CN116423536B - Arena athletic robot - Google Patents
Arena athletic robot Download PDFInfo
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- CN116423536B CN116423536B CN202310454677.1A CN202310454677A CN116423536B CN 116423536 B CN116423536 B CN 116423536B CN 202310454677 A CN202310454677 A CN 202310454677A CN 116423536 B CN116423536 B CN 116423536B
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- 230000000386 athletic effect Effects 0.000 title claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 238000003825 pressing Methods 0.000 claims description 19
- 238000002347 injection Methods 0.000 claims description 14
- 239000007924 injection Substances 0.000 claims description 14
- 230000006835 compression Effects 0.000 claims description 9
- 238000007906 compression Methods 0.000 claims description 9
- 230000000670 limiting effect Effects 0.000 claims description 9
- 230000000903 blocking effect Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims description 2
- 230000006978 adaptation Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000005507 spraying Methods 0.000 description 4
- 230000017525 heat dissipation Effects 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000003042 antagnostic effect Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004401 flow injection analysis Methods 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application discloses an arena athletic robot, which comprises a vehicle body; the vehicle body flattening design is used for providing a mounting base; the rotary hammer device is arranged at the advancing front end of the vehicle body and is arranged above the top surface of the vehicle body; the power supply is arranged in the middle of the inner cavity of the vehicle body through the buffer fixing frame; the rotary hammer device is in chain transmission with the driving device; the driving device is arranged at the rear side of the vehicle body; the traveling wheel assembly comprises a guide wheel arranged at the traveling front end of the vehicle body and a traveling wheel arranged at the traveling tail end of the vehicle body; the air injector comprises an air inlet pipe obliquely arranged on the top surface of the vehicle body and an air jet pipe arranged at the advancing end of the vehicle body; the distance measuring assembly is arranged below the air injector; the attack shovel component is arranged at the advancing front end of the vehicle body; and are respectively arranged at two sides of the rotary hammer device. According to the application, the vehicle body is in a flattened design and is close to the bottom surface, so that the ground grabbing force of the vehicle body is enhanced, and the travelling wheel assembly is arranged in the middle of the front end of the vehicle body, so that the overall balance of the robot can be enhanced compared with other mounting positions.
Description
Technical Field
The application belongs to the technical field of robot manufacturing, and particularly relates to an arena competition 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. The martial arts arena of the robot is an antagonistic game, the playing field is a square short table, and the arena is the arena on the table. On the arena, the robots of the two parties involved in the arena simulate the rules of the traditional Chinese arena fight and strike or push each other, and if one robot leaves the arena area as a whole or is struck by the other party robot to be unable to act, the other party wins.
The existing arena competition robots are biased towards the offensive robots, so that the existing arena competition robots are deficient in balance, ground grabbing force and counterattack capability, and attack counterattack after short disfavored cannot be realized.
Therefore, the application designs the arena athletic robot which has strong ground grabbing force and good balance and attacks by rotary striking.
Disclosure of Invention
The application aims to provide an arena athletic robot for solving the problems.
In order to achieve the above object, the present application provides the following solutions:
an arena athletic robot comprises a vehicle body; the vehicle body flattening design is used for providing a mounting base;
a rotary hammer device; the rotary hammer device is arranged at the advancing front end of the vehicle body and is arranged above the top surface of the vehicle body;
a power supply; the power supply is arranged in the middle of the inner cavity of the vehicle body through a buffer fixing frame;
a driving device; the rotary hammer device is in chain transmission with the driving device; the driving device is arranged at the rear side of the vehicle body;
a road wheel assembly; the travelling wheel assembly comprises a guide wheel arranged at the travelling front end of the vehicle body and a travelling wheel arranged at the travelling tail end of the vehicle body;
an air ejector; the air injector comprises an air inlet pipe obliquely arranged on the top surface of the vehicle body and an air spraying pipe arranged at the advancing end of the vehicle body;
a ranging assembly; the distance measuring assembly is arranged below the air ejector;
an attack shovel assembly; the attack shovel component is arranged at the advancing front end of the vehicle body; and are respectively arranged at two sides of the rotary hammer device.
The vehicle body is of a cube structure; a middle slot is formed in the center of the top surface of the vehicle body; the two sides of the middle slotting are symmetrically provided with movable slots for installing the guide wheels; side protection plates are fixedly arranged on two sides of the middle slotting; the driving device and the rotary hammer device are respectively arranged at two ends of the middle slotting; a driving protection plate is further arranged between the two side protection plates, and the driving protection plate is used for preventing the driving device from being damaged by attack;
and the two sides of the vehicle body are fixedly provided with protective backing plates.
