CN202541668U - Robot assembly member units and assembled robot thereof - Google Patents

Robot assembly member units and assembled robot thereof Download PDF

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Publication number
CN202541668U
CN202541668U CN2011204849226U CN201120484922U CN202541668U CN 202541668 U CN202541668 U CN 202541668U CN 2011204849226 U CN2011204849226 U CN 2011204849226U CN 201120484922 U CN201120484922 U CN 201120484922U CN 202541668 U CN202541668 U CN 202541668U
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CN
China
Prior art keywords
unit
upright
hole
joint
combination
Prior art date
Application number
CN2011204849226U
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Chinese (zh)
Inventor
吴志铭
Original Assignee
创意萝卜股份有限公司
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Publication date
Priority to TW99145513A priority Critical patent/TW201226131A/en
Priority to TW099145513 priority
Application filed by 创意萝卜股份有限公司 filed Critical 创意萝卜股份有限公司
Application granted granted Critical
Publication of CN202541668U publication Critical patent/CN202541668U/en

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Abstract

The utility model provides robot assembly component units and an assembled robot thereof. The robot assembly component units comprise joint units and body member units. Each joint unit includes a motor and a rotating disk. The body member units include long strip slot connection members, long plate connection members, rectangular frame connection members, L-shaped plate connection members, and U-shaped plate connection members. Each of the joint units and the body member units comprises at least two pairs of assembly hole sets with equal interval and each having at least two holes and the same X-dimension interval to be fitted together. By penetrating retaining elements through the assembly hole sets with the equal interval, the joint units and the body member units may be assembled to form various forms of robots.

Description

Upright member unit of robot group and assembly robot thereof
Technical field
The utility model relates to upright member unit of a kind of robot group and assembly robot thereof, and particularly a kind of a plurality of pass statement of account units and body member unit of utilizing is combined to form the assembly robot that different shape has the foot walking.
Background technology
Along with scientific and technological progress; Robot incorporates in our life just gradually, assist human processing family matters, and robot also just constantly causes topic arround our life; For example robot is when steward, robot dog etc.; Owing to utilize computer program to control various groups of upright member unit action after the combination of this kind robot, can cultivate study machinery and automatically controlled and create scientific and technological ability, therefore; The upright robot of study manufacturing group has become a main field of present education of science and technology study, but have the upright member unit of simple robot group at present the assembly robot who is combined to form various different shapes can be provided.
Present assembly robot; Can only be combined into a kind of robot mostly; For example patents such as No. the 1020050045316th, novel patent of US Pat US7278501 number and Taiwan M354501 number and korean patent application all belong to this type of, and above-mentioned existing robots can't be disassembled the upright component composition of robot group and be varied to difform assembly robot.
Other a kind of assembly robot is happy high (LEGO) toy assembly robot at present; It forms the different shape toy robot by the upright component composition of various moulding building blocks groups; The building blocks of these various moulding are of a great variety; Do not have the upright member unit of standard robotic group, group is not easy to select the upright member unit of group immediately, and of a great variety causing costs an arm and a leg.
Hence one can see that, and still there are many disappearances in present existing assembly robot, and gives improved necessity.
The utility model content
The purpose of the utility model can let the user be combined into various difform assembly robots according to the upright member unit of robot group at the upright member unit of the group that a kind of robot is provided.
Another purpose of the utility model is providing a kind of robot group to found member unit; Be used for the assembly robot; Comprise: unit, a joint; This unit, joint comprises a joint framework of surrounding motor and a rotating disk that is incorporated into axle center of motor portion, and this joint framework and this rotating disk have the upright hole of above same size equidistance group at interval, at least one pair of two hole group respectively on it; And, the body member unit, this body member unit is multiple difformity combination member, has the upright hole of above same size equidistance group at interval, at least two pairs two holes group on it; Passing the upright Kong Zuke of this equidistance group through fixation kit cooperates each other this unit, joint is combined with this body member unit.
Another purpose of the utility model is in the unit, joint that the upright member unit of a kind of robot group is provided; Be used for the assembly robot; Comprise: a joint framework; This joint framework is surrounded motor, comprises the upright hole of the equidistance group group that the above same size at least one pair of two hole can cooperate at interval each other on this joint framework; And a rotating disk, this rotating disk are incorporated into the axle center of motor portion of this motor, comprise the upright hole of above same size equidistance group at interval, at least one pair of two hole group on this rotating disk; Borrowing fixation kit to pass the upright Kong Zuke of this equidistance group cooperates combination fixing each other.
Another purpose of the utility model is providing a kind of assembly robot; The body member unit that comprises by unit, a plurality of joint and a plurality of difformity combination members is combined to form, and this unit, joint comprises the joint framework of an encirclement motor and is incorporated into a rotating disk of the axle center of motor portion of this motor; The body member unit of this difformity combination member includes rectangular groove combination member, long dull and stereotyped combination member, rectangle frame combination member and L template combination member; And, be positioned at the upright hole of the equidistance group group that comprises above same size interval, at least one pair of two hole on this joint framework and this rotating disk respectively; And, be positioned at the upright hole of the equidistance groups group that comprises above same size interval, at least two pairs two holes on this rectangular groove combination member, long dull and stereotyped combination member, rectangle frame combination member and the L template combination member respectively; Passing the upright Kong Zuke of this equidistance group through fixation kit cooperates each other this unit, joint is combined with this body member unit.
