CN207402790U - A kind of Grapple Robots - Google Patents
A kind of Grapple Robots Download PDFInfo
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- CN207402790U CN207402790U CN201721217503.XU CN201721217503U CN207402790U CN 207402790 U CN207402790 U CN 207402790U CN 201721217503 U CN201721217503 U CN 201721217503U CN 207402790 U CN207402790 U CN 207402790U
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Abstract
A kind of Grapple Robots, the Grapple Robots include robot body and the control system inside robot body, the robot body includes head, trunk, arm and running gear, and the trunk includes top, lower part, left part, right part, chest and back, the head and the fixed connection in trunk top, the arm is rotatablely connected respectively with trunk left part and right part, the running gear and the fixed connection in trunk lower part.The setting that the Grapple Robots of the utility model pass through four joints of arm, enable that robot arm is multi-direction, the movement of multi-joint point, adding the setting of robot arm flexibility ratio running gears makes the walking of robot more stablize, and adds the whole machine balancing of robot, prevents from falling down.In addition, the flexibility ratio for adding robot by improving robot control system and moving integrally, and coordinate the layout of circuit that interface is installed according to the installation site of each component during installation, avoid the winding and distortion of circuit.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of Grapple Robots.
Background technology
In the country of two Pius XI circle industry and commerce prosperities, the innovation speed of sci-tech product has reached the unprecedented journey of the mankind
Degree, and in the modern life of goods and materials abundance, high-tech product is all gradually popularized and has incorporated our daily life, one
As common high-tech product such as：Mobile phone, tablet computer, E-book reading device are this kind of based on utility function
3C Product；In addition, as the release of film " transformer " is shown, many people is also allowed to change completely for the impression of robot
It sees.Create " robot " this word from nineteen twenty writer Ka Leier Karel apek, to 2011 everybody generally " robot "
There are during this, machine man-based development is just similar with the rule of development of the Nature, from simply having moved towards complexity in structure,
It is enriched in type from single gone to.
Small scale robot, humanoid robot of particularly grappling are robot types very popular at present, and also there are many be directed to
The match of different type Grapple Robots excites the interest of research staff, also opens a new market.With science and technology
Development, more and more enterprise-like corporations enter Grapple Robots field, and all kinds of Grapple Robots product functions are weeded out the old and bring forth the new, very
It is abundant.And with the development of artificial intelligence technology and internet, more work(based on voice interface, recognition of face, App interconnections etc.
Energy robot progresses into everybody sight.
Existing small-sized Grapple Robots are arranged to short and small mostly in order to stablize movement during fistfight
Square structure also has the Grapple Robots for being arranged to apery structure, but unstable, hand joint underaction of walking, can only be complete
Into simple movement, various game function can not be realized.And existing toy robot degree of freedom is few, coordination
Difference, the defects such as kinematic accuracy is low, are unable to reach anthropomorphic state action, it is difficult to meet the current market demand, in addition, existing small-sized
The walking of apery Grapple Robots is not sufficiently stable, and is susceptible to skidding or robot is fallen down, and direction of travel is single, and due to control
The unreasonable setting of system so that many control lines are rambling to be placed on robot body, has seriously affected robot
The motion range at each position of overall beautiful and robot, and when circuit quickly can not be checked and repaiied when something goes wrong
Reason.
The content of the invention
It is an object of the invention to solve the deficiencies in the prior art, provide it is a kind of walking stablize, joint flexibly, control system
Rationally distributed Grapple Robots.
In order to solve the above technical problem, the present invention provides a kind of Grapple Robots, the Grapple Robots include machine
Human agent and the control system inside robot body, the robot body include head, trunk, arm and walking
Device, the trunk include top, lower part, left part, right part, chest and back, and the head is fixed with trunk top
Formula connects, and the arm is rotatablely connected respectively with trunk left part and right part, and the running gear and trunk lower part are fixed
Connection.
Robot simulation's organization of human body of the present invention, including head, trunk, arm and running gear, in order to more connect
Nearly organization of human body, the head can be set to the head similar to people, can also set face, reach apery effect.The control
System processed is used to controlling and driving the electric device set inside robot body.The Grapple Robots are set there are two arm,
The arm can be rotated relative to trunk, and the devices such as weapon can be set on the arm, make fistfight more interesting.The machine
Device people further includes running gear, and the running gear realizes robot stabilized, quick walking similar to human leg.
Further, the arm include sequentially connected first joint, shoulder, second joint, postbrachium, the 3rd joint,
Forearm, the 4th joint and hand, the shoulder are connected by the first joint with robot body, and the postbrachium is closed by second
Section is connected with shoulder, and the forearm is connected by the 3rd joint with postbrachium, and the hand is connected by the 4th joint with forearm, institute
It states forearm and postbrachium forms arm axis, the shoulder is rotated based on the first joint compared with robot body, and rotational plane is put down
Row is in robot body side；The postbrachium is swung based on second joint compared with shoulder, and swaying direction is included towards robot
Main body and separate robot body；The forearm is rotated based on the 3rd joint compared with postbrachium, and rotation direction is around the arm
Axis rotates；The hand is based on the 4th joint compared with preceding arm swing, swinging axle vertical arm axis.