The driving device comprises a motor radiating seat which is fixedly arranged on the bottom surface of the vehicle body; a cambered surface mounting cavity is formed in the top surface of the motor radiating seat; a plurality of wavy radiating grooves are formed in the cambered surface mounting cavity; the driving motor is fixedly arranged on the cambered surface mounting cavity; the top of the driving motor extends out of the middle slotting notch and is arranged below the motor protection plate; the motor protection plate is fixedly arranged on one side protection plate and is of a semicircular cylinder structure; the output end of the driving motor is provided with a driving chain wheel; the driving chain wheel is in transmission connection with the driven chain wheel of the rotary hammer device through a transmission chain; the driving chain wheel is arranged below the driving protection plate, and an output shaft of the driving motor is arranged on the other side protection plate through a bearing.
The travelling wheel assembly further comprises two driving modules and two guide motors; the driving module is fixedly arranged at the front end of the vehicle body and is electrically connected with the guide motor; the guide motor is also electrically connected with a power supply; the guide wheel is arranged at the output end of the guide motor; the distance between the two sides of the guide wheel and the two side walls of the middle slotting is not less than 5cm;
wheel mounting frames are fixedly arranged on two sides of the advancing tail end of the vehicle body; the wheel mounting frame is provided with the travelling wheels through a fixed shaft; and a reinforcing frame is further connected between the wheel mounting frame and the vehicle body.
The rotary hammer device comprises a rotary shaft; two ends of the rotating shaft are respectively arranged on the two side protection plates; the rotary shaft is rotatably provided with a rotary pendulum bob and the driven sprocket; the rotary pendulum bob and the driven sprocket are separated by a retaining shoulder; the driven sprocket is in chain transmission with the driving sprocket; a chain protection plate with a strip-shaped structure is arranged above the transmission chain; one end of the chain protection plate is fixedly arranged on the driving protection plate, and the other end of the chain protection plate is arranged above the driven sprocket; shaft sleeves are further arranged between the rotary pendulum bob and the side protection plate and between the driven sprocket and the side protection plate; the shaft sleeve is arranged on the rotating shaft;
the middle groove is internally provided with a penetrating groove for accommodating the rotation of the rotary pendulum bob, and the penetrating groove is used for preventing the vehicle body from interfering with the rotary pendulum bob.
The two sides of the side protection plates, which are far away from each other, are respectively provided with a baffle frame; the two baffle frames are fixedly arranged at two ends of the rotating shaft respectively through shaft end check rings; the baffle frame is obliquely arranged from the advancing front end of the vehicle body to the advancing tail end of the vehicle body, and the inclination angle is 15-20 degrees with the vertical plane;
the top ends of the two baffle frames are fixedly provided with baffle rods; the blocking rod extends to the upper part of the shaft sleeve;
the rotary pendulum comprises a rotation part, a connecting part and a striking part, wherein the connecting part and the striking part are arranged on the side wall of the rotation part; the rotating part is rotatably arranged on the rotating shaft, and two or three connecting parts are arranged on the side wall of the rotating part; the connecting part is of a trapezoid structure, and the striking part is arranged on one side of the connecting part far away from the autorotation part; the striking part is of an arc-shaped strip structure.
The buffering fixing frame comprises a pressing rod and a frame body; the power supply is arranged in the frame body; limiting grooves are formed in two sides of the frame body; a plurality of pressing blocks are fixedly arranged on the bottom surface of the pressing rod; the shape and the volume of the pressing block are matched with those of the limiting groove; one end of a buffer spring is fixedly arranged at the bottom of the limit groove; a buffer plate is fixedly arranged at the other end of the buffer spring; the buffer plate is arranged in parallel with the side wall of the frame body; the buffer plate with automobile body inner wall butt, the buffer plate with automobile body inner wall butt face still fixedly bonds there is the rubber layer.
The sum of the width of the pressing block and the width of the buffer plate is equal to the width of the buffer groove, and the bottom end of the pressing block is overlapped with the top of the buffer plate;
the two ends of the compression bar extend out of the two side walls of the vehicle body, and limiting blocks are fixedly arranged at the two ends of the compression bar.
The air injector comprises an air inlet pipe obliquely arranged on the top surface of the vehicle body and an air spraying pipe arranged at the advancing end of the vehicle body;
an annular cavity is formed in the air inlet pipe, and an air inlet is formed in the top of the annular cavity; the annular cavity is provided with a gas injection hole near the avoidance of the gas injection pipe; the air injection holes are formed in a plurality of mode and are annularly arranged at equal intervals; the inner diameter of the inner wall surface of the annular cavity is smaller than the inner diameter of the jet pipe; the air inlet is arranged towards the driving motor.
