CN203220758U - Wheeled robot attack and defense fighting device - Google Patents
Wheeled robot attack and defense fighting device Download PDFInfo
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- CN203220758U CN203220758U CN 201320177050 CN201320177050U CN203220758U CN 203220758 U CN203220758 U CN 203220758U CN 201320177050 CN201320177050 CN 201320177050 CN 201320177050 U CN201320177050 U CN 201320177050U CN 203220758 U CN203220758 U CN 203220758U
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- defending
- defense
- wheeled robot
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Abstract
The utility model relates to a wheeled robot attack and defense fighting device which comprises a stopping and tail pushing prevention structure, a power-assisted attack and defense structure, a side plate and an auxiliary defense part, wherein the stopping and tail pushing prevention structure is arranged at the rear part of a robot; the power-assisted attack and defense structure is arranged at the front part of the robot; and the side plate is arranged around the periphery of the robot. When the wheeled robot attack and defense fighting device confronts with an enemy robot, according to the mechanics principle, a pushing force given by the enemy robot can be converted into downward pressures on four wheels by the power-assisted attack and defense structure, friction forces between the wheels and the ground are increased, and the increased friction forces are converted into a pushing force in the attacking process so as to form a stronger and stronger circulation. The side plate which is sprayed with black paint outside and is placed at an inclination angle of 75 degrees can adsorb infrared rays from an enemy infrared sensor, so that the wheeled robot attack and defense fighting device has a good hiding effect and can take an effect of winning by surprise.
Description
Technical field
The utility model relates to a kind of wheeled robot attacking and defending and fights with system, especially a kind of wheeled robot attacking and defending fight system that is directed to Chinese RoboCup open championship wushu challenge tournament indifference non-standard platforms.
Background technology
The challenge tournament of Robo cup open championship wushu is a match of cultivating every abilities such as college student innovation, solidarity and cooperation, require the contestant through after certain early-stage preparations, by homemade intelligent independent robot, autonomous operation fight on the contest ring of regulation, after the person of acting as a referee is sent the match instruction, the race-entry student people that starts the machine takes the field, robot autonomous operation subsequently, robot such as can take to push mutually, dodge at attacking and defending fight means in the match, the other side robot is squeezed the competition venue and wins.Therefore the fight systematic function of robot is one of the key factor of winning victory of competing.
The existing robots front end mostly is collapsible metal slice (belong to automatically trigger and extend) wheeled robot, and its sensing station spreads all over about the whole body (be convenient to seek the enemy and find the ring edge), and body material mostly is metal and bakelite.But said structure has many shortcomings, easy unstability when its body forward structure is started and lose resistance, and its scoop triggers and puts down the back and be difficult for by raised land because of adjacent table top, and its wheel and sensor without sealing is easily clashed into damage by the enemy.
The utility model content
The technical problems to be solved in the utility model is to adopt a kind of structure of rational and effective more, and competitive ability is greatly improved.
For solving the problems of the technologies described above, technical solution adopted in the utility model is as follows:
A kind of wheeled robot attacking and defending fight system is characterized in that: it comprise the stop that places the robot rear portion anti-ly push away stern construction, place the robot front portion borrow power attacking and defending structure, around side plate and the auxiliary defence part on the robot whole body.
Described stop prevents that pushing away stern construction comprises the thrust tailstock that places the robot rear portion, and embedding schedules throw-out lever wherein and is fixed in the thrust rubber of throw-out lever end.
Prevent that in described stop pushing away stern construction is provided with retaining mechanism, retaining mechanism comprises latch hook and lock frame, and wherein, the lock frame also is tail edge detecting sensor protection supporting frame simultaneously.
Place the anterior shovel head of robot and shield described comprising by means of power attacking and defending structure, and support the pillar that shovels head and shield.
Described auxiliary defence part comprises sensor protection supporting frame and wheel internal enclosed base plate, and infrared proximity switch sensor and infrared distance sensor are set in the sensor protection supporting frame.