The utility model robot group is found member unit; Wherein, The multiple difformity combination member of this body member unit comprises rectangular groove combination member, long dull and stereotyped combination member, rectangle frame combination member, L shaped plate combination member; The upright hole of above same size equidistance group at interval, these at least two pairs two holes group is positioned on the platen surface of the dull and stereotyped combination member of this length, rectangular plate circle combination member, L shaped plate combination member, and is positioned on the two rectangular groove end faces of this rectangular groove combination member.
The robot group of the utility model is found member unit; Wherein, This joint framework comprise the first surface body and with this first surface body apart from one another by and parallel second surface body; And four side surface bodies, this first surface body and this second surface body and this four side surface bodies surround this motor, and this first surface body passes in this axle center of motor portion of this motor; At least one side of this first surface body comprises a protruding pinna that convexedly stretches in outside the side surface body, and the upright hole of above same size equidistance group at interval, these at least one pair of two holes group is positioned at this protruding pinna.
The robot group of the utility model is found member unit; The coaxial group of upright hole group that further comprises a pair of identical axle center in this unit, joint; This coaxial group upright hole group is positioned at first coaxial group of upright hole of this axle center of motor portion respectively, and is positioned at second coaxial group of upright hole on this second surface with this joint framework in this this identical axle center of axle center of motor portion.
The robot group of the utility model is found member unit; Wherein, This center of turntable place comprises disk axes portion and one first coaxial group of upright hole; This first coaxial group upright hole is positioned at the center of the upright hole of this at least one pair of equidistance group group, and this axle center of motor portion and this disk axes portion have the integrated structure that can mutually combine each other, and this integrated structure is that the straight-tooth that cooperatively interacts is engaged with each other.
The utility model the upright member unit of robot group, wherein, the above same size equidistance group at interval of at least one pair of two hole on this joint framework is found this second surface body that the hole group is positioned at this joint framework.
The utility model the upright member unit of robot group, the distance of the rectangular groove combination member equal in length of this body member unit between two this framework back side, joint these two protruding pinnas in opposite directions and the summation of this joint framework width addition.
The utility model the upright member unit of robot group; Further; The multiple difformity combination member of this body member unit comprises a U-shaped and hardens and close member; The upright hole of the above same size in this two couple two holes equidistance group at interval group is positioned at this U-shaped respectively and hardens and close on the two horizontal plate faces of member, and a pair of two holes above same size equidistance group is at interval found the hole group and is positioned on the diaphragm plate face middle.In addition, this U-shaped hardens to close and comprises first coaxial group of upright hole that one coaxial group of upright hole group is positioned at the upright group switching centre place, hole of equidistance group on the two horizontal plate faces respectively on the member and stand the hole with second coaxial group; And, comprise one first coaxial group of upright hole and be positioned at the upright group switching centre place, hole of diaphragm plate face equidistance group.
The assembly robot of the utility model can be combined to form robot dog by the upright member unit of robot group.
The assembly robot of the utility model; Can be by the unit, joint of the upright member unit of robot group; And the rectangular groove combination member on the body member unit, long dull and stereotyped combination member, rectangle frame combination member, L shaped plate combination member, U-shaped harden and close member, comprises the upright hole of above same size equidistance groups at interval, at least two pairs two holes group on it, and comprise coaxial group of upright hole group or first coaxial group and stand the hole; Pass the upright hole group of equidistance group or coaxial group of upright hole group or first coaxial group of upright hole through fixation kit; The unit, joint is combined with the body member unit, and the upright robot that forms different shaping of group is reached the effect of the variation that the upright difformity robot of group is provided whereby; Make the better effects if that the user learns to create; And enjoyment is more arranged, and the upright member unit kind of robot group is few, can reaches to be easy to organize and stand and lower-cost effect.
Description of drawings
Fig. 1 is assembly robot's front perspective view of the utility model first embodiment;
Fig. 2 is assembly robot's rear perspective view of the utility model first embodiment;
Fig. 3 A is unit, the joint three-dimensional exploded view of the upright member unit of the utility model robot group;
Fig. 3 B is unit, the joint block diagram of the upright member unit of the utility model robot group;
Fig. 4 is the rectangular groove combination member block diagram of the body member unit of the upright member unit of the utility model robot group;
Fig. 5 is the dull and stereotyped combination member block diagram of length of the body member unit of the upright member unit of the utility model robot group;
Fig. 6 is the rectangle frame combination member block diagram of the body member unit of the upright member unit of the utility model robot group;
Fig. 7 is the L shaped plate combination member block diagram of the body member unit of the upright member unit of the utility model robot group;
Fig. 8 is that the U-shaped of the body member unit of the upright member unit of the utility model robot group hardens and closes the member block diagram;
Fig. 9 is the shielding plate block diagram of the upright member unit of the utility model robot group;
Figure 10 is the pedal plate block diagram of the upright member unit of the utility model robot group;
Figure 11 is assembly robot's block diagram of the utility model second embodiment;
Figure 12 is another block diagram of assembly robot of the utility model second embodiment;
Figure 13 is the utility model the 3rd embodiment ensemble machine dog block diagram.
The specific embodiment
About technology contents, characteristics and the effect of the utility model, in the following detailed description that cooperates with reference to graphic preferred embodiment, can clearly appear.Seeing also Fig. 1 is assembly robot's front perspective view of the utility model first embodiment, and Fig. 2 is assembly robot's rear perspective view of the utility model first embodiment; The upright unit of the robot group of the utility model robot 10 comprises that relevant joint unit 20 and 30 of body member units are combined to form; This body member unit 30 is formed by a plurality of variform combination member; Include rectangular groove combination member 31, long dull and stereotyped combination member 32, rectangle frame and harden and close member 33, L shaped plate combination member 34, its detailed construction will be in following detailed description.