The attack shovel assembly comprises a shovel plate; the front end of the shovel plate is provided with an inclined plane with an angle of 30-45 degrees; the advancing front end of the vehicle body is an inclined surface, and the shovel plate is attached to the advancing front end of the vehicle body;
a first magnetic part is fixedly arranged on one side of the shovel plate, which is close to the vehicle body; a chute is formed in the advancing front end of the vehicle body; a second magnetic part is arranged in the chute;
the second magnetic attraction part is a magnet with the same magnetism as the bonding surface of the first magnetic attraction part;
or the second magnetic attraction part is an electromagnet; the electromagnet is electrically connected with the power supply, and the electromagnet is bonded in the chute;
and/or the two sides of the shovel plate are also connected with the vehicle body through telescopic rods.
Compared with the prior art, the application has the following advantages and technical effects: according to the application, the vehicle body is in a flattened design and is close to the bottom surface, so that the ground grabbing force of the vehicle body is enhanced, and the travelling wheel assembly is arranged in the middle of the front end of the vehicle body, so that the overall balance of the robot can be enhanced compared with other mounting positions; the driving device is arranged at the rear of the vehicle body, and the driving device drives the rotary hammer device to attack through the transmission chain, so that the overall weight distribution of the vehicle body is adjusted, balance adjustment is facilitated, and the tilting and overturning of the vehicle body caused by the collision of the head is prevented.
Drawings
For a clearer description of an embodiment of the application or of the solutions of the prior art, the drawings that are needed in the embodiment will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art:
FIG. 1 is a schematic diagram of the overall structure;
FIG. 2 is a rear elevational view of the overall structure;
FIG. 3 is a schematic view of a buffer fixing frame;
FIG. 4 is a schematic diagram of a rotary pendulum;
FIG. 5 is a schematic diagram of an air ejector configuration;
FIG. 6 is a schematic view of a first embodiment of an attack blade assembly;
FIG. 7 is a schematic view of a second embodiment of an attack blade assembly;
FIG. 8 is a schematic view of a third embodiment of an attack blade assembly;
FIG. 9 is a schematic circuit diagram of a first driving module;
FIG. 10 is a schematic diagram of a second driving module circuit;
wherein, 1, the car body; 2. a power supply; 3. buffering fixing frame; 4. a guide wheel; 5. an air ejector; 6. a ranging assembly; 9. a shovel plate; 11. a side shield; 12. driving a protection plate; 13. a motor protection plate; 31. a compression bar; 32. a frame body; 33. briquetting; 34. a buffer spring; 35. a buffer plate; 36. a limiting block; 41. a walking wheel; 42. a driving module; 43. a guide motor; 44. a wheel mounting frame; 45. a reinforcing frame; 51. an air inlet pipe; 52. a gas lance; 53. an annular cavity; 54. an air inlet; 55. a gas injection hole; 71. a motor heat dissipation seat; 72. a driving motor; 73. a drive sprocket; 74. a drive chain; 75. chain guard plates; 81. a rotation shaft; 82. a driven sprocket; 83. rotating the pendulum; 84. a shaft sleeve; 85. a baffle frame; 86. a blocking lever; 91. a first magnetic attraction part; 92. a second magnetic attraction part; 93. a magnet; 94. an electromagnet; 95. a telescopic rod.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description.
An arena athletic robot comprises a vehicle body 1; the vehicle body 1 is designed in a flattened manner and is used for providing a mounting base;
a rotary hammer device; the rotary hammer device is arranged at the advancing front end of the vehicle body 1 and is arranged above the top surface of the vehicle body 1;
a power supply 2; the power supply 2 is arranged in the middle of the inner cavity of the vehicle body 1 through the buffer fixing frame 3;
a driving device; the rotary hammer device is in chain transmission with the driving device; the driving device is arranged at the rear side of the vehicle body 1;
a road wheel assembly; the traveling wheel assembly comprises a guide wheel 4 arranged at the traveling front end of the vehicle body 1 and a traveling wheel 41 arranged at the traveling tail end of the vehicle body 1;
an air ejector 5; the air injector 5 includes an air intake pipe 51 obliquely installed on the top surface of the vehicle body 1 and an air jet pipe 52 installed at the traveling end of the vehicle body 1;
a distance measuring assembly 6; the distance measuring assembly is arranged below the air injector 5;
an attack shovel assembly; the attack shovel component is arranged at the advancing front end of the vehicle body 1; and are respectively arranged at two sides of the rotary hammer device.
The vehicle body 1 is of a cube structure; a middle slot is formed in the center of the top surface of the vehicle body 1; the two sides of the middle slotting are symmetrically provided with movable slots for installing the guide wheels 4; side protection plates 11 are fixedly arranged on two sides of the middle slotting; the driving device and the rotary hammer device are respectively arranged at two ends of the middle slot; a driving protection plate 12 is further arranged between the two side protection plates 11, and the driving protection plate 12 is used for preventing the driving device from being damaged by attack;
the two sides of the vehicle body 1 are also fixedly provided with protective backing plates.
In one embodiment of the application, the ranging component 6 can be installed at the front end of the vehicle body 1 according to the requirement, and the use of the attack shovel component can be better controlled by matching with the ranging.