The one end in first joint is fixed with shoulder, and the other end is rotatablely connected with robot body so that shoulder can
It is rotated based on the first joint compared with robot body, rotational plane is parallel to robot body side；And shoulder being capable of band
Postbrachium, forearm and the hand of dynamic shoulder lower end move together, similar human arm, realize the front and rear pendulum of the entire arm of robot
Dynamic, it is circular shaped motion scope of the center of circle arm length as radius to be formed using the first joint.
The second joint both ends are connected at the front-back symmetric position of shoulder so that postbrachium can be based on second joint
It is swung compared with shoulder, before swaying direction is included towards robot body and away from robot body, while postbrachium can drive
Arm and hand move together, are formed using second joint as the center of circle, using postbrachium, forearm and hand length as a quarter of diameter
Circular shaped motion scope.
Described 3rd joint one end connects postbrachium, one end connection forearm so that the forearm be based on the 3rd joint compared with
Postbrachium rotates, and rotation direction is to be rotated around the arm axis, and hand can be driven to move together.Formed using the 3rd joint as
Circular shaped motion scope of the weapon as radius is held in center using hand.
The 4th joint both ends are arranged on the symmetrical position of forearm so that the hand can be put along before and after forearm
It is dynamic.Pass through the setting in four joints so that robot arm can the movement of multi-direction, multi-joint point, add robot arm
Flexibility ratio so that robot can realize the attack of multiple directions, multiple angles during fistfight.
The setting in four joints can realize the scope of activities of robot arm different directions, and scope of activities is made to reach maximum
Change, and each joint cooperates, arm can the multi-faceted stretching, extension of multi-angle, add the flexibility ratio of arm.
Further, first joint include be arranged on robot body in the first steering engine, arranged on robot body with
First support shaft of shoulder junction and the clutch shaft bearing for supporting the first support shaft, described first support shaft one end is consolidated with shoulder
Fixed pattern connects, and the other end is connected with the first steering engine shaft, and the robot body engages equipped with the first card slot with clutch shaft bearing；Institute
Stating second joint includes being arranged on the second steering engine inside postbrachium, the second support shaft arranged on postbrachium Yu shoulder one side junction, branch
Support the second bearing of the second support shaft and the first steering wheel of postbrachium and shoulder opposite side junction, described second support shaft one end
It is fixed with postbrachium, the other end is rotatablely connected by second bearing and shoulder, and the first steering wheel one side is fixed with shoulder, opposite side
It is connected with the second steering engine shaft；3rd joint includes the 3rd steering engine arranged on forearm inner upper end, arranged on postbrachium and forearm
3rd support shaft of junction and the 3rd bearing for supporting the 3rd support shaft, described 3rd support shaft one end and postbrachium are fixed
Connection, the other end are connected with the 3rd steering engine shaft, and the forearm engages equipped with the second card slot with 3rd bearing；4th joint
Including be arranged on forearm interior lower end the 4th steering engine, arranged on forearm Yu hand one side junction the 4th support shaft, support the 4th
The fourth bearing and forearm of support shaft and the second steering wheel of hand opposite side junction, described 4th support shaft one end and forearm
Fixed, the other end is rotatablely connected by fourth bearing and hand, and the second steering wheel one side is fixed with hand, opposite side and the 4th
Steering engine shaft connects.
Steering engine is a kind of driver of position (angle) servo, suitable for those angle is needed constantly to change and can keep
Control system.With the continuous development of science and technology, the application of steering engine is more and more extensive.Not only in model airplane, in machine
Also it can be seen that its application in device people's model.Heretofore described four joints, each joint are provided with a miniature steering engine,
Pass through the diarthrodial movement of steering engine band.
First steering engine is arranged on inside robot body close to two side position of robot body bilateral, convenient and arm
Connection.Described first support shaft one end is welded and fixed with shoulder or is connected for integral type, and the other end is connected with the first steering engine shaft,
During so that the first steering engine working, first support shaft, which can drive, rolls over.Due to the rotation of the first steering engine, can drive entire
Therefore the movement of arm, in order to which the operation of the first steering engine is made more to stablize, is disposed inside robot body.Described first
Bearing is becket, and the first support shaft is supported by clutch shaft bearing, prevents rocking in steering engine movement.Outside the robot body
Shell is generally the component of plastic material, and shell synthesizes an entirety by front and rear casing, body interior component is surrounded, plays guarantor
Shield acts on.Shell is equipped with the first card slot, is engaged clutch shaft bearing by front and rear engaging.When the first steering engine drives the first support shaft
During rotation, clutch shaft bearing is fixed.Since robot body is plastic material at the first card slot, clutch shaft bearing is set
Put is that the first support shaft rocks caused by wheelbase is longer in rotation process and may in rotation process in order to prevent
Robot body's groove position is caused to wear, influences robot service life.Entire arm can be achieved in the design in the first joint
Move forward and backward, the firing area of robot is made to have covered the scope of tensible before and after arm length.