Please refer to Fig. 3 A and Fig. 3 B; Fig. 3 A is unit, joint 20 three-dimensional exploded views of the upright member unit of the utility model robot group; Fig. 3 B is unit, joint 20 block diagrams of the upright member unit of the utility model robot group, and the unit, joint 20 of the utility model robot 10 includes joint framework 21 and rotating disk 22, and joint framework 21 is a cuboid; It has the member unit width W; This joint framework 21 is by six formed housings, comprise first surface body 211 and with this first surface body 211 apart from one another by and parallel second surface body 212, and four side surface bodies 213; These first surface body 211 at least one sides of this joint framework 21 comprise a protruding pinna 215 that convexedly stretches in outside the side surface body 213, and preferred mode is that first surface body 211 both sides have all protruded out protruding pinna 215; Surround a motor in this first surface body 211 and this second surface body 212 and this four side surface bodies 213; This motor is enclosed in the joint framework 21 and does not show; This motor passes these joint framework 21 second surface bodies 212 via electric wire 217 and is connected to control circuit board, and this motor is generally servomotor or stepper motor form, so that this motor cooperates its turned position of control circuit control; Reach control unit, joint 20 spinning movements; And then may command robot 10 does walking or other action, and this first surface body 211 passes in the axle center of motor portion 231 of this motor, and axle center of motor portion 231 tops are one to have straight-toothed gear integrated structure 23; This rotating disk 22 is in the form of annular discs; Rotating disk 22 centers have disk axes portion 222; These disk axes portion 222 bottoms have to cooperate with axle center of motor portion 231 and have straight-toothed gear hole integrated structure 23; There is one first axle center hole 501 at both centers of disk axes portion 222 and axle center of motor portion 231; Both are engaged with each other by gear and the gear hole of integrated structure 23 in disk axes portion 222 and axle center of motor portion 231, are locked both first axle center holes 501 again by the fixation kit 27 of a screw, can rotating disk 22 and joint framework 21 be combined into and form unit, joint 20 together; The integrated structure 23 of aforementioned joint framework 21 and rotating disk 22 for example also can be a square cam and is engaged with each other with the square hole and reaches the existing skill that combines, and therefore, this skill personage all can be by easy full of beard of existing engaging structure and replacement; Present embodiment is provided with the upright hole of at least one pair of equidistance group that identical X size interval can cooperate each other more than two holes group 40 in the protruding pinna 215 around the first surface body 211 of periphery and joint framework 21 of rotating disk 22 with second surface body 212; A pair of group of upright hole of the upright hole of the equidistance group of present embodiment group 40 is made up of two holes in upright hole 401 of the first equidistance group and the upright hole 401 ' of the second equidistance group; Distance is at interval long for preset X size between the two for upright hole 401 of the first equidistance group and the upright hole 401 ' of the second equidistance group; The member unit width W of this X size length framework 21 and the diameter of rotating disk 22 in the joint, present embodiment X size is preferably between 0.5 centimeter to 3 centimeters; 22 are provided with the four pairs of upright hole of the equidistance group of arranging in the form of a ring groups 40 in present embodiment in rotating disk; And the second surface body 212 of framework 21 is provided with the upright hole of two pairs of equidistance groups group 40 in two side ends in the joint, and the two side ends protruding pinna 215 on first surface body 211 is equipped with a pair of group of upright hole group 40; Be provided with first coaxial group of upright hole 501 on the unit, joint 20 of present embodiment in addition; This first coaxial group upright hole 501 is positioned at the center of the upright hole of equidistance group group 40; Best mode is for being provided with first coaxial group of upright hole 501 in axle center of motor portion 231 and disk axes portion 222; And second coaxial group of upright hole 501 ' is set on the second surface body at corresponding coaxial place; First coaxial group of upright hole 501 forms coaxial group of upright hole group 50 with second coaxial group of upright hole 501 ' both concentric, and formation one center of rotation after this coaxial group upright hole group 50 supplies to combine with body member unit 30 is like the shoulder joint of robot 80 arms of Figure 11 and Figure 12.But the second surface body 212 of joint framework 21 is incorporated on the side surface body 213 with combination; Its rotatable 180 degree change the bonding position position; But make way for the opposite side that the 217 perforation change of directions of electric wire on the second surface body 212 are positioned at joint framework 20; To make things convenient for control circuit board to connect; In order to make second surface body 212 postrotational second coaxial group of upright hole 501 ' coaxial with first coaxial group of upright hole 501, the upright hole of the two couples group group 40 that is positioned on the second surface body is positioned at symmetrical position, and 217 perforation can change framework exit position, joint so that rotatable second surface body 212 directions let electric wire.Like Fig. 3 B; The width of the unit, joint 20 of the utility model is the member unit width W; Bottom-to-top-height up and down is joint cell height H; Both form rectangle frame and combine height D by side surface body 213 and second surface body 212 in addition, and upright group 40 centers, hole of the equidistance group of protruding pinna 215 be Edge Distance S to side surface body 213, and the angle of cut place, edge of disk axes portion 222 to nearest protruding pinna 215 is can rotating revolution distance P after 30 groups of body members stand.
Please refer to Fig. 4 to Fig. 8; Found the different shape combination member of the body member unit 30 of member unit for the utility model robot group; Comprise rectangular groove combination member 31, and the capable frame combination member of long dull and stereotyped combination member 32, square 33, L shaped plate combination member 34, U-shaped harden and close member 35.
