CN210728662U

CN210728662U - Bionic grapple robot

Info

Publication number: CN210728662U
Application number: CN201921496917.XU
Authority: CN
Inventors: 曹阔
Original assignee: Baoding Shicarbonji Robot Technology Co Ltd
Current assignee: Baoding Shicarbonji Robot Technology Co Ltd
Priority date: 2019-09-10
Filing date: 2019-09-10
Publication date: 2020-06-12
Anticipated expiration: 2029-09-10

Abstract

The utility model discloses a bionical check fighting robot, include the fuselage and set up in the inside transmission actuating mechanism of fuselage, the fuselage both sides are all connected with the shank assembly through transmission actuating mechanism, transmission actuating mechanism includes walking driving motor and the synchronous gear group of mainly compriseing walking gear and drive gear, the actuating mechanism output is connected with drive gear through the planetary reducer, the drive gear both sides respectively with walking gear engagement, the eccentric orfice has been seted up to the walking gear terminal surface, two adjacent walking gear's eccentric orfice sets up about drive gear symmetry, the eccentric orfice is connected with the shank assembly, the shank assembly is connected with the fuselage lateral part. The utility model adopts the above structure bionical fighting robot through adopting simple mechanical transmission actuating mechanism, has avoided the damage that the collision leads to, simultaneously through setting up torsion releasing mechanism, ensures that the robot can not injure any machine part itself under the condition of collision and blocking.

Description

Bionic grapple robot

Technical Field

The utility model relates to a robot technology especially relates to a bionical fistfight robot.

Background

A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.

Different types of robot forms are generated in the robot field due to different working contents, so that the robot is divided into an industrial robot, a service type robot, an educational competitive performance type robot and a military robot. Wherein the industrial robots include, for example, various types of mechanical arms, welding robot platforms, logistics robot platforms, and the like. The service robot includes, for example, a greeting robot, an attendant robot, a guide robot, a question-answering robot, and the like. Military robots include, for example, unmanned aircraft platforms, automatic weapon station platforms, military transport platforms, and the like. The robot for educational competitive performance includes, for example, a fighting robot, a ball machine robot, a skiing robot, a diving robot, etc.

Most of the existing robots are steering engine robots, namely walking actions are completed mainly by means of steering engine cooperation programming, but the planetary speed reducing mechanisms inside the steering engines are complex in structure, and the steering engines are easily damaged due to collision in violent competitive combat collision, so that the robots are damaged.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a bionical fighting robot through adopting simple mechanical transmission actuating mechanism, has avoided the damage that the collision leads to, simultaneously through setting up torsion releasing mechanism, ensures that the robot can not injure any machine part itself under the condition of collision and blocking.

In order to realize the above object, the utility model provides a bionical fistfight robot, including the fuselage with set up in the inside transmission actuating mechanism of fuselage, the fuselage both sides all pass through transmission actuating mechanism with the shank assembly is connected, transmission actuating mechanism includes walking driving motor and the synchronous gear group of mainly compriseing walking gear and drive gear, actuating mechanism output through the planetary reducer with drive gear connects, the drive gear both sides respectively with walking gear engagement, the eccentric orfice has been seted up to walking gear terminal surface, adjacent two walking gear the eccentric orfice about the drive gear symmetry sets up, the eccentric orfice with the shank assembly is connected, the shank assembly with the fuselage lateral part is connected.

Preferably, the synchronous gear set further comprises a follower gear, the traveling gear comprises a main traveling gear engaged with the driving gear and an auxiliary traveling gear engaged with the main traveling gear through the follower gear, and the eccentric hole formed in the auxiliary traveling gear and the eccentric hole of the main traveling gear are symmetrically arranged with respect to the follower gear.

Preferably, the leg assembly comprises a spherical joint shaft and an L-shaped walking leg, the spherical joint shaft is rotatably connected with the eccentric hole, the top end of the L-shaped walking leg is connected with the spherical joint shaft, the bottom end of the L-shaped walking leg is rotatably connected with a walking wheel, and the walking wheel is a rubber wheel.