Since shoulder inner space is limited, and arm moves up and down for convenience, and the second steering engine of the second joint is set
It puts inside postbrachium, the postbrachium both sides are connected by the second support shaft and the first steering wheel with shoulder, form T-shaped structure, will
Postbrachium is suspended on shoulder.Further, the postbrachium is made of the component of left and right two panels plastic material, and in steering engine is wrapped in
Portion, the postbrachium top are equipped with installation card slot corresponding with the second support shaft.Likewise, in order to prevent after the abrasion of the second support shaft
Arm installs card slot, and the present invention is equipped with second bearing in the second support shaft, and second support shaft is rotatablely connected with shoulder.Due to
The axis of connection steering engine plays main support, therefore the axis needs the installation position of enough diameters and sufficient space, due to peace
The limitation of bit space is filled, axis is changed to steering wheel and replaced by the present invention, saves space.The design of first steering wheel can reduce installation
Volume, and torque can be enhanced.When the second steering engine works, due to the first steering wheel, to be fixed on shoulder immovable, at this time the second rudder
Chance drives postbrachium movement, so that the second support shaft and then rotates, final postbrachium drives forearm and hand opposite shoulder to carry out
It moves up and down.The design of second joint can realize the up and down motion of arm, with reference to the first joint, can realize robot arm
The covered maximum magnitude of institute after all around stretching.
3rd joint structure is similar to the first joint structure, due to robot arm postbrachium inner space in the present invention
It is only sufficient to set a steering engine, therefore the 3rd steering engine is arranged on the upper end inside the forearm, the 3rd support shaft is arranged on
Postbrachium and forearm junction, described 3rd support shaft one end are welded and fixed with postbrachium, and the other end is connected in the 3rd steering engine shaft, is made
When obtaining the work of the 3rd steering engine, the 3rd support shaft can drive forearm rotation.The 3rd bearing is becket, is arranged on the 3rd
In support shaft, the postbrachium is equally made of front and rear two blocks of components that can be mutually combined, and the component passes through bolt arrangement
It is fixed.The present invention is fixed the 3rd bearing by the second card slot that front and rear two module component is formed.3rd steering engine works
When, the 3rd support shaft can be driven to rotate, and 3rd bearing will not be rotated due to being fixed on the second card slot, play support the 3rd
The effect of axis is supportted, prevents from rocking.The setting of the 3rd bearing be in order to prevent the 3rd support shaft in rotation process due to axis
Away from rocking caused by longer and robot body's groove position may being caused to wear in rotation process, robot is influenced
Service life.The design in the 3rd joint mainly sets to increase the flexibility ratio of arm by piecewise joint, particular near
The fistfight of distance.By the 3rd joint synkinesia, can make a response rapidly.
Since robot hand can design the weapons such as peashooter, knife, sword, the free time that hand leaves is limited, and by
It is sufficient in the forearm inner space, therefore the steering engine in the 4th joint is arranged on the forearm interior lower end.The steering engine leads to
The front and rear component for crossing forearm is fastened on inside forearm, wherein the steering engine be emerging on one side outside forearm and with the face fore-arm
In same plane.4th joint structure is similar to second joint, and described 4th support shaft one end is welded and fixed with forearm, the other end
It is rotatablely connected with hand so that hand can be rotated around the 4th support shaft.Described second steering wheel one end is connected with steering engine shaft, can be around
Steering engine rotates, and the other end is fixed on hand and the 4th axisymmetric position of support.When 4th steering engine works, by driving second
Steering wheel rotates, so that hand can be axially moved perpendicular to arm axis.The setting in the 4th joint is set primarily directed to hand
In the case of having weapon, by the booster action in the 4th joint, attack can be quickly made, makes action more nimbly and freely,
Increase the interest of fistfight.
Further, the running gear includes first leg, the second supporting leg, the 3rd supporting leg and the 4th supporting leg, described every
Supporting leg lower end is respectively equipped with driving motor and traveling wheel, and the driving motor drives traveling wheel, and the first leg lower end is set
There is the first traveling wheel, the second supporting leg lower end is equipped with the second traveling wheel, and the 3rd supporting leg lower end is equipped with the third line and walks wheel, institute
State the 4th supporting leg lower end equipped with fourth line walk wheel, which is characterized in that four supporting legs be in crossing distribution, formed first axle and
The driving motor of second axis, the first leg and the 3rd supporting leg lower end respectively drives the first traveling wheel and the third line and walks wheel with the
It is rotated centered on one axis, the driving motor of second supporting leg and the 4th supporting leg lower end respectively drives the second traveling wheel and fourth line
It walks wheel to rotate centered on the second axis, the first axle is mutually perpendicular to the second axis.
The robot walking device, similar to the leg of the mankind, for the quick walking of robot.The supporting leg upper end
It is fixed by threaded fastener and robot body, in order to which robot ambulation is made more to stablize, the robot walking device bag
Four supporting legs are included, the supporting leg, which is evenly distributed, is distributed in robot body lower end, and every supporting leg lower end is respectively equipped with one
Driving motor and traveling wheel, the driving motor are arranged on inside electric motor protecting shell, can prevent that exposure causes driving motor for a long time
Damage.The traveling wheel relies on driving motor supplies power.
In order to which running gear walking is made more to stablize, and ensure that robot can be moved from any direction, the present invention sets four
Supporting leg is respectively first leg, the second supporting leg, the 3rd supporting leg and the 4th supporting leg, and is disposed adjacent in order, four branch
Leg sets across, forms two orthogonal first axles and the second axis, the traveling wheel are supported in ground, entire machine
People is moved mainly by the rolling of traveling wheel.By first axle and the second shaft design, the steady of robot body can be increased
Qualitative, inclination when avoiding walking due to some direction causes robot to be fallen down, and can ensure the association of the movement of traveling wheel
Tonality.
Further, the traveling wheel includes the first runner, the second runner and central shaft, first runner and second
Runner is fixed by central shaft, and the driving motor drives the first runner and the second runner simultaneously by driving central axis
It rotates.
