CN207257821U - One kind sports foot formula confrontation robot - Google Patents
One kind sports foot formula confrontation robot Download PDFInfo
- Publication number
- CN207257821U CN207257821U CN201720475028.XU CN201720475028U CN207257821U CN 207257821 U CN207257821 U CN 207257821U CN 201720475028 U CN201720475028 U CN 201720475028U CN 207257821 U CN207257821 U CN 207257821U
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- China
- Prior art keywords
- foot
- attack
- baffle
- walking
- walking mechanism
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Abstract
A kind of foot formula confrontation robot for being used to race, including chassis, by baffle and chassis connection and symmetrical pre-walking mechanism and rear walking mechanism, the attack mechanism between baffle, for rear walking mechanism provide the driving device of power, connect the transmission device of pre-walking mechanism and rear walking mechanism；The forward and backward walking mechanism includes walking foot, and the walking foot is connected in parallel on bent axle by three foot pieces and can be rotated around the diameter of axle of bent axle.The functions such as the beneficial effects of the utility model are that by fast forwarding through, retreat, pivot turn, due to the structure type of three feet parallel connection, which can adapt to rugged ground environment；Attack pincers and attack plate can cooperate during robot motion and coordinate the confrontation robot for the other side that throws；Robot has stronger mobility and stronger antagonism.
Description
Technical field
A kind of sports robot is the utility model is related to, especially a kind of sports foot formula confrontation robot.
Background technology
The athletics opposition robot of contest is generally used for mostly using wheeled, and in Chinese patent literature, notification number is
CN205699435U, the utility model patent of entitled " one kind sports robot toy " disclose a kind of sports robot and play
Tool, including car shell, the wheel for being arranged on car shell bottom, the driving mechanism for driving the wheel to rotate, the driving mechanism
It is arranged in car shell, the front end of car shell is provided with the grappling device for attacking enemy.Wheeled or caterpillar type robot is generally suitable
The scarce capacity of space enrironment complicated and changeable is answered, the inertia attack other side that offensive means are generally produced using displacement, attacks
Hitter's section is single；And after being thrown by other side robot, it is typically no to rotate forward the ability of returning.
Utility model content
In order to solve the above technical problems, the utility model provides a kind of sports foot formula confrontation robot, can not only adapt to
Rugged ground environment, and its attack mechanism being equipped with has stronger attack；And when itself is knocked over by other side, attack
Hit pincers and pat ground downwards, make oneself to turn in time.
To reach above-mentioned purpose, the technical solution of the utility model is as follows：
A kind of foot formula confrontation robot for being used to race, including chassis, be connected with chassis by baffle and symmetrical
Pre-walking mechanism and rear walking mechanism, the attack mechanism between left baffle, the driving that power is provided for rear walking mechanism
The transmission device of device, connection pre-walking mechanism and rear walking mechanism；The forward and backward walking mechanism includes walking foot, described
Walking foot is connected in parallel on bent axle by three foot pieces and can be rotated around the diameter of axle of bent axle.
Compared to the prior art, this programme is based on adapting to the design of the demand in different places, to traditional wheeled competing
Skill robot is improved, and is devised three foot pieces in parallel and is formed a walking foot, and three foot pieces are connected in parallel on a bent axle,
It can be rotated around the diameter of axle of bent axle, under the action of driving device, before three foot pieces of walking foot are under the drive of crank rotation afterwards
Alternating movement afterwards；Under the action of driving device and transmission mechanism, preceding walking foot is moved also with the movement of rear walking foot.With
Traditional structure forms are compared, this improvement project can quickly realize that advance, retrogressing, original place such as are spinned at the function；In this improvement project
Using the structure type of three feet parallel connection so that robot architecture stablizes, and can adapt to rugged ground environment.
In addition, the technical program has also carried out following improvement：
The attack mechanism includes the attack panel assembly installed in left baffle middle and upper part and attacking on the inside of baffle
Hit clamp device.The attack mechanism for having attack plate and attack pincers concurrently is devised in this improvement project, there is stronger attacking ability；Attack
Hitting plate and attack pincers can cooperate during robot motion and coordinate the confrontation robot for the other side that throws, and attack
The design of pincers, in robot after being thrown, can be realized and rotates forward by patting ground by means of power.
The attack panel assembly including attack plate, being fixed on attack plate coupling spindle on baffle, with attacking for will attack plate
Hit the attack plate travelling gear that plate one end of the connecting shaft is connected, the attack board motor being connected by travelling gear with attack plate.Originally change
It is the specific design to attack panel assembly into scheme, attack board motor drives the attack version inverse time by travelling gear passing power
Pin is overturn.