Preferably, the machine body comprises a top plate and a bottom plate connected with the top plate through a support column, and the top plate and the bottom plate are formed by assembling at least two splicing blocks through mortise and tenon joints.

Preferably, one end of the L-shaped walking leg, which is close to the spherical joint shaft, is connected with the middle of a guide rod through a universal cross shaft, two ends of the guide rod are respectively connected with the top plate and the bottom plate, the guide rod is sleeved with a damping spring, and the damping spring is sleeved on the outer side of the guide rod between the universal cross shaft and the top plate and the outer side of the guide rod between the universal cross shaft and the bottom plate.

Preferably, the utility model discloses still including set up in the attack mechanism of fuselage head, attack mechanism including set up in attack driving motor on the fuselage, rotation set up in first drive gear and shovel board on the fuselage, attack the driving motor output warp first drive gear meshes with second drive gear, second drive gear rotate set up in the shovel board is close to the one end of fuselage, the other end of shovel board has been seted up and has been kept silent.

Preferably, the utility model discloses still connect including the torque release mechanism that is used for releasing unnecessary power, torque release mechanism includes planetary reducer, the planetary reducer outside with the inboard frictional contact of drive gear, planetary reducer's input with walking driving motor or attack driving motor's output is connected, inboard clutch blocks and outside clutch blocks have been cup jointed in proper order on planetary reducer's the output shaft, one side of inboard clutch blocks through the reference column with fuselage fixed connection, inboard clutch blocks opposite side with outside clutch blocks frictional contact, outside clutch blocks with planetary reducer's output shaft fixed connection, inboard clutch blocks with coefficient of friction between the outside clutch blocks is greater than the coefficient of friction between the planetary reducer outside and the drive gear inboard.

Preferably, the walking driving motor and the attacking driving motor are both connected with an electronic speed regulator, and the electronic speed regulator is communicated with a remote control or Bluetooth through a wireless transceiver.

Preferably, the walking driving motor and the attacking driving motor are both brushless motors, and the walking driving motor and the attacking driving motor are both fixed on the machine body storage battery and electrically connected with the machine body storage battery.

Preferably, the spherical joint shaft is rotatably connected with the eccentric hole through a graphite wear-resistant copper sleeve.

Therefore, the utility model adopts the above structure bionical fighting robot through adopting simple mechanical transmission actuating mechanism, has avoided the damage that the collision leads to, simultaneously through setting up torsion releasing mechanism, ensures that the robot can not injure any machine part itself under the condition of collision and blocking.

The technical solution of the present invention is further described in detail by the accompanying drawings and examples.

Drawings

Fig. 1 is a schematic diagram of a bionic combat robot according to an embodiment of the present invention;

fig. 2 is an outline view of a bionic combat robot according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a leg assembly of a bionic combat robot according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a torsion releasing mechanism of a bionic combat robot according to an embodiment of the present invention.

Wherein: 1. a shovel plate; 2. a jaw; 3. a torsion release mechanism; 4. a drive gear; 5. a traveling wheel; 6. an L-shaped walking leg; 7. a damping spring; 8. a travel driving motor; 9. a base plate; 10. an eccentric hole; 11. a universal cross shaft; 12. a main travel gear; 13. a follower gear; 14. attacking the drive motor; 15. a secondary traveling gear; 16. a first drive gear; 17. a second transmission gear; 18. a top plate; 19. a spherical joint shaft; 20. a guide bar; 21. a planetary reducer; 22. an inboard friction block; 23. and an outer friction block.

Detailed Description

The present invention will be further described with reference to the accompanying drawings, and it should be noted that the present embodiment is based on the technical solution, and the detailed embodiments and the specific operation processes are provided, but the protection scope of the present invention is not limited to the present embodiment.