Please refer to Fig. 1 and Fig. 4; Fig. 4 is rectangular groove combination member 31 block diagrams of the body member unit 30 of the upright member unit of the utility model robot group; The rectangular groove combination member 31 of the utility model is a strip; Its plate face width degree is made as and equals to organize upright member unit width W; Rectangular frid face 313, rectangular groove end face 314 and rectangular groove side 315 that symmetry is arranged on it; The length Y of this rectangular groove combination member 31 is equal to the distance of 215 of two these joint framework 21 back sides these two protruding pinnas in opposite directions and the summation of these joint framework 21 width additions, and the rectangle frame that also promptly is equal to unit, two joints 20 combines height D and the addition of member unit width W, and it is Y=2D+W; And be provided with a pair of group of upright hole group 40 in the centre of rectangular groove end face 314 and rectangular frid face 313, rectangular groove side 315; A pair of group of upright hole of the upright hole of this equidistance group group 40 is made up of upright hole 401 of the first equidistance group and the upright hole of the second equidistance group 401 ' institute; Distance is at interval long for preset X size between the two for upright hole 401 of the first equidistance group and the upright hole 401 ' of the second equidistance group; In the middle of the upright hole of group of rectangular frid face 313, rectangular groove side 315 group 40, be provided with first coaxial group of upright hole 501, group 40 and first coaxial group of upright hole 501 in the upright hole of this equidistance group supplies the usefulness that combine with unit, joint 20 and other body member 30.In addition, be provided with a pair of electric wire at rectangular frid face 313 and bore a hole and can pass when 312 supply line 217 connect, a pair of accessory fixed orifice 311 also is set supplies the accessory of robots to fix, this accessory can be the for example ornamental shielding plate 61 of Fig. 9.The enforcement state of the rectangular groove combination member 31 of the utility model please be joined Fig. 1 and Fig. 2, and it can to pass the upright hole of equidistance group group 40 group that is fitted to each other by fixation kit 27 upright with the protruding pinna 215 of unit, joint 20.
Please refer to Fig. 5; Fig. 5 is dull and stereotyped combination member 32 block diagrams of length of the body member unit 30 of the upright member unit of the utility model robot group; Long dull and stereotyped combination member 32 is that a strip is dull and stereotyped; Its width approximates the upright member unit width W of group; Both ends on long dull and stereotyped combination member 32 platen surface and the middle long limit that is parallel to long dull and stereotyped combination member 32 are respectively equipped with the upright hole of a pair of equidistance group group 40; Set up in addition with another of upright 40 the one-tenths square crossings of hole group of aforementioned equidistance group equidistance group is found hole group 40 in long dull and stereotyped combination member 32 both ends; Also the upright hole of promptly long dull and stereotyped combination member 32 both ends equidistance groups group 40 is two pairs of one-tenth square crossing positions, and a pair of group of upright hole of the upright hole of this equidistance group group 40 is made up of upright hole 401 of the first equidistance group and 401 ' in the upright hole of the second equidistance group, and upright hole 401 of the first equidistance group and the upright hole 401 ' of the second equidistance group distance between the two are at interval long for the X size of presetting; Other is provided with first coaxial group of upright hole 501 in the middle of the equidistance group at the both ends of long dull and stereotyped combination member 32 is found hole group 40, this equidistance group is found the usefulness that group 40 and first coaxial group of upright hole 501 confession in hole combine with unit, joint 20 and other body member 30.The enforcement state of the dull and stereotyped combination member 32 of the length of the utility model please be joined Fig. 1 and Fig. 2, and its two ends can be passed the upright hole of equidistance group group 40 by fixation kit 27 with unit 20, two joints and combine to form robot 10 thigh forms.
Please refer to Fig. 6, Fig. 6 is rectangle frame combination member 33 block diagrams of the body member unit 30 of the upright member unit of the utility model robot group; Rectangle frame combination member 33 curves the rectangle framework by a flat board; This rectangle can be oblong or square; The utility model embodiment is preferably the oblong framework; Rectangle frame combination member 33 width W equal to organize upright member unit width W, and an edge lengths of rectangle frame combination member 33 is that rectangle frame combines height D, is symmetrical set the upright hole of equidistance group group 40 on the four sides framework platen surface of rectangle frame combination member 33; The upright hole of this equidistance group group 40 is best for being located on the framework platen surface of four sides near the place, end and being positioned at the center, and the equidistance group that its Edge Distance S apart from the end approximates the protruding pinna 215 of unit, joint is found the Edge Distance S of group 40 centers, hole to side surface body 213; This upright hole of group group 40 is made up of upright hole 401 of the first equidistance group and the upright hole of the second equidistance group 401 ' institute, and distance is at interval long for preset X size between the two for upright hole 401 of the first equidistance group and the upright hole 401 ' of the second equidistance group; Other is positioned at the equidistance group of framework center and founds hole group 40 middle first coaxial group of upright hole 501, the usefulness that group 40 and first coaxial group of upright hole 501 confession in the upright hole of this equidistance group combine with unit, joint 20 and other body member 30 of also can setting up.The enforcement state of the rectangle frame combination member 33 of the utility model please be joined Fig. 1 and Fig. 2, and it can pass the upright hole of equidistance group group 40 by fixation kit 27 with unit, joint 20 and combine to form robot 10 arms or shank.