The attack clamp device includes across the axis on baffle, is separately mounted to the both ends of axis and is close to keep off
Attack on the inside of plate clamps and drives the motivation transfer motion part that attack pincers are spun upside down.This improvement project is to attacking clamp device
Specific design, two attack pincers are installed on the inner side of baffle by axis, and realize the upper of attack pincers by motivation transfer motion part
Lower flip-flop movement.
The baffle includes inner side baffle and outer side shield, and inner side baffle is got up with outer side shield by pin shaft joint, passes
Dynamic device is installed between inner side, outer side shield.Between transmission device is arranged on two baffles in this improvement project, prevent right
Transmission mechanism is destroyed during anti-, and baffle can also protect other devices of inside to fix other portions as carrier
Part.
The forward and backward walking mechanism further includes the foot lid on the outside of baffle, and walking foot is installed on outside foot lid and baffle
Between side.This improvement project is to protect walking foot mechanism.
The baffle, chassis and attack plate use hollow-out aluminum plate；Walking foot foot on piece is provided with through hole.This improvement project has
Beneficial to the weight for mitigating whole robot, reaction sensitivity is improved.
The foot on piece is provided with groove, and for being reinforced foot piece by axis pin, foot piece can be slided along the axis pin diameter of axle.This improvement
Scheme is that foot piece is moved under the drive of bent axle, foot in order to further reinforce foot piece between foot lid and outer side shield
The groove of on piece part is passively around pin slide.
Brief description of the drawings
Fig. 1 robots overall structure diagram；
Fig. 2 robots attack clamp device structure diagram；
Fig. 3 robots attack panel assembly structure diagram；
Fig. 4 robots side running gear structure diagram；
Fig. 5 crankshaft structure schematic diagrames；
Fig. 6 foot chip architecture schematic diagrames.
In figure, 1 rear walking mechanism；2 pre-walking mechanisms；3 attack clamp devices；4 attack panel assemblies；5 driving devices；6 transmissions
Device；7 inner side baffles；8 outer side shields；9 chassis；10 bent axles；11 foot pieces；12 grooves；Walk after 1-1 foot；1-2 rear foot lids；2-
Walk before 1 foot；2-2 front foot lids；3-1 attack pincers motors I；3-2 attack pincers motors II；3-3 attack pincers；3-4 axis；3-5 is attacked
Clamp travelling gear；4-1 attacks plate；4-2 attacks plate coupling spindle；4-3 attacks board motor；4-4 attacks plate travelling gear.
Embodiment
As shown in Figure 1, a kind of foot formula confrontation robot for being used to race, including chassis 9, it is connected with chassis 9 by baffle
And symmetrical pre-walking mechanism 2 and rear walking mechanism 1, the attack mechanism between baffle, provide for rear walking mechanism 1
The driving device of power, the transmission device for connecting pre-walking mechanism 2 and rear walking mechanism 1；Pre-walking mechanism 2 includes preceding walking foot
Walking foot 1-1 after 2-1, rear walking mechanism 1 include, forward and backward walking foot is connected in parallel on bent axle 10 by three foot pieces 11 can flexing
The diameter of axle of axis rotates；Fit well on piece is all provided with every foot piece 11 and is provided with groove, axis pin is reinforced foot piece on the outside by groove
Between baffle and foot lid, foot piece can be slided along the axis pin diameter of axle.The driving device of walking mechanism is motor in the application, and transmission device is
Pinion unit, wherein, the motor of the left and right walking foot of rear walking mechanism, a rotating forward, a reversion, realize robot original
Ground 360o curve function.
As shown in Fig. 2, baffle includes inner side baffle 7 and outer side shield 8, inner side baffle 7 passes through upper and lower two with outer side shield 8
Row's pin shaft joint gets up, and transmission device is installed between inner side, outer side shield；Transmission device uses gear drive in the application
System, can be according to the suitable transmission device of specific design alternative.Forward and backward walking mechanism further includes front foot lid 2-2, rear foot lid 1-2, preceding
Foot lid 2-2, rear foot lid 1-2 are respectively by the way that on four pin shaft joints to medial and lateral baffle, walking foot is installed on outside foot lid and baffle
Between side.