Fig. 1 is a schematic diagram of a bionic combat robot according to an embodiment of the present invention; fig. 2 is an outline view of a bionic combat robot according to an embodiment of the present invention; fig. 3 is a schematic diagram of a leg assembly of a bionic combat robot according to an embodiment of the present invention; fig. 4 is the embodiment of the utility model discloses a torsion release mechanism schematic diagram of bionical check fighting robot, as fig. 1, fig. 2, fig. 3 and fig. 4 show, the utility model discloses a structure, including the fuselage with set up in the inside transmission actuating mechanism of fuselage, the fuselage both sides are all connected with the shank assembly through transmission actuating mechanism, transmission actuating mechanism includes walking driving motor 8 and mainly comprises walking gear and drive gear 4 synchronous gear group, the actuating mechanism output is connected with drive gear 4 through planetary reducer 21, drive gear 4 both sides respectively with walking gear engagement, eccentric orfice 10 has been seted up to the walking gear terminal surface, eccentric orfice 10 of two adjacent walking gears sets up about drive gear 4 symmetry, eccentric orfice 10 is connected with the shank assembly, the shank assembly is connected with the fuselage lateral part, it is preferred, synchronous gear group still includes follower gear 13, the walking gear includes main walking gear 12 and the main walking gear 13 and the main walking tooth that mesh with drive gear 4 through follower gear 13, the walking gear includes and main walking The auxiliary traveling gear 15 is engaged with the wheel 12, and the eccentric hole 10 formed in the auxiliary traveling gear 15 and the eccentric hole 10 of the main traveling gear 12 are symmetrically arranged with respect to the follower gear 13, that is, three leg assemblies are arranged on both sides of the machine body in this embodiment. Specifically, the leg assembly comprises a spherical joint shaft 19 and an L-shaped walking leg 6 which are rotatably connected with the eccentric hole 10, the spherical joint shaft 19 is connected with the top end of the L-shaped walking leg 6, the bottom end of the L-shaped walking leg 6 is rotatably connected with a walking wheel 5, and the walking wheel 5 is a rubber wheel. The fuselage includes roof 18 and through bottom plate 9 that support column and roof 18 are connected, and roof 18 and bottom plate 9 are assembled through the mortise and tenon by at least two splice blocks and are formed, and the compact firm reliability of organism is high, and the fuselage adopts materials such as high strength titanium alloy, aviation aluminium, carbon fiber, high strength nylon to make and form, and intensity is higher. One end of the L-shaped walking leg 6, which is close to the spherical joint shaft 19, is connected with the middle part of the guide rod 20 through the universal cross shaft 11, two ends of the guide rod 20 are respectively connected with the top plate 18 and the bottom plate 9, the guide rod 20 is sleeved with the damping spring 7, and the damping spring 7 is sleeved on the outer side of the guide rod 20 between the universal cross shaft 11 and the top plate 18 and the outer side of the guide rod 20 between the universal cross shaft 11 and the bottom plate 9. Preferably, the utility model discloses still connect including the torque release mechanism 3 that is used for releasing unnecessary power, torque release mechanism 3 includes planetary reducer 21, planetary reducer 21 outside and the 4 inboard frictional contact of drive gear, planetary reducer 21's input and walking driving motor 8 or attack driving motor 14's output are connected, inboard clutch blocks 22 and outside clutch blocks 23 have been cup jointed in proper order on planetary reducer 21's the output shaft, inboard clutch blocks 22's one side is through reference column and fuselage fixed connection, inboard clutch blocks 22 opposite side and the 23 frictional contact of outside clutch blocks, outside clutch blocks 23 and planetary reducer's output shaft fixed connection, coefficient of friction between inboard clutch blocks 22 and the outside clutch blocks 23 is greater than the coefficient of friction between planetary reducer 21 outside and the drive gear 4 inboards. The walking principle is as follows: the running driving motor 8 is started to rotate to drive the sun gear of the planetary reducer 21 to rotate, the sun gear drives the planetary gears around the sun gear to rotate, the planetary gears drive the outer ring gear of the planetary reducer 21 to rotate, the outer ring gear drives the driving gear 4 on the outer side of the outer ring gear to rotate, it should be noted that at the moment, the output shaft of the planetary reducer 21 is fixedly connected with the machine body due to the inner friction block 22, the inner friction block 22 is in friction contact with the outer friction block 23, and the friction coefficient is larger than the friction coefficient between the driving gear 4 and the outer ring gear, so the reducer output shaft fixedly connected with the outer friction block 23 does not rotate, when the driving gear 4 rotates to drive the main running gears 12 on the two sides to rotate, the main running gears 12 are respectively located on the two sides of the driving gear 4, so the rotation directions of the two main running gears 12 are consistent, and the main running gears 12 are meshed with the auxiliary running, therefore, the rotation directions of the auxiliary walking gear 15 and the main walking gear 12 are consistent, because the eccentric holes 10 on two adjacent walking gears are symmetrically arranged (namely the angle difference is 180 degrees), and the angle difference of the eccentric holes 10 on two opposite walking gears is also 180 degrees, the condition that at least one leg of three L-shaped walking legs 6 on one side is contacted with the ground is ensured, at least one leg of two sides is contacted with the ground, namely at least two legs are contacted with the ground, so that the walking is ensured to be stable, the output is continuously carried out, so that the L-shaped walking legs 6 are driven to stride, when a robot collides or rotates in a blocking way, the legs are blocked and do not move, so that the driving gear 4 stops rotating, at the moment, the output torque of the driving motor drives the outer side friction block 23 to overcome the friction force between the outer side friction block 22 and start to rotate through the output shaft of the planetary reducer 21, so that the driving gear 4 on the, the internal gear of the planetary reducer 21 can not be damaged, and the electronic and electronic speed regulators can not be burnt; meanwhile, the arrangement of a mechanical transmission driving mechanism ensures that the impact is not damaged, and the device is firm, flexible and not easy to damage; it should be noted that both sides of the machine body are provided with the transmission driving mechanism, that is, the leg assemblies on both sides are driven by two different rotation driving mechanisms, so the present embodiment can make the motion states of the leg assemblies on both sides the same, and also can make the motion states different, and the motion states are not limited herein.