Described sensor protection supporting frame is steel plate bending structure.
Described internal enclosed base plate stays the channel-section steel plate structure for what surround wheel.
The beneficial effect that adopts technique scheme to produce is: under the situation about being started in the robot front portion, the anti-tail kiss the earth that pushes away of stop, and resisting enemy plane thrust by the frictional force between thrust rubber and the ground under the own wt effect, robot recovers normal when enemy plane is withdrawn, and stop prevents that pushing away tail lifts.When standing facing each other with enemy plane, by mechanics principle, the thrust that enemy plane can be given makes wheel and frictional ground force become big by borrowing power attacking and defending thaumatropy for to the downward pressure of four wheels, the frictional force of this increase becomes the thrust when attacking again, so more and more strong circulation.Appearance is sprayed with side plate that pitch-dark inclination 75 degree place can absorb infrared ray from enemy's infrared sensor, has good stealth effect, can play the effect of surprising and getting the upper hand of.Fixedly the liftoff 5mm of scoop guarantees to meet the demands size and do not scrape the intermediate projections table top.Two infrared switch sensors that are in the protection of each side plate become miter angle to arrange, and with infrared distance sensor layout straggly up and down, make and make an inspection tour widerly, strengthened seeking enemy's ability of resisting the enemy.Two infrared proximity switch sensors that are in the encirclement of anterior shovel head are spent according to forwards with ground inclination 35 respectively, have increased the sensitivity of rim detection in the time of security protection.
Description of drawings
Fig. 1 is the anti-tail starting state schematic diagram that pushes away of the utility model stop.
Fig. 2 is that the utility model stop prevents pushing away each several part schematic appearance in the stern construction.
Fig. 3 is that the utility model is borrowed power attacking and defending structure schematic appearance.
Fig. 4 is the utility model overall appearance structural representation.
Among the figure: 1, thrust rubber; 2, throw-out lever; 3, thrust tailstock; 4, lock frame; 5, latch hook; 6, shovel head; 7, shield; 8, pillar; 9, wheel internal enclosed base plate; 10, side plate; 11, infrared proximity switch sensor; 12, infrared distance sensor; 13, sensor protection supporting frame.
The specific embodiment
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of wheeled robot attacking and defending fight system, it comprise the stop that places the robot rear portion anti-ly push away stern construction, place the robot front portion borrow power attacking and defending structure, around the robot whole body, tilt to place and side plate 10 and auxiliary defence part that the appearance spray is pitch-dark.
Wherein, stop prevents that pushing away stern construction comprises the thrust tailstock 3 that places the robot rear portion, and embedding schedules throw-out lever 2 wherein and is fixed in the thrust rubber 1 of throw-out lever 2 ends.
In addition, prevent that in stop pushing away stern construction is provided with retaining mechanism, retaining mechanism comprises latch hook 5 and lock frame 4, and wherein, lock frame 4 also is tail edge detecting sensor protection supporting frame simultaneously.
Borrow power attacking and defending structure to comprise to place the anterior shovel of robot 6 and shield 7, and the pillar 8 that supports shovel head and shield.
Auxiliary defence part comprises sensor protection supporting frame and wheel internal enclosed base plate 9, and infrared proximity switch sensor 11 and infrared distance sensor 12 are set in the sensor protection supporting frame.Wherein, the sensor protection supporting frame is steel plate bending structure; Internal enclosed base plate 9 stays the channel-section steel plate structure for what surround wheel.