As shown in Fig. 1,3,4, the middle part of robot, equipped with an axis 3-4, two attacks on the bearing hole of two side shields
It is close at inner side baffle at the both ends that pincers 3-3 is separately mounted to axis 3-4.Attack pincers motor I3-1 and attack pincers motor II3-2 lead to
Attack pincers gear 3-5 driving attack pincers 3-3 is crossed to rotate.Attack panel assembly includes attack plate 4-1, for attack plate to be fixed on gear
Attack plate coupling spindle 4-2 on plate, the attack plate travelling gear 4-4 being connected with attack plate one end of the connecting shaft, pass through travelling gear
The attack board motor 4-3 being connected with attack plate.In addition, medial and lateral baffle, chassis and attack plate use hollow-out aluminum plate；Walking
Foot foot on piece is provided with through hole.
Claims (8)
1. one kind sports foot formula confrontation robot, including chassis, it is connected with chassis by baffle and symmetrical preceding vehicle with walking machine
Structure and rear walking mechanism, the attack mechanism between left baffle, driving device, the connection that power is provided for rear walking mechanism
The transmission device of pre-walking mechanism and rear walking mechanism；It is characterized in that：The forward and backward walking mechanism includes walking foot, institute
Walking foot is stated to be connected in parallel on bent axle and can rotated around the diameter of axle of bent axle by three foot pieces.
2. sports foot formula confrontation robot according to claim 1, it is characterised in that：The attack mechanism includes being installed on
The attack panel assembly of left baffle middle and upper part and the attack clamp device on the inside of baffle.
3. sports foot formula confrontation robot according to claim 2, it is characterised in that：The attack panel assembly includes attack
Plate, for will attack plate be fixed on baffle attack plate coupling spindle, with attack plate one end of the connecting shaft be connected attack plate transmission
Gear, the attack board motor being connected by travelling gear with attack plate.
4. sports foot formula confrontation robot according to claim 2, it is characterised in that：It is described attack clamp device include across
Axis on baffle, the attack for being separately mounted to the both ends of axis and being close on the inside of baffle pincers and attack is driven to clamp
The motivation transfer motion part of lower upset.
5. sports foot formula confrontation robot according to claim 1 or 2, it is characterised in that：The baffle includes interior side block
Plate and outer side shield, inner side baffle are got up with outer side shield by pin shaft joint, and transmission device is installed on inner side baffle and outside
Between baffle.
6. sports foot formula confrontation robot according to claim 1 or 2, it is characterised in that：The forward and backward walking mechanism is also
Including the foot lid on the outside of baffle, between walking foot is installed on the outside of foot lid and baffle.
7. sports foot formula confrontation robot according to claim 3, it is characterised in that：The baffle, chassis and attack
Plate uses hollow-out aluminum plate；Walking foot foot on piece is provided with through hole.
8. sports foot formula confrontation robot according to claim 1 or 2, it is characterised in that：The foot on piece is provided with groove,
For being reinforced foot piece by axis pin, foot piece can be slided along the axis pin diameter of axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720475028.XU CN207257821U (en) | 2017-05-02 | 2017-05-02 | One kind sports foot formula confrontation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720475028.XU CN207257821U (en) | 2017-05-02 | 2017-05-02 | One kind sports foot formula confrontation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207257821U true CN207257821U (en) | 2018-04-20 |
Family
ID=61914684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720475028.XU Expired - Fee Related CN207257821U (en) | 2017-05-02 | 2017-05-02 | One kind sports foot formula confrontation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207257821U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140047A (en) * | 2017-05-02 | 2017-09-08 | 青岛职业技术学院 | One kind sports pin formula confrontation robot |
| CN108771874A (en) * | 2018-08-01 | 2018-11-09 | 重庆电子工程职业学院 | Ship bionical battlebus and robot control system enough |
| CN108927814A (en) * | 2018-08-01 | 2018-12-04 | 重庆电子工程职业学院 | Bionical foot component and bio-robot |
-
2017
- 2017-05-02 CN CN201720475028.XU patent/CN207257821U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140047A (en) * | 2017-05-02 | 2017-09-08 | 青岛职业技术学院 | One kind sports pin formula confrontation robot |
| CN107140047B (en) * | 2017-05-02 | 2023-03-14 | 青岛职业技术学院 | Sports foot type confrontation robot |
| CN108771874A (en) * | 2018-08-01 | 2018-11-09 | 重庆电子工程职业学院 | Ship bionical battlebus and robot control system enough |
| CN108927814A (en) * | 2018-08-01 | 2018-12-04 | 重庆电子工程职业学院 | Bionical foot component and bio-robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180420 Termination date: 20200502 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |