
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| Publication Number | Publication Date |
|---|---|
| CN110433504A CN110433504A (en) | 2019-11-12 |
| CN110433504B true CN110433504B (en) | 2024-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910850743.0A Active CN110433504B (en) | 2019-09-10 | 2019-09-10 | Bionic combat robot |
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| CN (1) | CN110433504B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06210073A (en) * | 1993-01-18 | 1994-08-02 | Bandai Co Ltd | Robot toy |
| JP3136601U (en) * | 2007-08-20 | 2007-11-01 | 株式会社学習研究社 | Toy walking toy |
| JP3205585U (en) * | 2016-04-28 | 2016-08-04 | 株式会社タカラトミー | Battle toys |
| CN206813144U (en) * | 2017-06-24 | 2017-12-29 | 中北大学 | Movable robot with wheel legs based on sphere parallel mechanism |
| CN210728662U (en) * | 2019-09-10 | 2020-06-12 | 保定市石碳纪机器人科技有限责任公司 | Bionic grapple robot |
-
2019
- 2019-09-10 CN CN201910850743.0A patent/CN110433504B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06210073A (en) * | 1993-01-18 | 1994-08-02 | Bandai Co Ltd | Robot toy |
| JP3136601U (en) * | 2007-08-20 | 2007-11-01 | 株式会社学習研究社 | Toy walking toy |
| JP3205585U (en) * | 2016-04-28 | 2016-08-04 | 株式会社タカラトミー | Battle toys |
| CN206813144U (en) * | 2017-06-24 | 2017-12-29 | 中北大学 | Movable robot with wheel legs based on sphere parallel mechanism |
| CN210728662U (en) * | 2019-09-10 | 2020-06-12 | 保定市石碳纪机器人科技有限责任公司 | Bionic grapple robot |
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| CN110433504A (en) | 2019-11-12 |
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