Please refer to Fig. 7; Fig. 7 is L shaped plate combination member 34 block diagrams of the body member unit 30 of the upright member unit of the utility model robot group; The L shaped plate combination member 34 of the utility model is L-shaped behind the long slab bending right angle of a tool member unit width W; The upright hole of the two couples group group 40 and one first coaxial group of upright hole 501 of intersection are set on its both ends platen surface as as the long dull and stereotyped combination member 32; It is two pairs of one-tenth square crossing positions that the upright hole of equidistance group group 40 also promptly is set in both ends; A pair of group of upright hole of the upright hole of this equidistance group group 40 is made up of upright hole 401 of the first equidistance group and the upright hole of the second equidistance group 401 ' institute, and distance is at interval long for preset X size between the two for upright hole 401 of the first equidistance group and the upright hole 401 ' of the second equidistance group; Other is provided with first coaxial group of upright hole 501 in upright group 40 centers, hole of equidistance group, the usefulness that group 40 and first coaxial group of upright hole 501 confession in the upright hole of this equidistance group combine with unit, joint 20 and other body member 30.This first coaxial group upright 501 centers, hole to the distance of L shaped plate combination member 34 bending places is longer than the revolution distance P at the angle of cut place, edge of disk axes portion 222 to nearest protruding pinna 215, so that 20 groups of upright backs that combine are rotatable in L shaped plate combination member 34 and unit, joint.The enforcement state of the L shaped plate combination member 34 of the utility model please be joined Fig. 1 and Fig. 2, and its two ends are passed shoulder joint or the waist swinging structure that the upright hole of equidistance group group 40 combines to form robot 10 with the rotating disk 22 of unit, a joint 20 by fixation kit 27 respectively.
Please refer to Fig. 8, Fig. 8 is that the U-shaped of the body member unit 30 of the upright member unit of the utility model robot group hardens and closes member 35 block diagrams.The U-shaped of the utility model hardens, and to close member 35 be two horizontal plate faces 351 and the diaphragm plate face 352 that the dull and stereotyped two ends of length of a tool member unit width W all bend the shape that takes the shape of the letter U behind the right angle; The both ends of its two horizontal plates face 351 and the centre of diaphragm plate face 352 are provided with the upright hole of the two pairs of equidistance groups group 40 of intersection on platen surface; Also promptly group 40 is two pairs of one-tenth square crossing positions in the upright hole of this equidistance group; A pair of group of upright hole of the upright hole of this equidistance group group 40 is made up of upright hole 401 of the first equidistance group and the upright hole of the second equidistance group 401 ' institute, and distance is at interval long for preset X size between the two for upright hole 401 of the first equidistance group and the upright hole 401 ' of the second equidistance group; Stand group 40 centers, hole in addition in the upright hole of axle group groups 50 such as two horizontal plate faces 351 are provided with in the equidistance group; It is respectively first coaxial group of upright hole 501 and second coaxial group of upright hole 501 '; Diaphragm plate face equidistance group is provided with first coaxial group of upright hole 501 in the middle of founding hole group 40 in addition, the upright hole group 40 of this equidistance group and the coaxial group of usefulness that group 50 confessions in upright hole combine with unit, joint 20 and other body member 30.The harden distance of closing member 35 bending place diaphragm plate faces 352 of upright group 50 centers, hole to the U-shapeds of 351 coaxial groups in this two horizontal plates face is longer than the revolution distance P at the angle of cut place, edge of disk axes portion 222 to nearest protruding pinna 215; And this two horizontal plates face 351 relative distance between the two is equal to joint cell height H, closes member 35 and unit, joint and can turn round after 20 groups of upright combinations so that harden at U-shaped.Like the shoulder joint of robot 80 arms of Figure 11 and Figure 12 is that the U-shaped of the utility model hardens and closes 35 groups of upright running conditions of member; It is that the U-shaped upright hole of a pair of equidistance group group 40 that is had on the rotating disk 22 of the diaphragm plate face 352 that closes member 35 and unit, joint 20 that hardens combines; The harden two horizontal plate faces 351 that close member 35 of this U-shaped insert and put another unit, joint 20 and borrow coaxial group of coaxial group of upright hole group 50 and unit, joint 20 to found hole group 50 and combine with fixation kit 27; This moment unit, joint 20 rotating disk 20 and horizontal plate face 351 combine cooperate the upright hole of equidistance group group 40 by fixation kit 27 combinations simultaneously; Therefore; The fixation kit 27 in first coaxial group of upright hole 501 can not need pass first coaxial group of upright hole 501 that U-shaped hardens and closes member 305; And first coaxial group of hole 501 of only passing disk axes portion 222 and axle center of motor portion 231 gets final product; The U-shaped of the utility model harden close member 35 can insert and put 20 both sides, unit, joint form more stable fixing, good than the robot 10 of Fig. 1 with the only single limit of L shaped combination member 34 fixed effect.