Operation principle of the present utility model is: the utility model in use, be placed in the infrared proximity switch sensor 11 and infrared distance sensor 12 coordinative roles that become appropriate angle to arrange around the robot and seek enemy plane, partly order about down in internal control and attack shovel 6 a bump enemy plane up to it being pushed ring or arriving the edge with the front portion; When robot and enemy plane face-off, power when shovel 6 will stand facing each other passes to shield 7, shield 7 only depends on pillar 8 to be welded on the closed base plate 9 of wheel, so 7 stressed pressure that also finally are converted on the closed base plate 9 of wheel wheel that act on from top to bottom by pillar 8 of shield, this pressure further is converted into the frictional force between tire and the ground, thereby plays attacking and defend all favourable effect; When the robot front portion was started, the gravity of vehicle body was applied to ground successively by thrust tailstock 3, throw-out lever 2, thrust rubber 1, and was converted into the frictional force between ground and the thrust rubber 1, thereby reached the anti-purpose that pushes away; In seeking enemy and process against the enemy, whenever robot during near the ring edge, infrared proximity switch sensor 11 triggerings as rim detection of one of front and back are return robot rapidly and are avoided falling down ring; At enemy plane during near this robot, the infrared ray that the enemy plane sensor sends will project being sprayed with on the pitch-dark side plate 10 around the robot, and this part infrared ray will be absorbed major part, thereby certain stealthy defense reaction is arranged.
Foregoing description only proposes as the enforceable technical scheme of the utility model, not as the single restrictive condition to its technical scheme itself.
Claims (7)
1. wheeled robot attacking and defending fight system is characterized in that: it comprise the stop that places the robot rear portion anti-ly push away stern construction, place the robot front portion borrow power attacking and defending structure, around side plate (10) and the auxiliary part of defending on the robot whole body.
2. system is fought with in wheeled robot attacking and defending according to claim 1, it is characterized in that: described stop prevents that pushing away stern construction comprises the thrust tailstock (3) that places the robot rear portion, and embedding schedules throw-out lever (2) wherein and is fixed in the thrust rubber (1) of throw-out lever (2) end.
3. system is fought with in wheeled robot attacking and defending according to claim 2, it is characterized in that: prevent that in described stop pushing away stern construction is provided with retaining mechanism, retaining mechanism comprises latch hook (5) and lock frame (4), and wherein, lock frame (4) also is tail edge detecting sensor protection supporting frame simultaneously.
4. system is fought with in wheeled robot attacking and defending according to claim 1, it is characterized in that: place robot anterior shovel head (6) and a shield (7) described comprising by means of power attacking and defending structure, and the pillar (8) of head (6) and shield (7) is shoveled in support.
5. system is fought with in wheeled robot attacking and defending according to claim 1, it is characterized in that: described auxiliary defence part comprises sensor protection supporting frame (13) and wheel internal enclosed base plate (9), and infrared proximity switch sensor (11) and infrared distance sensor (12) are set in the sensor protection supporting frame.
6. system is fought with in wheeled robot attacking and defending according to claim 5, it is characterized in that: described sensor protection supporting frame (13) is steel plate bending structure.
7. wheeled robot attacking and defending according to claim 5 fight system is characterized in that: described internal enclosed base plate (9) stays the channel-section steel plate structure for what surround wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320177050 CN203220758U (en) | 2013-04-10 | 2013-04-10 | Wheeled robot attack and defense fighting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320177050 CN203220758U (en) | 2013-04-10 | 2013-04-10 | Wheeled robot attack and defense fighting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203220758U true CN203220758U (en) | 2013-10-02 |
Family
ID=49247776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320177050 Expired - Fee Related CN203220758U (en) | 2013-04-10 | 2013-04-10 | Wheeled robot attack and defense fighting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203220758U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107398081A (en) * | 2017-09-07 | 2017-11-28 | 防灾科技学院 | Wushu ring robot and wushu ring robot manipulation's method |
| CN109966754A (en) * | 2019-03-25 | 2019-07-05 | 西北工业大学 | A kind of wushu ring robot that tail portion ramp type is gone up on the stage |
-
2013
- 2013-04-10 CN CN 201320177050 patent/CN203220758U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107398081A (en) * | 2017-09-07 | 2017-11-28 | 防灾科技学院 | Wushu ring robot and wushu ring robot manipulation's method |
| CN109966754A (en) * | 2019-03-25 | 2019-07-05 | 西北工业大学 | A kind of wushu ring robot that tail portion ramp type is gone up on the stage |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131002 Termination date: 20140410 |