In one embodiment of the application, the vehicle body 1 adopts a flattened design, the surface area of the vehicle body 1 is increased and is close to the bottom surface, so that the ground grabbing force of the vehicle body 1 is enhanced, further, the travelling wheel assembly is arranged in the middle of the front end of the vehicle body, and the overall balance of the robot can be enhanced compared with other installation positions.
Further, the driving device of the robot is arranged at the rear of the vehicle body 1, and the driving chain 74 drives the rotary pendulum 83 to attack, so that the overall weight distribution of the vehicle body 1 is adjusted, balance adjustment is facilitated, and the vehicle body 1 is prevented from tilting and tipping after the head is impacted.
The driving device comprises a motor radiating seat 71, and the motor radiating seat 71 is fixedly arranged on the bottom surface of the vehicle body 1; a cambered surface mounting cavity is formed on the top surface of the motor radiating seat 71; a plurality of wavy radiating grooves are formed in the cambered surface mounting cavity; the driving motor 72 is fixedly arranged on the cambered surface mounting cavity; the top of the driving motor 72 extends out of the middle slotting notch and is arranged below the motor protection plate 13; the motor protection plate 13 is fixedly arranged on the protection plate 11 on one side, and the motor protection plate 13 is of a semi-cylinder structure; the output end of the driving motor 72 is provided with a driving chain wheel 73; the driving chain wheel 73 is in transmission connection with a driven chain wheel 82 of the rotary hammer device through a transmission chain 74; the driving sprocket 73 is disposed below the driving shielding plate 12, and an output shaft of the driving motor 72 is mounted on the other side shielding plate 11 through a bearing.
In one embodiment of the present application, the motor cooling seat 71 provided on the driving device is used for the situation that two robots are in collision and stiffness during the competition, at this time, the rotation speed of the driving motor 72 is high, but the rotary pendulum 83 is not displaced, at this time, a large amount of heat is generated to be dissipated, and the heat is dissipated through the motor cooling seat 71.
Further, at this time, the driving motor 72 rotates to generate a large amount of air flow, and the air injector 5 can cooperate with the driving motor 72 to assist in heat dissipation and simultaneously accelerate the vehicle body 1.
The road wheel assembly further comprises two drive modules 42 and two guide motors 43; the driving module 42 is fixedly installed at the front end of the vehicle body 1 and is electrically connected with the guide motor 43; the guiding motor 43 is also electrically connected with the power supply 2; the output end of the guide motor 43 is provided with a guide wheel 4; the distance between the two sides of the guide wheel 4 and the two side walls of the middle slotting is not less than 5cm;
wheel mounting frames 44 are fixedly arranged on two sides of the advancing end of the vehicle body 1; the wheel mounting frame 44 is provided with a travelling wheel 41 through a fixed shaft; a reinforcing frame 45 is also connected between the wheel mounting frame 44 and the vehicle body 1.
In one embodiment of the present application, as shown in fig. 9 and 10, the driving module 42 includes a first driving module and a second driving module that drive the two guide wheels 4, respectively; for example, the left half of the U1 chip IN FIG. 9 is a motor control pin, EN1 is the enable terminal of motor T1, IN1 and IN2 are the inputs of the motor, and OUT1 and OUT2 are the outputs of the motor. If EN1 is set high, the motor is fully controlled by both pins IN1 and IN2, i.e., if IN1 is high, IN2 is low motor full speed forward, whereas IN1 is low and IN2 is high motor full speed reverse. Then after the enable pin EN1 is introduced, its logical relationship is as follows: no matter the motor rotates positively or reversely, when EN1 is at a high level, the motor rotating speed is not affected; however, when EN1 is low, the output is in a high resistance state, i.e. the control voltage cannot be output, and the rotation speed of the guide wheel 4 can be controlled through this pin.
The rotary hammer device includes a rotary shaft 81; two ends of the rotating shaft 81 are respectively arranged on the protection plates 11 on two sides; a rotary pendulum 83 and a driven sprocket 82 are rotatably mounted on the rotary shaft 81; the rotary pendulum 83 and the driven sprocket 82 are separated by a shoulder; the driven sprocket 82 is in chain transmission with the driving sprocket 73; a chain guard plate 75 with a strip-shaped structure is arranged above the transmission chain 74; one end of the chain guard plate 75 is fixedly mounted on the driving guard plate 12, and the other end is arranged above the driven sprocket 82; shaft sleeves 84 are also arranged between the rotary pendulum bob 83 and the side protection plate 11 and between the driven sprocket 82 and the side protection plate 11; the shaft sleeve 84 is mounted on the rotation shaft 81;
the middle slot is internally provided with a through slot for accommodating the rotation of the rotary pendulum 83, and the through slot is used for preventing the vehicle body 1 from interfering with the rotary pendulum 83.