Robot 10 first by way of example of utilizing the upright member unit of the utility model robot group to be made up; Like Fig. 1 and shown in Figure 2; First embodiment is by unit, a plurality of joint 20 and combine 30 of body member units to constitute; And it is upright by the upright hole of at least two pairs of equidistance groups on unit, joint 20 and the body combination member unit 30 groups 40 group that is fitted to each other; The upright hole of this equidistance group group 40 has upright hole 401 of the first equidistance group and upright 401 ' two holes, hole of the second equidistance group; Can not combine to produce relative rotation skew because of having only single hole after making group stand the member unit combination, two distance between borehole of the upright hole of equidistance group group 40 are identical preset X size length interval again, so the upright member unit of group can be easy to combine to each other.The body member unit 30 of first embodiment uses rectangular groove combination member 31; And four kinds of combination members such as the capable frame combination member of long dull and stereotyped combination member 32, square 33, L shaped plate combination member 34; Detailed group of cube formula of the robot 10 of first embodiment is following; It utilizes in the middle of the two rectangular groove combination members 31 by insert and put a direction and aforementioned two back to unit, two joints 20 and closes statements of account unit 20 and be the shoulder portion 11 and buttocks 12 that vertical unit, a joint 20 forms robot 10, and its both sides protruding pinna 215 through unit, joint 20 and rectangular groove end face 314 pass the equidistance group by fixation kit 27 and found hole group 40 and be fitted to each other to organize and stand; Shoulder portion 11 middle upper parts combine one to close the head that statement of account unit 20 forms robot 10, and its rotating disk 22 through unit, joint 20 is upright with the 40 groups of groups that are fitted to each other in the upright hole of equidistance group in the middle of the rectangular frid face 313, and it is rotatable to reach head; The rotating disk 22 of unit, joint, robot 10 shoulder portions, 11 left and right sides 20 combines the protruding pinna 215 of L type combination member 34 and unit, a joint 20 and unit, joint 20 to combine a rectangle frame combination member 33 to become arm again; The rotating disk 22 that is vertical shoulder portion 11 and horizontal buttocks 12 unit, joint 20 in the middle of being incorporated on shoulder portion 11 and the buttocks 12 respectively with a L template combination member 34 forms the waist swinging gear of robots 10, and robot 10 can be rotated and swing above the waist.The foot 13 of robot 10 is made up of following; Its buttocks 12 both sides utilize the two ends of a long dull and stereotyped combination member 32 to combine to form the buttocks joint of top and the knee joint of below respectively with unit, two joints 20; Can combine a rectangle frame combination member 33 to form thigh in the middle of the long dull and stereotyped combination member 32, kneed pass statement of account unit 20 belows combine 3 rectangle frame combination members 33 to form the shank of robot 10.Have the upright hole of the equidistance group group 40 that identical X size interval can cooperate each other more than at least two pairs two holes respectively on above-mentioned pass statement of account unit 20 and the body member unit 30, pass the upright hole of the equidistance group group 40 composition robot 10 that is bonded to each other through fixation kit 27.The upper and lower appropriate location that can be fixed in shoulder portion 11 front and back or buttocks 12 as for the control circuit board and the battery accommodating box of the utility model robot 10; And connect control circuit board and unit, joint 20 with electric wire 217; Rotate as control unit, joint 20; The fixed form of this control circuit board and battery accommodating box and robot 10 be the sector personage can be prone to full of beard and setting, for example can reach through accessory fixed orifice 311 is set on the body member 30.
Attractive in appearance in order to increase robot; It can be provided with the shielding plate of some decorations; Like Fig. 9 and Figure 10, Fig. 9 is shielding plate 61 block diagrams of 80 groups of upright member units of the utility model robot, and the shielding plate 61 of the utility model is the matte that protects at robot 80 chests and back; Which is provided with fixed orifice 611, can pass fixed orifice 611 by fixation kit 27 and be fixed in body member unit 30.Figure 10 is pedal plate 62 block diagrams of 80 groups of upright member units of the utility model robot, and pedal plate 62 is microscler sole shape, and inclined to one side rear is provided with the upright hole of two groups of equidistance groups group 40 in the centre, supplies robot foot 13 to combine.
See also the assembly robot 80 of the utility model second embodiment of Figure 11 and Figure 12; The assembly robot's 80 of the utility model second embodiment body member unit 30 uses rectangular groove combination member 31; And the capable frame combination member of long dull and stereotyped combination member 32, square 33, L shaped plate combination member 34, U-shaped five kinds of combination members such as closing member 35 that harden; And add shielding plate 61 and pedal plate 62; Its shoulder portion 11 is identical with the utility model first embodiment with the combination of buttocks 12, and only arm shoulder joint utilizes U-shaped to harden to close member 35 and combines with unit, two joints 20, and can increasing by a fixation kit 27, to pass second coaxial group of upright hole 501 ' fixing; Make 20 both sides, unit, joint all fixing, increase the combination constant intensity of arm.Robot 80 foots 13 volas can combine a pedal plate 62 in addition; And can combine shielding plate 61 in shoulder portion 11 front and back; Pass fixed orifice 611 and accessory fixed orifice 311 by fixation kit 27, shielding plate 61 is incorporated into shoulder portion 11, make it form the robot 80 of another form.
Please refer to Figure 13 figure the utility model the 3rd and implement illustration; The 3rd embodiment ensemble machine dog 90 block diagrams of Figure 13 figure the utility model; It utilizes the upright member unit of the utility model robot group that it is combined to form robot dog 90 forms; Array mode such as following is by shoulder portion 11 and buttocks 12 both middle bodies that formed dog by 33 bindings of two rectangle frame combination members; 20 tops, unit, joint in the middle of the shoulder portion 11 connect the head form that two rectangle frame combination members form dog; 20 tops, unit, joint in the middle of the buttocks 12 connect a long dull and stereotyped combination member 32 and form dog tail form; Shoulder portion 11 goes up hypozygal unit 20 with buttocks 12 both sides by long dull and stereotyped combination member 32 bindings and hypozygal unit 20 combines a rectangle frame combination member 33 to form the four limbs leg form of dog again.
The upright hole of the equidistance group of the utility model group 40 is not limited to two holes; Can be and can not combine to produce relative rotation the out-of-position effect after the upright hole of above equidistance group, two holes group 40 all can make the upright member unit of group combine because of having only single hole; It for example is the effect of upright hole group of 3 hole equidistance groups or the upright Kong Zujun attainable cost utility model of 4 hole equidistance groups; This is prone to the change that full of beard reaches for being familiar with the sector occurrences in human life, does not all break away from the category of the utility model.