Preferably, the utility model discloses still including setting up in the attack mechanism of fuselage head, attack mechanism is including setting up attack driving motor 14 on the fuselage, rotate first drive gear 16 and the shovel board 1 that sets up on the fuselage, attack driving motor 14 output through first drive gear 16 and the meshing of second drive gear 17, second drive gear 17 rotates and sets up in the one end that shovel board 1 is close to the fuselage, 2 of keeping silent have been seted up to the other end of shovel board 1, attack driving motor 14 drives shovel board 1 through the drive gear and lifts, the adversary is strikeed, the adversary is shoveled and is lifted and turn over, still can be through keeping silent 2 simultaneously and clamp the adversary and hit, attack, thereby reach the purpose of fight teaching.

Preferably, the walking driving motor 8 and the attacking driving motor 14 are both connected with an electronic speed regulator, and the electronic speed regulator is communicated with a remote controller or Bluetooth through a wireless transceiver, so that the starting, stopping and speed regulation can be realized through the remote controller or the Bluetooth.

Preferably, the walking driving motor 8 and the attacking driving motor 14 are both brushless motors, and the walking driving motor 8 and the attacking driving motor 14 are both electrically connected with the storage battery fixed on the machine body.

Preferably, the spherical joint shaft 19 is rotatably connected with the eccentric hole 10 through a graphite wear-resistant copper sleeve.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the preferred embodiments, those skilled in the art should understand that: the technical solution of the present invention can still be modified or replaced by other equivalent means, and the modified technical solution can not be separated from the spirit and scope of the technical solution of the present invention.