Each traveling wheel can set multiple runners, and in order to preferably control the rotation of traveling wheel, the present invention sets two
A runner, runner are fixed together by central shaft, increase the contact area with ground, increase the stability of walking.Described
It after one runner and the second runner are fixed by central shaft, can not rotate around the axis, and turning for central shaft is driven by driving motor
It moves and rotates.The robot is equipped with control system, and driving motor can be controlled, so as to control traveling wheel.
Further, the wheel side of first runner and the second runner is respectively equipped with multiple installation positions, first runner
It is staggered with the installation position of the second runner, first traveling wheel and the second traveling wheel are respectively equipped with multiple revolving members, institute
Revolving member is stated to be respectively arranged in installation position.
Each runner respectively sets multiple symmetrical installation positions in the position of wheel rim frame, and the installation position is in similar ellipse
Circle, the wheel side diameter at installation position is smaller, and the rotating mechanism is free to rotate centered on the wheel side at installation position.Institute
It is interlaced to state the installation position of the first runner and the second runner, since the first runner and the second runner are relatively fixed together, two
The relative position of person will not change, and the installation position of interlaced i.e. first runner, corresponding second runner is secured to
Position be the second runner wheel side, likewise, the installation position of the second runner, position that corresponding first runner is secured to is the
The wheel side of one runner.
When robot needs are moved towards the first direction of principal axis, the second traveling wheel and fourth line are walked wheel and are turned by driving motor
Dynamic realize rotates, and to walk to take turns rotation direction vertical with first axle for the first traveling wheel and the third line at this time, therefore control centre only needs
Start the second traveling wheel and fourth line walks wheel.But the first traveling wheel and the third line walk the mobile of wheel and can increase walking at this time
Resistance, and traveling wheel can be caused to wear, it is therefore desirable to which rotating mechanism is set, when the first traveling wheel and the third line walk wheel belt
When mobile robot moves, the second traveling wheel and fourth line can be driven to walk the rotating mechanism rotation of wheel, wheel rim is avoided and connect with ground
The defects of traveling wheel can not be moved towards central axis direction when touching, while the abrasion on wheel side is reduced, also reduce the resistance of motion.Together
Sample, when robot needs are moved towards the second direction of principal axis, the first traveling wheel and the third line walk rotation of the wheel by driving motor
It realizes and rotates, and to walk to take turns rotation direction vertical with the second axis for the second traveling wheel and fourth line at this time, therefore control system need to only open
Dynamic first traveling wheel and the third line walk wheel.But the second traveling wheel and fourth line walk the mobile of wheel and can increase walking at this time
Resistance, and traveling wheel can be caused to wear, it is therefore desirable to rotating mechanism is set, when the second traveling wheel and fourth line are walked wheel and driven
When robot moves, the first traveling wheel and the third line can be driven to walk the rotating mechanism rotation of wheel.
Further, the control system include be arranged on robot body inside control circuit board, control line, it is multiple suddenly
That element, the robot trunk subordinate end are additionally provided with waist steering engine, and the control circuit board is arranged on robot body back, institute
Control circuit board is stated equipped with multiple interfaces respectively by control line and multiple Hall elements, the first steering engine, the second steering engine, the 3rd rudder
Machine, the 4th steering engine, waist steering engine and the connection of the driving motor of supporting leg lower end.
The control circuit board is integrally rectangle, and is arranged on trunk back vertically, convenient for the distribution of circuit, is not interfered with
Robot is overall beautiful.The robot chest can set the devices such as light induction, increase the fistfight entertaining of Grapple Robots.Institute
Control circuit board is stated equipped with multiple interfaces, the interface is arranged on four lateral edges of control circuit board, can facilitate control
The access of line.
The robot is additionally provided with Hall element, and Hall element is the semiconductor using Hall effect, is generally used for motor
Middle measure rotor speed, such as the magnetic drum of video recorder, radiator fan in computer etc. is a kind of Magnetic Sensor based on Hall effect,
A Magnetic Sensor product family numerous in variety is had evolved into, and has been widely used.Present invention is generally directed to fistfight
Formula robot by setting Hall element inside robot body, when under attack, can sense the number hit, lead to
Setting linkage is crossed, can be scored to hitting number, and then judges fistfight victory or defeat, raising is recreational, and the steering engine passes through
Control line is connected with control circuit mainboard, and can feedback signal give control circuit mainboard.
Further, the control circuit board is reverse side close to robot body's one side, is on one side away from robot body
Front, the front upper are equipped with first interface and second interface, and the first interface and second interface are perpendicular to control circuit
Plate, the robot body back are equipped with the first Hall element, the first interface and second interface and connect the by control line
One Hall element；The control circuit board reverse side top is equipped with upper row's interface, and upper row's interface is perpendicular to control circuit board, institute
Robot body's chest is stated equipped with the second Hall element, upper row's interface connects the second Hall element by control line.
Present invention definition is reverse side close to robot body's one side, and main interface is all disposed within close to robot body one
Face facilitates configuration.One side of the definition away from robot body is front, and the front connects equipped with first interface and second
Mouthful, since robot is during fistfight, back is the position being easy under fire, so Hall element is installed at back, when
When back is under attack, it can sense in time, you can score.Therefore, moved towards in order to facilitate control line and facilitate installation, even
It connects the first interface of Hall element and second interface is arranged on the front of control circuit board.