In one embodiment of the present application, the side guard plates 11 and the motor guard plates 13 are used to prevent the side clamping robot from directly damaging the driving motor 72; the self-protection performance of the robot is enhanced; the side protection plate can be matched with the air ejector 5 to generate air flow diversion, so that the robot is not easy to deviate during acceleration impact; and the side protection plate 11 can be matched with the driving motor 72, so that the transmission stability is enhanced.
Further, the drive shield 12 is used for protection of the drive train 74.
The sides of the protection plates 11 at the two sides, which are far away from each other, are respectively provided with a baffle frame 85; the two baffle frames 85 are respectively and fixedly arranged at the two ends of the rotating shaft 81 through shaft end check rings; the baffle frame 85 is obliquely arranged from the advancing front end of the vehicle body 1 to the advancing tail end of the vehicle body 1, and the inclination angle is 15-20 degrees with the vertical plane;
the top ends of the two baffle frames 85 are fixedly provided with baffle rods 86; the blocking rod 86 extends above the sleeve 84;
the rotary pendulum 83 includes a rotation unit, and a connection unit and a striking unit provided on a side wall of the rotation unit; the autorotation part is rotatably arranged on the rotating shaft 81, and two or three connecting parts are arranged on the side wall of the autorotation part; the connecting part is of a trapezoid structure, and the striking part is arranged on one side of the connecting part far away from the autorotation part; the striking part is of an arc-shaped strip structure.
In one embodiment of the application, the baffle frames 85 are used for preventing the wedge-shaped robot from impacting and damaging the middle part of the vehicle body 1, the two baffle frames 85 limit the descending pressure and cooperate with the driving protection plate 12 to protect the transmission part inside the vehicle body 1; the robot is protected, and the opposite robot is shoveled up by the rotary pendulum 83 and matched with the shovel plate 9 and is damaged from the bottom of the opposite robot, so that an attack assembly of the opposite robot is avoided, the opposite robot can fly up and fall sideways, and attack is facilitated.
The buffer fixing frame 3 comprises a compression bar 31 and a frame body 32; the power supply 2 is arranged in the frame 32; limiting grooves are formed on two sides of the frame body 32; a plurality of pressing blocks 33 are fixedly arranged on the bottom surface of the pressing rod 31; the pressing block 33 is in volume fit with the limit groove; one end of the buffer spring 34 is fixedly arranged at the bottom of the limit groove; a buffer plate 35 is fixedly arranged at the other end of the buffer spring 34; the buffer plate 35 is arranged in parallel with the side wall of the frame 32; the buffer plate 35 is abutted against the inner wall of the vehicle body 1, and a rubber layer is fixedly bonded on the abutting surface of the buffer plate 35 and the inner wall of the vehicle body 1.
In one embodiment of the present application, if the robot breaks the bottom surface of the vehicle body 1 under impact, in order to prevent the other robot from directly damaging the power supply 2, the impact on the power supply 2 is relieved by the buffer fixing frame 3, and meanwhile, the protection of the power supply 2 is increased.
Further, the buffer fixing frame 3 and the inside of the vehicle body 1 are buffered by the buffer spring 34, and the top of the buffer fixing frame 3 is limited by the compression bar 31, so that the buffer fixing frame 3 is prevented from flying out of the inner cavity of the vehicle body 1.
Furthermore, the buffer fixing frame 3 can be provided with heat dissipation holes for dissipating heat of the power supply 2.
The sum of the width of the pressing block 33 and the width of the buffer plate 35 is equal to the width of the buffer groove, and the bottom end of the pressing block 33 coincides with the top of the buffer plate 35;
two ends of the compression bar 31 extend out of two side walls of the vehicle body 1, and two ends of the compression bar 31 are fixedly provided with limiting blocks 36.
In one embodiment of the present application, the sum of the width of the pressing block 33 and the width of the buffer plate 35 is equal to the width of the buffer slot, so that the pressing block 33 and the buffer plate 35 can limit each other in the maximum limit condition, preventing the buffer plate 35 from directly striking the buffer mount 3, and the buffer mount 3 is damaged by the reaction.
The air injector 5 includes an air intake pipe 51 obliquely installed on the top surface of the vehicle body 1 and an air jet pipe 52 installed at the traveling end of the vehicle body 1;
an annular cavity 53 is formed in the air inlet pipe 51, and an air inlet 54 is formed in the top of the annular cavity 53; the annular cavity 53 is provided with an air injection hole 55 near the avoidance of the air injection pipe 52; the air injection holes 55 are formed in a plurality of annular shapes at equal intervals; the inner diameter of the inner wall surface of the annular cavity 53 is smaller than the inner diameter of the gas lance 52; the air intake 54 is provided toward the drive motor 72.
In one embodiment of the present application, the air inlet pipe 51 is annular, and then the axial section of the air inlet pipe 51 is rectangular, and the radial section is annular; each wall surface of the air inlet pipe 51 forms an annular air flow channel, the air inlet 54 is arranged on the cylindrical outer wall surface of the air inlet pipe 51, and air flow radially enters the annular cavity 53 and is ejected from the air ejecting hole 55.
Wherein the inner diameter of the inner wall surface of the air inlet pipe 51 is slightly smaller than the inner diameter of the air injection pipe 52, and the air injection hole 55 is arranged on the annular plane due to the difference of the two inner diameters so that the annular plane is formed on the wall surface of the air inlet pipe 51 in the air injection pipe 52. Because the axis of the air ejector tube 52 and the axis of the air inlet tube 51 are coincident, the air ejector holes 55 are uniformly distributed and arranged annularly about the axis of the annular cavity 53; so that the sprayed gas moves axially along the gas spraying pipe 52, the movement resistance is reduced, and the gas of the gas spraying pipe 52 is driven to flow.
When air enters the annular chamber 53 from the air inlet 54, the annular chamber 53 is filled with compressed air such that the compressed air is ejected from the air ejection holes into the air ejection tube 52. The air flow ejected from the air ejection holes 55 adheres to the inner wall of the air ejection tube 52 to flow, so that the air in the air ejection tube 52 is driven to flow, negative pressure is generated at one end of the air ejection tube 52 close to the air ejection holes 55, and the air at the air inlet of the annular cavity 53 is sucked. At the gas outlet end of the gas lance 52, the air leaves the gas lance 52 by inertia and the gas is ejected. The process is continuously carried out, and air continuously enters from the air inlet and is continuously sprayed out from the air outlet end. Such a process is continuously performed, and the effect of air flow injection amplification is achieved.
Further, the orientation of the gas lance 52 in the present application may be adjusted according to the actual use, such as the gas lance 52 being horizontally disposed for horizontal acceleration; the downward air jet pipe 52 can enable the rear end of the robot to fly obliquely, and the robot is matched with the shovel plate 9 with a proper angle to fly the other robot more easily.
The attack blade assembly comprises a blade 9; the front end of the shovel plate 9 is provided with an inclined plane of 30-45 degrees; the advancing front end of the vehicle body 1 is an inclined surface, and the advancing front end of the vehicle body 1 of the shovel 9 is attached;
a first magnetic part 91 is fixedly arranged on one side of the shovel plate 9 close to the vehicle body 1; the advancing front end of the vehicle body 1 is provided with a chute; a second magnetic attraction part 92 is arranged in the chute;
the second magnetic attraction portion 92 is a magnet 93 having the same magnetic property as the contact surface of the first magnetic attraction portion 91;
or the second magnetic attraction portion 92 is an electromagnet 94; the electromagnet 94 is electrically connected with the power supply 2, and the electromagnet 94 is bonded in the chute;
and/or the two sides of the shovel 9 are also connected with the vehicle body 1 through the telescopic rods 95.
Embodiment one: as shown in fig. 6, the first magnetic attraction portion 91 is also a magnet, and the blade 9 is fixed to the front end of the vehicle body 1 by the attraction property of the magnets. Can increase the stability of structure, make shovel board 9 can furthest hug closely ground again, can shovel the other side more easily, simultaneously, adopt magnet to fix when being shoveled by the other side by oneself, can not all be lifted by whole car, but magnet separation and then shovel board 9 is lifted, furthest guarantees shovel board 9 not lifted to guarantee self safety, make the robot possess bigger stability and be difficult for the roll-over.
Embodiment two: as shown in fig. 7, the second magnetic attraction portion 92 of the present embodiment is different from the first embodiment only in that the second magnetic attraction portion 92 is an electromagnet 94; the electromagnet 94 is in a state of being non-magnetic and in a state of being opposite to the first magnetic attraction portion 91 by switching on and off the power supply, so that the shovel 9 can be abandoned to cause sudden damage to the counterpart robot in a certain situation.
Embodiment III: as shown in fig. 8, the present embodiment differs from the second embodiment only in that a telescopic rod 95 is added; so that the shovel 9 is not separated from the vehicle body 1, the shovel 9 can be extended out of one end distance by matching with the electromagnet 94, and the other robot can not react by matching with the control of an operator.
In the description of the present application, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
The above embodiments are only illustrative of the preferred embodiments of the present application and are not intended to limit the scope of the present application, and various modifications and improvements made by those skilled in the art to the technical solutions of the present application should fall within the protection scope defined by the claims of the present application without departing from the design spirit of the present application.
Claims (7)
1. An arena athletic robot, comprising:
a vehicle body (1); the vehicle body (1) is of a flattened design and is used for providing a mounting foundation;
a rotary hammer device; the rotary hammer device is arranged at the advancing front end of the vehicle body (1) and is arranged above the top surface of the vehicle body (1);
a power supply (2); the power supply (2) is arranged in the middle of the inner cavity of the vehicle body (1) through the buffer fixing frame (3);
a driving device; the rotary hammer device is in chain transmission with the driving device; the driving device is arranged at the rear side of the vehicle body (1);
a road wheel assembly; the travelling wheel assembly comprises a guide wheel (4) arranged at the travelling front end of the vehicle body (1) and a travelling wheel (41) arranged at the travelling tail end of the vehicle body (1);
an air ejector (5); the air injector (5) comprises an air inlet pipe (51) obliquely arranged on the top surface of the vehicle body (1) and an air jet pipe (52) arranged at the advancing end of the vehicle body (1);
a distance measuring assembly (6); the distance measuring assembly is arranged below the air ejector (5);
an attack shovel assembly; the attack shovel component is arranged at the advancing front end of the vehicle body (1); and are respectively arranged at two sides of the rotary hammer device; the buffering fixing frame (3) comprises a pressing rod (31) and a frame body (32); the power supply (2) is arranged in the frame body (32); limiting grooves are formed in two sides of the frame body (32); a plurality of pressing blocks (33) are fixedly arranged on the bottom surface of the pressing rod (31); the pressing block (33) is in shape and volume adaptation with the limit groove; one end of a buffer spring (34) is fixedly arranged at the bottom of the limit groove; a buffer plate (35) is fixedly arranged at the other end of the buffer spring (34); the buffer plate (35) is arranged in parallel with the side wall of the frame body (32); the buffer plate (35) is abutted against the inner wall of the vehicle body (1), and a rubber layer is fixedly bonded on the abutting surface of the buffer plate (35) and the inner wall of the vehicle body (1); the sum of the width of the pressing block (33) and the width of the buffer plate (35) is equal to the width of the limit groove, and the bottom end of the pressing block (33) is overlapped with the top of the buffer plate (35);
two ends of the compression bar (31) extend out of two side walls of the vehicle body (1), and limiting blocks (36) are fixedly arranged at two ends of the compression bar (31); the air injector (5) comprises an air inlet pipe (51) obliquely arranged on the top surface of the vehicle body (1) and an air jet pipe (52) arranged at the advancing end of the vehicle body (1);
an annular cavity (53) is formed in the air inlet pipe (51), and an air inlet (54) is formed in the top of the annular cavity (53); the wall surface of the annular cavity (53) close to the air injection pipe (52) is provided with an air injection hole (55); the air injection holes (55) are formed in a plurality of annular mode at equal intervals; the inner diameter of the inner wall surface of the annular cavity (53) is smaller than the inner diameter of the air injection pipe (52); the air inlet (54) is arranged towards the driving motor (72).
2. The arena athletic robot of claim 1, wherein: the vehicle body (1) is of a cube structure; a middle slot is formed in the center of the top surface of the vehicle body (1); the two sides of the middle slotting are symmetrically provided with movable slots for installing the guide wheels (4); side protection plates (11) are fixedly arranged on two sides of the middle slotting; the driving device and the rotary hammer device are respectively arranged at two ends of the middle slotting; a driving protection plate (12) is further arranged between the two side protection plates (11), and the driving protection plate (12) is used for preventing the driving device from being damaged by attack;
the two sides of the vehicle body (1) are fixedly provided with protective backing plates.
3. The arena athletic robot of claim 2, wherein: the driving device comprises a motor radiating seat (71), and the motor radiating seat (71) is fixedly arranged on the bottom surface of the vehicle body (1); a cambered surface mounting cavity is formed in the top surface of the motor radiating seat (71); a plurality of wavy radiating grooves are formed in the cambered surface mounting cavity; the driving motor (72) is fixedly arranged on the cambered surface mounting cavity; the top of the driving motor (72) extends out of the middle slotting notch and is arranged below the motor protection plate (13); the motor protection plate (13) is fixedly arranged on one side protection plate (11), and the motor protection plate (13) is of a semi-cylinder structure; the output end of the driving motor (72) is provided with a driving chain wheel (73); the driving chain wheel (73) is in transmission connection with a driven chain wheel (82) of the rotary hammer device through a transmission chain (74); the driving chain wheel (73) is arranged below the driving protection plate (12), and an output shaft of the driving motor (72) is arranged on the other side protection plate (11) through a bearing.
4. The arena athletic robot of claim 2, wherein: the travelling wheel assembly further comprises two driving modules (42) and two guide motors (43); the driving module (42) is fixedly arranged at the front end of the vehicle body (1) and is electrically connected with the guide motor (43); the guide motor (43) is also electrically connected with the power supply (2); the output end of the guide motor (43) is provided with the guide wheel (4); the distance between the two sides of the guide wheel (4) and the two side walls of the middle slotting is not less than 5cm;
wheel mounting frames (44) are fixedly arranged on two sides of the advancing end of the vehicle body (1); the wheel mounting frame (44) is provided with the travelling wheel (41) through a fixed shaft; a reinforcing frame (45) is further connected between the wheel mounting frame (44) and the vehicle body (1).
5. A arena athletic robot according to claim 3, wherein: the rotary hammer device comprises a rotary shaft (81); two ends of the rotating shaft (81) are respectively arranged on the two side protection plates (11); a rotary pendulum (83) and the driven sprocket (82) are rotatably mounted on the rotary shaft (81); the rotary pendulum bob (83) and the driven sprocket (82) are separated by a shoulder; the driven sprocket (82) is in chain transmission with the driving sprocket (73); a chain protection plate (75) with a strip-shaped structure is arranged above the transmission chain (74); one end of the chain protection plate (75) is fixedly arranged on the driving protection plate (12), and the other end of the chain protection plate is arranged above the driven sprocket (82); shaft sleeves (84) are further arranged between the rotary pendulum bob (83) and the side protection plate (11) and between the driven sprocket (82) and the side protection plate (11); the shaft sleeve (84) is mounted on the rotating shaft (81);
the middle groove is internally provided with a penetrating groove for accommodating the rotation of the rotary pendulum bob (83), and the penetrating groove is used for preventing the vehicle body (1) from interfering with the rotary pendulum bob (83).
6. The arena athletic robot of claim 5, wherein: one sides of the two side protection plates (11) which are far away from each other are also respectively provided with a baffle frame (85); the two baffle frames (85) are fixedly arranged at the two ends of the rotating shaft (81) through shaft end check rings respectively; the baffle frame (85) is obliquely arranged from the advancing front end of the vehicle body (1) to the advancing tail end of the vehicle body (1), and the inclination angle is 15-20 degrees with the vertical plane;
the top ends of the two baffle frames (85) are fixedly provided with baffle rods (86); the blocking rod (86) extends above the sleeve (84);
the rotary pendulum (83) comprises a rotation part, a connecting part and a striking part, wherein the connecting part and the striking part are arranged on the side wall of the rotation part; the rotating part is rotatably arranged on the rotating shaft (81), and two or three connecting parts are arranged on the side wall of the rotating part; the connecting part is of a trapezoid structure, and the striking part is arranged on one side of the connecting part far away from the autorotation part; the striking part is of an arc-shaped strip structure.
7. The arena athletic robot of claim 1, wherein: the attack shovel assembly comprises a shovel plate (9); an inclined plane of 30-45 degrees is arranged at the front end of the shovel plate (9); the advancing front end of the vehicle body (1) is an inclined surface, and the shovel plate (9) is attached to the advancing front end of the vehicle body (1);
a first magnetic part (91) is fixedly arranged on one side of the shovel plate (9) close to the vehicle body (1); a chute is formed in the advancing front end of the vehicle body (1); a second magnetic attraction part (92) is arranged in the chute;
the second magnetic attraction part (92) is a magnet (93) with the same magnetism as the bonding surface of the first magnetic attraction part (91);
or the second magnetic attraction part (92) is an electromagnet (94); the electromagnet (94) is electrically connected with the power supply (2), and the electromagnet (94) is bonded in the chute;
and/or the two sides of the shovel plate (9) are also connected with the vehicle body (1) through telescopic rods (95).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310454677.1A CN116423536B (en) | 2023-04-25 | 2023-04-25 | Arena athletic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310454677.1A CN116423536B (en) | 2023-04-25 | 2023-04-25 | Arena athletic robot |
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| Publication Number | Publication Date |
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| CN116423536A CN116423536A (en) | 2023-07-14 |
| CN116423536B true CN116423536B (en) | 2023-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310454677.1A Active CN116423536B (en) | 2023-04-25 | 2023-04-25 | Arena athletic robot |
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| CN113492936A (en) * | 2021-08-02 | 2021-10-12 | 天津大学 | Trolley with air injection auxiliary power mechanism and control method thereof |
| CN113599838A (en) * | 2021-07-08 | 2021-11-05 | 赵宇奇 | Novel arena sports robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| AU2020264473A1 (en) * | 2019-05-01 | 2021-11-25 | Foster-Miller, Inc. | Method of traversing difficult terrain |
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|---|---|---|---|---|
| KR20120007149U (en) * | 2011-04-08 | 2012-10-17 | 주식회사 로보로보 | Educational battle robot |
| CN208799761U (en) * | 2018-09-08 | 2019-04-30 | 辽宁力德航空科技有限公司 | A kind of vertical transfer weapon Grapple Robots |
| CN109364496A (en) * | 2018-12-24 | 2019-02-22 | 安徽建筑大学 | A kind of Grapple Robots for can be realized simultaneously chisel and hitting and lifting |
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| CN116423536A (en) | 2023-07-14 |
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