In sum; Upright member unit of the robot group of the utility model and assembly robot thereof have the upright hole of the equidistance group group 40 that identical X size interval can cooperate each other more than at least two pairs two holes respectively on its member unit, this X size is preferably between 0.5 centimeter to 3 centimeters; Pass the upright hole of this equidistance group group 40 through fixation kit; Reach the upright member unit of this robot group and be easy to combine, and utilize coaxial group of upright hole group 50, reach unit, joint 20 and can receive both sides to grip rotation; And then can let the user create the robot of the synthetic different shape of design team; The action of the various different shape robots of learning control simultaneously can be cultivated to inspire and promote machinery and automatically controlled science and technology ability, so can be reached the purpose of the utility model really.
The foregoing description has been merely the convenience explanation and has given an example, and the protection domain that the utility model is advocated should be as the criterion so that claim is said certainly, but not only limits to the foregoing description.

Claims (23)

1. the upright member unit of robot group is used for the assembly robot, it is characterized in that, comprises:
Unit, one joint, this unit, joint comprise a joint framework of surrounding motor and a rotating disk that is incorporated into axle center of motor portion, and this joint framework and this rotating disk have the upright hole of above same size equidistance group at interval, at least one pair of two hole group respectively on it; And,
The body member unit, this body member unit is multiple difformity combination member, has the upright hole of above same size equidistance group at interval, at least two pairs two holes group on it;
Passing the upright Kong Zuke of this equidistance group through fixation kit cooperates each other this unit, joint is combined with this body member unit.
2. robot group as claimed in claim 1 is found member unit; It is characterized in that; This joint framework comprise the first surface body and with this first surface body apart from one another by and parallel second surface body, and four side surface bodies, this first surface body and this second surface body and this four these motors of side surface bodies encirclement; This first surface body passes in this axle center of motor portion, and the upright hole of above same size equidistance group at interval, these at least one pair of two holes group is positioned at this first surface body.
3. robot group as claimed in claim 2 is found member unit; It is characterized in that; At least one side of this first surface body of this joint framework comprises a protruding pinna that convexedly stretches in outside the side surface body, and the upright hole of above same size equidistance group at interval, these at least one pair of two holes group is positioned at this protruding pinna.
4. robot group as claimed in claim 2 is found member unit; It is characterized in that; This joint framework further comprises the coaxial group of upright hole group in a pair of identical axle center; This coaxial group upright hole group is positioned at first coaxial group of upright hole of this axle center of motor portion respectively, and is positioned at second coaxial group of upright hole on this second surface with this joint framework in this identical axle center of axle center of motor portion.
5. robot group as claimed in claim 2 is found member unit; It is characterized in that; The center of this rotating disk comprises disk axes portion and one first coaxial group of upright hole; This first coaxial group upright hole is positioned at the center of the upright hole of this at least one pair of equidistance group group, and this axle center of motor portion and this disk axes portion have the integrated structure that can mutually combine each other.
6. robot group as claimed in claim 5 is found member unit, it is characterized in that, the integrated structure of this axle center of motor portion and this disk axes portion is that the straight-tooth that cooperatively interacts is engaged with each other.
7. robot group as claimed in claim 2 is found member unit, it is characterized in that, the upright hole of above same size equidistance group at interval, these at least one pair of two holes group is positioned at this second surface body.
8. robot group as claimed in claim 3 is found member unit; It is characterized in that; The multiple difformity combination member of this body member unit comprises rectangular groove combination member, long dull and stereotyped combination member, rectangle frame combination member, L shaped plate combination member; The upright hole of above same size equidistance group at interval, these at least two pairs two holes group is positioned on the platen surface of the dull and stereotyped combination member of this length, rectangle sheet frame combination member, L shaped plate combination member, and is positioned on the two rectangular groove end faces of this rectangular groove combination member.
9. robot group as claimed in claim 8 is found member unit; It is characterized in that; The multiple difformity combination member of this body member unit comprises a U-shaped and hardens and close member; The upright hole of the above same size in this two couple two holes equidistance group at interval group is positioned at this U-shaped respectively and hardens and close on the two horizontal plate faces of member, and a pair of two holes above same size equidistance group is at interval found the hole group and is positioned on the diaphragm plate face middle.
10. like claim 8 or the upright member unit of 9 described robot groups; It is characterized in that; The dull and stereotyped combination member of this length of this body member unit, rectangle frame combination member, L shaped plate combination member, U-shaped harden and close member and comprise one first coaxial group of upright hole, and this first coaxial group upright hole is positioned at the center, two holes of the upright hole of this equidistance group group.
11. robot group as claimed in claim 9 is found member unit; It is characterized in that; Further harden in this U-shaped of this body member unit and close member and have one coaxial group of upright hole group, this coaxial group upright hole group is positioned at the U-shaped first coaxial group of upright hole of closing on the two relative horizontal plate faces of member of hardening respectively and stands the hole with second coaxial group.
12. robot group as claimed in claim 8 is found member unit; It is characterized in that the distance of the rectangular groove combination member of this of this body member unit equal in length between two this framework back side, joint these two protruding pinnas in opposite directions and the summation of this joint framework width addition.
13. robot group as claimed in claim 8 is found member unit, it is characterized in that, further includes the perforation of accessory fixed orifice and electric wire on this rectangular groove combination member of this body member unit.
14. the unit, joint of the upright member unit of robot group is used for the assembly robot, it is characterized in that, comprises:
One joint framework, this joint framework is surrounded motor, comprises the upright hole of above same size equidistance group at interval, at least one pair of two hole group on this joint framework; And,
One rotating disk, this rotating disk are incorporated into the axle center of motor portion of this motor, comprise the upright hole of above same size equidistance group at interval, at least one pair of two hole group on this rotating disk;
Borrowing fixation kit to pass the upright Kong Zuke of this equidistance group cooperates combination fixing each other.