Claims

1. The utility model provides a bionical fighting robot, includes the fuselage and set up in the inside transmission actuating mechanism of fuselage, its characterized in that: the fuselage both sides all pass through transmission actuating mechanism is connected with the shank assembly, transmission actuating mechanism includes walking driving motor and the synchronous gear group mainly comprises walking gear and drive gear, actuating mechanism output through the planetary reducer with drive gear connects, the drive gear both sides respectively with walking gear engagement, the eccentric orfice has been seted up to the walking gear terminal surface, adjacent two walking gear the eccentric orfice about drive gear symmetry sets up, the eccentric orfice with the shank assembly is connected, the shank assembly with the fuselage lateral part is connected.

2. The bionic combat robot of claim 1, wherein: the synchronous gear set further comprises a follow-up gear, the walking gear comprises a main walking gear meshed with the driving gear and an auxiliary walking gear meshed with the main walking gear through the follow-up gear, and the eccentric holes formed in the auxiliary walking gear and the eccentric holes of the main walking gear are symmetrically arranged relative to the follow-up gear.

3. The bionic combat robot of claim 1, wherein: the leg assembly comprises a spherical joint shaft and an L-shaped walking leg, the spherical joint shaft is rotatably connected with the eccentric hole, the top end of the L-shaped walking leg is connected with the spherical joint shaft, the bottom end of the L-shaped walking leg is rotatably connected with a walking wheel, and the walking wheel is a rubber wheel.

4. The bionic combat robot according to claim 3, wherein: the machine body comprises a top plate and a bottom plate connected with the top plate through a support column, and the top plate and the bottom plate are formed by assembling at least two splicing blocks through mortise and tenon joints.

5. The bionic combat robot according to claim 4, wherein: one end of the L-shaped walking leg, which is close to the spherical joint shaft, is connected with the middle part of the guide rod through a universal cross shaft, two ends of the guide rod are respectively connected with the top plate and the bottom plate, the guide rod is sleeved with a damping spring, and the damping spring is sleeved on the outer side of the guide rod between the universal cross shaft and the top plate and the outer side of the guide rod between the universal cross shaft and the bottom plate.

6. The bionic combat robot of claim 1, wherein: still including set up in the attack mechanism of fuselage head, attack mechanism including set up in attack driving motor on the fuselage, rotate set up in first drive gear and shovel board on the fuselage, attack driving motor output warp first drive gear meshes with second drive gear, second drive gear rotate set up in the shovel board is close to the one end of fuselage, the other end of shovel board has been seted up and has been kept silent.

7. The bionic combat robot of claim 6, wherein: the torque releasing mechanism is used for releasing redundant power and is connected with the planetary reducer, the torque releasing mechanism comprises the planetary reducer, the outer side of the planetary reducer is in friction contact with the inner side of the driving gear, the input end of the planetary reducer is connected with the output end of the walking driving motor or the output end of the attacking driving motor, an inner friction block and an outer friction block are sequentially sleeved on the output shaft of the planetary reducer, one side of the inner friction block is fixedly connected with the machine body through a positioning column, the other side of the inner friction block is in friction contact with the outer friction block, the outer friction block is fixedly connected with the output shaft of the planetary reducer, and the friction coefficient between the inner friction block and the outer friction block is larger than that between the outer side of the planetary reducer and the inner side of the driving gear.

8. The bionic combat robot of claim 6, wherein: the walking driving motor and the attacking driving motor are both connected with an electronic speed regulator, and the electronic speed regulator is communicated with a remote control or Bluetooth through a wireless transceiver.

9. The bionic combat robot of claim 6, wherein: the walking driving motor and the attacking driving motor are brushless motors and are both fixed on the machine body storage battery in an electric connection mode.

10. The bionic combat robot according to claim 3, wherein: the spherical joint shaft is rotatably connected with the eccentric hole through a graphite wear-resistant copper sleeve.