Since robot is during fistfight, chest and back are the positions for being most susceptible to attack, therefore except carrying on the back
Portion is set outside Hall element, need to also be also provided with Hall element in chest, for the ease of overhauling and dismounting, therefore is arranged on control electricity
It is arranged on the plate reverse side of road.
Further, the control circuit board reverse side top is additionally provided with lower row's interface, and lower row's interface is perpendicular to control
Circuit board, lower row's interface connect the first steering engine by control line；The control circuit board is respectively arranged on the left side and the right side three
Side face port, the side face port parallel to control circuit board, the side face port respectively by control line connect the second steering engine,
3rd steering engine and the 4th steering engine；The control circuit board bottom is set there are five bottom interface, and the bottom interface is parallel to control
Circuit board, wherein four bottom interfaces connect four driving motors by control line respectively, one of bottom interface passes through control
Line processed connects waist steering engine.
Since the first steering engine of shoulder is located at the both sides on robot body's trunk top, in order to facilitate line arrangement and connect
The installation and maintenance of mouth, therefore the line interface of shoulder steering engine is arranged on control circuit board reverse side top close to upper row's interface.
Second steering engine, the 3rd steering engine and the 4th steering engine are closer to the distance, and control line compares concentration, and right-hand man is symmetricly set on arm
Inside, therefore the control interface of three steering engines is arranged on control circuit board both sides, and set parallel to control circuit board, conveniently tear open
Dress and maintenance, while the distortion of interface control line will not be caused, reduce the damage to control line.
The waist steering engine and driving motor are separately positioned on the waist and running gear of robot body, compared with hand
Steering engine inside arm is partial to the latter half of body, therefore the interface of waist steering engine and step motor is arranged at control electricity
Road plate bottom, and interface line distorts in order to prevent, and be convenient to overhaul and dismount, the interface is set parallel to control circuit board
It puts.
Further, the control system further includes weapon system, and the weapon system includes being arranged on robot body
Weapon, infrared transmitter and infrared remote receiver, the weapon pass through control line connect control circuit mainboard；The infrared emission
Device is arranged on inside weapon, and the infrared remote receiver is arranged on robot chest.
Present invention is generally directed to Grapple Robots, therefore can weapon, such as pistol or knife, sword dress be set in robot hand
It puts, the weapon connects control circuit mainboard by control line, according to different instructions, is controlled by control circuit mainboard military
Device.In addition the weapon that right-hand man can be set is different, and one sets the weapon being connected with control circuit mainboard on hand, and another is on hand
The impact weapon that can be grappled is set, by impacting chest or back, after the sensing of built-in Hall element, fistfight integration can be carried out.
The diversity of fistfight is added, with more recreational.By grappling, both sides are emitted by the infrared transmitter on weapon to other side
Infrared remote receiver, can equally be integrated.
Beneficial effects of the present invention：The setting that the Grapple Robots of the present invention pass through four joints of arm so that robot
Arm can the movement of multi-direction, multi-joint point, add the flexibility ratio of robot arm so that robot energy during fistfight
It enough realizes the attack of multiple directions, multiple angles, and closely fistfight can be directed to and made a response rapidly, add user's body
It tests.The setting of running gear can be such that the walking of robot more stablizes, and add the whole machine balancing of robot, prevent from falling down.
In addition, the excessive caused abrasion of traveling wheel stress can also be slowed down.In addition the setting of traveling wheel two-wheel and rotating mechanism makes robot
When walking towards any direction, can fast reaction, reduce wheel rim abrasion, and can be anti-skidding.In addition, by improving robot control
System adds the flexibility ratio of robot overall movement, and according to the installation site of each component when installing, coordinates the cloth of circuit
Office's installation interface；According to the position of each component, the position and orientation of rational deployment interface avoid the winding and torsion of circuit
Song, and each interface is mainly disposed to four circumferential edges of control circuit board, easy to disassemble and maintenance improves efficiency.
Description of the drawings
Fig. 1 is Grapple Robots front view.
Fig. 2 is Grapple Robots stereogram.
Fig. 3 is Grapple Robots arm front view.
Fig. 4 is Grapple Robots arm stereogram.
Fig. 5 is floor map residing for robot body of the present invention.
Fig. 6 is Grapple Robots arm top view.
Fig. 7 is quick-fried according to figure for Grapple Robots arm.
Fig. 8 is Grapple Robots top view.
Fig. 9 is Grapple Robots caster device stereogram.
Figure 10 is traveling wheel broken away view.
Figure 11 is traveling wheel explosive view
Figure 12 system schematics in order to control.
Figure 13 circuit board left views in order to control.
Figure 14 circuit board front views in order to control.
Figure 15 is robot back skin schematic internal view.
Figure 16 circuit board reverse views in order to control.
Figure 17 is robot chest enclosure schematic diagram.
Figure 18 is robot body without chest shell front view.
Specific embodiment
A kind of Grapple Robots, as shown in Fig. 1~2, the Grapple Robots include robot body and arranged on robots
The control system of body interior, the robot body include head 1, trunk 2, arm 3 and running gear 4, the trunk
Portion 2 includes top 21, lower part 22, left part 23, right part 24, chest 25 and back 26, and the head 1 is consolidated with 2 top of trunk
Fixed pattern connects, and the arm 3 is rotatablely connected respectively with 2 left part 23 of trunk and right part 24, the running gear 4 and trunk 2
The fixed connection in lower part.