15. the unit, joint of the upright member unit of robot group as claimed in claim 14; It is characterized in that; This joint framework of this unit, joint comprise the first surface body and with this first surface body apart from one another by and parallel second surface body; And four side surface bodies, this first surface body and this second surface body and this four side surface bodies surround this motor, and this first surface body passes in this axle center of motor portion; At least one side of this first surface body comprises a protruding pinna that convexedly stretches in outside the side surface body, and the upright hole of above same size equidistance group at interval, these at least one pair of two holes group is positioned at this protruding pinna.
16. the unit, joint of the upright member unit of robot group as claimed in claim 15; It is characterized in that; Further this joint framework comprises the coaxial group of upright hole group in a pair of identical axle center; This coaxial group upright hole group is positioned at first coaxial group of upright hole of this axle center of motor portion of the first surface body that passes this joint framework respectively, and is positioned at second coaxial group of upright hole on this second surface with this joint framework in this identical axle center of axle center of motor portion.
17. assembly robot; It is characterized in that; The body member unit that comprises by unit, a plurality of joint and a plurality of difformity combination members is combined to form, and this unit, joint comprises the joint framework of an encirclement motor and is incorporated into a rotating disk of the axle center of motor portion of this motor; The body member unit of this difformity combination member includes rectangular groove combination member, long dull and stereotyped combination member, rectangle frame combination member and L template combination member;
And, be positioned at the upright hole of the equidistance group group that comprises above same size interval, at least one pair of two hole on this joint framework and this rotating disk respectively;
And, be positioned at the upright hole of the equidistance groups group that comprises above same size interval, at least two pairs two holes on this rectangular groove combination member, long dull and stereotyped combination member, rectangle frame combination member and the L template combination member respectively;
Passing the upright Kong Zuke of this equidistance group through fixation kit cooperates each other this unit, joint is combined with this body member unit.
18. assembly robot as claimed in claim 17; It is characterized in that; This joint framework of this unit, joint comprise the first surface body and with this first surface body apart from one another by and parallel second surface body; And four side surface bodies, this first surface body and this second surface body and this four side surface bodies surround this motor, and this first surface body passes in this axle center of motor portion of this motor; At least one side of this first surface body comprises a protruding pinna that convexedly stretches in outside the side surface body, and the upright hole of above same size equidistance group at interval, these at least one pair of two holes group is positioned at this protruding pinna.
19. assembly robot as claimed in claim 17; It is characterized in that; This joint framework, rotating disk, rectangular groove combination member, long dull and stereotyped combination member, rectangle sheet frame combination member and L template combination member; Comprise one first coaxial group of upright hole on it, this first coaxial group upright hole is positioned at the center in two holes of the upright hole of this equidistance group group.
20. assembly robot as claimed in claim 18; It is characterized in that; The coaxial group of upright hole group that further comprises a pair of identical axle center in this unit, joint; This coaxial group upright hole group is positioned at first coaxial group of upright hole of this axle center of motor portion respectively, and is positioned at second coaxial group of upright hole on this second surface body with this joint framework in this this identical axle center of axle center of motor portion.
21. assembly robot as claimed in claim 18 is characterized in that, the distance of the rectangular groove combination member equal in length of this body member unit between two this framework back side, joint these two protruding pinnas in opposite directions and the summation of this joint framework width addition.
22. assembly robot as claimed in claim 17; It is characterized in that; The multiple difformity combination member of this body member unit comprises a U-shaped and hardens and close member; The upright hole of the above same size in this two couple two holes equidistance group at interval group is positioned at this U-shaped respectively and hardens and close on the two horizontal plate faces of member, and a pair of two holes above same size equidistance group is at interval found the hole group and is positioned on the diaphragm plate face middle.
23. assembly robot as claimed in claim 22 is characterized in that, this U-shaped hardens to close and comprises first coaxial group of upright hole that one coaxial group of upright hole group is positioned at the upright group switching centre place, hole of equidistance group on the two horizontal plate faces respectively on the member and stand the hole with second coaxial group; And, comprise one first coaxial group of upright hole and be positioned at the upright group switching centre place, hole of diaphragm plate face equidistance group.
CN2011204849226U 2010-12-23 2011-11-25 Robot assembly member units and assembled robot thereof CN202541668U (en)

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CN103496411A (en) * 2013-10-12 2014-01-08 哈尔滨石油学院 Double-foot leg four-bar linkage humanoid robot
CN105690365A (en) * 2015-08-05 2016-06-22 机器时代(北京)科技有限公司 Rod piece, assembled component and robot
EP3165267A4 (en) * 2015-07-15 2018-06-27 Ubtech Robotics Corp Entertainment robot servo

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CN103895039B (en) * 2014-04-14 2016-01-06 格物斯坦(上海)机器人有限公司 A kind of steering wheel output shaft structure without screw fast assembling-disassembling
CN108749950A (en) * 2018-06-07 2018-11-06 合肥工业大学 A kind of Three Degree Of Freedom hip joint mechanism for can be changed the unmanned ground moving system of born of the same parents

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Publication number Priority date Publication date Assignee Title
CN103496411A (en) * 2013-10-12 2014-01-08 哈尔滨石油学院 Double-foot leg four-bar linkage humanoid robot
EP3165267A4 (en) * 2015-07-15 2018-06-27 Ubtech Robotics Corp Entertainment robot servo
CN105690365A (en) * 2015-08-05 2016-06-22 机器时代(北京)科技有限公司 Rod piece, assembled component and robot
CN105690364A (en) * 2015-08-05 2016-06-22 机器时代(北京)科技有限公司 Bending bar, assembling component and robot

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