As shown in figs. 34, the arm 3 includes sequentially connected first joint 31, shoulder 32, second joint 33, postbrachium
34th, the 3rd joint 35, forearm 36, the 4th joint 37 and hand 38, the shoulder 32 pass through the first joint 31 and trunk 2
Connection, the postbrachium 34 are connected by second joint 33 with shoulder 32, and the forearm 36 is connected by the 3rd joint 35 with postbrachium 34
It connects, the hand 38 is connected by the 4th joint 37 with forearm 36, and the forearm 36 and postbrachium 34 form arm axis.The shoulder
Portion 32 is rotated based on the first joint 31 compared with trunk 2, as shown in figure 5, rotational plane is parallel to robot or so parallel surface
27；The postbrachium 34 is swung based on second joint 33 compared with shoulder 32, and swaying direction is included towards robot body and separate
Robot body；The forearm 36 is rotated based on the 3rd joint 35 compared with postbrachium 34, and rotation direction is around the arm axis
It rotates；The hand 38 is swung based on the 4th joint 37 compared with forearm 36, swinging axle vertical arm axis.
Further, as shown in fig. 6, first joint 31 includes the first steering engine 311 being arranged in trunk 2, is arranged on
Trunk 2 and the first axle 312 of 32 junction of shoulder and the clutch shaft bearing 313 of support first axle 312, the first axle 312
One end and 32 fixed connection of shoulder, the other end are connected with 311 shaft of the first steering engine, and the trunk 2 is equipped with the first card slot 29
Engage with clutch shaft bearing 313；
As shown in fig. 7, the second joint 33 include being arranged on the second steering engine 331 inside postbrachium 34, arranged on postbrachium 34 and
Second axis 332 of 32 one side junction of shoulder, the second bearing 333 for supporting the second axis 332 and postbrachium 34 and shoulder 32 are another
First steering wheel 334 of side junction, described second axis, 332 one end are fixed with postbrachium 34, the other end by second bearing 333 with
Shoulder 32 is rotatablely connected, and 334 one side of the first steering wheel is fixed with shoulder 32, and opposite side is connected with 331 shaft of the second steering engine；Institute
Stating shoulder 32 includes shoulder decoration 321, shoulder frame 322, shoulder side plate 323, and the postbrachium 34 includes postbrachium decorative frame 341, postbrachium is decorated
Part 342, postbrachium shell 343 and postbrachium lid 344, second steering engine 331 is installed on postbrachium shell 343 and postbrachium lid 344 is fastened and formed
Cavity in.
As shown in fig. 7, the 3rd joint 35 includes the 3rd steering engine 351 arranged on 36 inner upper end of forearm, arranged on postbrachium
34 and 36 junction of forearm the 3rd axis 352 and support the 3rd axis 352 3rd bearing 353, described 3rd axis, 352 one end with
34 fixed connection of postbrachium, the other end are connected with 351 shaft of the 3rd steering engine, and the forearm 36 is equipped with the second card slot 361 and the 3rd
Bearing 353 engages；The forearm 36 includes control line protective shell 362, forearm shell 363 and forearm lid 364, the forearm shell 363
It mutually fastens to form the second card slot 361 with 364 upper end of forearm lid, and internal formation cavity, the 3rd steering engine 351 and the 4th is installed
Steering engine 371.
As shown in fig. 7, the 4th joint 37 includes the 4th steering engine 371 arranged on 36 interior lower end of forearm, arranged on forearm
36 with the 4th axis 372 of 38 one side junction of hand, support the fourth bearing 373 of the 4th axis 372 and forearm 36 and hand 38
Second steering wheel 374 of opposite side junction, described 4th axis, 372 one end are fixed with forearm 36, and the other end passes through fourth bearing 373
It is rotatablely connected with hand 38,374 one side of the second steering wheel is fixed with hand 38, and opposite side and 372 shaft of the 4th steering engine connect
It connects.
Further, the running gear 4, which includes the running gear, includes a plurality of supporting leg.It is described as shown in Fig. 8~9
Supporting leg 41 includes first leg 411, the second supporting leg 412, the 3rd supporting leg 413 and the 4th supporting leg 414, and every supporting leg lower end is set
There are one electric motor protecting shell 42 and traveling wheel 43, centrally-mounted driving 44 in the electric motor protecting shell 42, under the first leg 411
End is equipped with the first traveling wheel 431, and 412 lower end of the second supporting leg is equipped with the second traveling wheel 432,413 lower end of the 3rd supporting leg
Wheel 433 is walked equipped with the third line, wheel 434 is walked in 414 lower end of the 4th supporting leg equipped with fourth line, and four supporting legs are in cross point
The driving motor 5 of cloth, formation first axle and the second axis, the first leg 21 and 23 lower end of the 3rd supporting leg respectively drives the first row
It walks wheel 41 and the third line is walked wheel 43 and rotated centered on first axle, the driving of second supporting leg 22 and 24 lower end of the 4th supporting leg
Motor respectively drives the second traveling wheel 42 and fourth line is walked wheel 44 and rotated centered on the second axis, the first axle and the second axis phase
It is mutually vertical.
Further, as shown in Figure 10, each traveling wheel 43 include the first runner 435, the second runner 436 and
Central shaft 437,435 and second runner 436 of the first runner are fixed by central shaft 437, and the driving motor 44 passes through drive
The central shaft 437 is moved to rotate and drive the first runner 435 and the second runner 436 while rotate.
Further, as shown in figure 11, the wheel side of the runner is respectively equipped with four symmetrical installation positions 48, institute
The installation position for stating the first runner 45 and the second runner 46 is staggered, and first runner 45 is identical with 46 structure of the second runner,
The runner 45 includes runner upper cover 451, rugby shape rotor 452, rotor shaft 453, runner lower cover 454 and runner locking
Axis 455, the runner are set there are four rugby shape rotor 452, and equipped with 4 corresponding installation positions.Further, such as Figure 10
Shown, the rotor 452 is both with respect to its corresponding wheel side protrusion.
Further, as shown in Figure 12~13, the control system includes being arranged on the control circuit inside robot body
Plate 5, control line, multiple Hall elements, the robot trunk subordinate end are additionally provided with waist steering engine, and the control circuit board 5 is set
In robot body back, the control circuit board 5 passes through control line and multiple Hall elements, first respectively equipped with multiple interfaces
Steering engine, the second steering engine, the 3rd steering engine, the 4th steering engine, waist steering engine and the connection of the driving motor of supporting leg lower end.
Further, as shown in figure 13, the control circuit board 5 is reverse side close to robot body's one side, away from machine
Human agent's one side is front, and as shown in figure 14, the front upper is equipped with first interface 51 and second interface 52, and described first connects
Mouthfuls 51 and second interface 52 perpendicular to control circuit board 5, as shown in figure 15, robot body's back skin is internally provided with the
One Hall element 6, the first interface 51 and second interface 52 connect the first Hall element 6 by control line；As shown in figure 16,
The 5 reverse side top of control circuit board is equipped with upper row's interface 53, and upper row's interface 53 is perpendicular to control circuit board, such as Figure 17 institutes
Show, robot body's chest enclosure is equipped with the second Hall element 7, and upper row's interface connects second by control line
Hall element 7.
Further, as shown in figure 16, the control circuit board reverse side top is additionally provided with lower row's interface 54, and the lower row connects
Perpendicular to control circuit board 5, lower row's interface 54 passes through control line and connects the first steering engine 311 mouth；The control circuit board is left
Right both sides are respectively equipped with three side face ports 55, and the side face port 55 divides parallel to control circuit board 5, the side face port 55
The second steering engine 331, the 3rd steering engine 351 and the 4th steering engine 371 are not connected by control line；The control circuit board bottom is equipped with
Five bottom interfaces 56, the bottom interface 56 is parallel to control circuit board 5, wherein four bottom interfaces pass through control line point
Not Lian Jie four driving motors 44, one of bottom interface pass through control line connect waist steering engine.
Further, as shown in figure 18, the control system further includes weapon system, and the weapon system includes being arranged on machine
Weapon 91, infrared transmitter 92 and infrared remote receiver 93, the weapon on device human agent connect control circuit by control line
Mainboard 5；The infrared transmitter 92 is arranged on inside weapon, and the infrared remote receiver 93 is arranged on robot chest.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of Grapple Robots, the Grapple Robots include robot body and the control system inside robot body
System, the robot body include head, trunk, arm and running gear, which is characterized in that the trunk includes upper
Portion, lower part, left part, right part, chest and back, the head and the fixed connection in trunk top, the arm respectively with
Trunk left part and right part rotation connection, the running gear and the fixed connection in trunk lower part.
2. Grapple Robots according to claim 1, which is characterized in that the arm include sequentially connected first joint,
Shoulder, second joint, postbrachium, the 3rd joint, forearm, the 4th joint and hand, the shoulder pass through the first joint and machine
Human agent connects, and the postbrachium is connected by second joint with shoulder, and the forearm is connected by the 3rd joint with postbrachium, described
Hand is connected by the 4th joint with forearm, and the forearm and postbrachium form arm axis, and the shoulder is based on the first joint phase
It is rotated for robot body, rotational plane is parallel to robot body side；The postbrachium is based on second joint compared with shoulder
Portion is swung, and swaying direction is included towards robot body and away from robot body；The forearm be based on the 3rd joint compared with
Postbrachium rotates, and rotation direction is to be rotated around the arm axis；The hand is based on the 4th joint compared with preceding arm swing, swings
Axis vertical arm axis.
3. Grapple Robots according to claim 2, which is characterized in that
First joint includes the first steering engine being arranged in robot body, the arranged on robot body and shoulder junction
One support shaft and the clutch shaft bearing for supporting the first support shaft, described first support shaft one end and the fixed connection of shoulder, it is another
End is connected with the first steering engine shaft, and the robot body engages equipped with the first card slot with clutch shaft bearing；
The second joint includes being arranged on the second steering engine inside postbrachium, the second support arranged on postbrachium and shoulder one side junction
Axis, the second bearing for supporting the second support shaft and postbrachium and the first steering wheel of shoulder opposite side junction, second support
Axis one end is fixed with postbrachium, and the other end is rotatablely connected by second bearing and shoulder, and the first steering wheel one side is fixed with shoulder,
Opposite side is connected with the second steering engine shaft；
3rd joint includes the 3rd steering engine arranged on forearm inner upper end, the 3rd support arranged on postbrachium and forearm junction
Axis and the 3rd bearing for supporting the 3rd support shaft, described 3rd support shaft one end and the fixed connection of postbrachium, the other end and the
Three steering engine shafts connect, and the forearm engages equipped with the second card slot with 3rd bearing；
4th joint includes the 4th steering engine arranged on forearm interior lower end, the arranged on forearm and hand one side junction the 4th
Support shaft, the fourth bearing for supporting the 4th support shaft and forearm and the second steering wheel of hand opposite side junction, the described 4th
Support shaft one end is fixed with forearm, and the other end is fixed by the rotation connection, the second steering wheel one side with hand, opposite side and
4th steering engine shaft connects.
4. Grapple Robots according to claim 1, which is characterized in that the running gear include first leg, second
Leg, the 3rd supporting leg and the 4th supporting leg, every supporting leg lower end are respectively equipped with driving motor and traveling wheel, the driving motor band
Dynamic traveling wheel, the first leg lower end are equipped with the first traveling wheel, and the second supporting leg lower end is equipped with the second traveling wheel, and described the
Three supporting leg lower ends are equipped with the third line and walk wheel, and the 4th supporting leg lower end is equipped with fourth line and walks wheel, and four supporting legs are in cross
The driving motor of distribution, formation first axle and the second axis, the first leg and the 3rd supporting leg lower end respectively drives the first walking
Wheel and the third line are walked wheel and are rotated centered on first axle, and the driving motor of second supporting leg and the 4th supporting leg lower end respectively drives
Second traveling wheel and fourth line are walked wheel and are rotated centered on the second axis, and the first axle is mutually perpendicular to the second axis.
5. Grapple Robots according to claim 4, which is characterized in that the traveling wheel includes the first runner, the second runner
And central shaft, first runner and the second runner are fixed by central shaft, the driving motor is by driving central shaft to turn
It moves and the first runner and the second runner is driven to rotate simultaneously.
6. Grapple Robots according to claim 5, which is characterized in that distinguish on the wheel side of first runner and the second runner
Equipped with multiple installation positions, the installation position of first runner and the second runner is staggered, first traveling wheel and the second row
It walks wheel and is respectively equipped with multiple revolving members, the revolving member is respectively arranged in installation position.
7. according to any one of claim 1~6 Grapple Robots, which is characterized in that the control system includes being arranged on machine
Control circuit board, control line, multiple Hall elements inside device human agent, the robot trunk subordinate end are additionally provided with waist rudder
Machine, the control circuit board are arranged on robot body back, and the control circuit board passes through control line respectively equipped with multiple interfaces
With multiple Hall elements, the first steering engine, the second steering engine, the 3rd steering engine, the 4th steering engine, waist steering engine and the driving of supporting leg lower end
Motor connects.
8. Grapple Robots according to claim 7, which is characterized in that the control circuit board is close to robot body's one side
It is front away from robot body's one side for reverse side, the front upper is equipped with first interface and second interface, and described first connects
Perpendicular to control circuit board, the robot body back is equipped with the first Hall element, the first interface for mouth and second interface
The first Hall element is connected by control line with second interface；The control circuit board reverse side top is equipped with upper row's interface, described
Upper row's interface is equipped with the second Hall element perpendicular to control circuit board, robot body's chest, and upper row's interface passes through
Control line connects the second Hall element.
9. Grapple Robots according to claim 8, which is characterized in that the control circuit board reverse side top is additionally provided with lower row
Interface, lower row's interface connect the first steering engine perpendicular to control circuit board, lower row's interface by control line；The control
Circuit board is respectively arranged on the left side and the right side three side face ports, and the side face port is parallel to control circuit board, the side face port
The second steering engine, the 3rd steering engine and the 4th steering engine are connected by control line respectively；The control circuit board bottom is set there are five bottom
Interface, the bottom interface is parallel to control circuit board, wherein four bottom interfaces connect four drivings by control line respectively
Motor, one of bottom interface connect waist steering engine by control line.
10. Grapple Robots according to claim 7, which is characterized in that the control system further includes weapon system, described
Weapon system includes the weapon, infrared transmitter and the infrared remote receiver that are arranged on robot body, and the weapon passes through control line
Connect control circuit mainboard；The infrared transmitter is arranged on inside weapon, and the infrared remote receiver is arranged on robot chest.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721217503.XU CN207402790U (en) | 2017-09-21 | 2017-09-21 | A kind of Grapple Robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721217503.XU CN207402790U (en) | 2017-09-21 | 2017-09-21 | A kind of Grapple Robots |
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| CN207402790U true CN207402790U (en) | 2018-05-25 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598938A (en) * | 2017-09-21 | 2018-01-19 | 广州市华科尔科技股份有限公司 | A kind of Grapple Robots |
| CN112791391A (en) * | 2021-01-29 | 2021-05-14 | 深圳市坤易电子有限公司 | Specific attack integral identification module of robot |
-
2017
- 2017-09-21 CN CN201721217503.XU patent/CN207402790U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598938A (en) * | 2017-09-21 | 2018-01-19 | 广州市华科尔科技股份有限公司 | A kind of Grapple Robots |
| CN107598938B (en) * | 2017-09-21 | 2023-11-21 | 广州市华科尔科技股份有限公司 | Fighting robot |
| CN112791391A (en) * | 2021-01-29 | 2021-05-14 | 深圳市坤易电子有限公司 | Specific attack integral identification module of robot |
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