CN211189060U

CN211189060U - Bionic fighting training robot

Info

Publication number: CN211189060U
Application number: CN201922060924.1U
Authority: CN
Inventors: 周海燕; 陈苏杭; 庄圆
Original assignee: Nanjing Forestry University
Current assignee: Chuzhou Monte Tech Environmental Protection Technology Co ltd
Priority date: 2019-11-26
Filing date: 2019-11-26
Publication date: 2020-08-07
Anticipated expiration: 2029-11-26

Abstract

The utility model discloses a bionical combat of fighting training robot, including machinery body, elbow mechanical device and finger mechanical device, the middle part both sides fixedly connected with mechanical upper arm of machinery body, the equal sliding connection in bottom of two mechanical upper arms has universal bulb, and the bottom fixedly connected with mechanical forearm of universal bulb, elbow mechanical device are located between mechanical upper arm and the mechanical forearm, and elbow mechanical device includes annular hydraulic cylinder, first solenoid valve and pressure sensor group. This bionical combat of fighting training robot, through setting up elbow position and the finger position with elbow mechanical device and finger mechanical device difference fixed connection and robot, touch first pressure sensor data collection during the arm atress, touch second pressure sensor and carry out data collection during the finger atress, with the differentiation of whole arm and direct accurate collection data to have the characteristics careful, the accurate collection of data to self hand bearing capacity.

Description

Bionic fighting training robot

Technical Field

The utility model relates to the technical field of robot, more specifically say, it relates to a bionical fighting training robot.

Background

Along with the development of science and technology, the level of mechanical manufacture is greatly improved, and the application of the robot is more and more extensive, wherein along with the prevalence of some domestic combat robot clubs and the development of international events such as robot large arenas, botts warfare, KOB and the like, the combat robot is more and more concerned and liked by Chinese people, in recent years, the Chinese combat robot develops rapidly, and the models such as ejection type, vertical rotation type and rotary drum type have been developed greatly;

the training robot is also very important, and the training robot needs to bear and collect training data of multiple trained persons, so that the training robot is convenient for workers to analyze and improve, and the growth of the trained persons is promoted, so that the data collection of the training robot needs to be accurate and detailed enough, especially the data of the hand bearing capacity of the training robot.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art exists, the utility model aims to provide a bionical combat training robot, it has the characteristics of careful, the accurate collection of data to self hand bearing capacity.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides a bionical combat of fighting training robot, includes mechanical body, elbow mechanical device and finger mechanical device, the middle part both sides fixedly connected with upper mechanical arm of mechanical body, the equal sliding connection in bottom of two upper mechanical arms has universal bulb, the bottom fixedly connected with mechanical forearm of universal bulb, elbow mechanical device is located between upper mechanical arm and the mechanical forearm, elbow mechanical device includes annular pneumatic cylinder, first solenoid valve and pressure sensor group, the lateral wall fixed connection of first solenoid valve and the surface of upper mechanical arm.

Furthermore, the side wall of the first electromagnetic valve is fixedly connected to the annular hydraulic cylinder through an oil pipe, and the tail end of the annular hydraulic cylinder is connected with a piston rod in a sliding mode.

Through the technical scheme, the first electromagnetic valve is used for controlling the operation of the annular hydraulic cylinder, so that the movement of the arm is convenient to control.

Furthermore, the piston rod is fixedly connected with the mechanical forearm, a pressure sensor group is fixedly connected inside the side wall of the mechanical forearm, and the pressure sensor group consists of four first pressure sensors.

Through above-mentioned technical scheme, utilize the pressure sensor who comprises four first pressure sensor to with pressure sensor fixed connection and mechanical forearm inside, thereby the collection arm atress data of being convenient for accuracy.

Further, the equal fixedly connected with machinery palm of two machinery forearms, the inside fixedly connected with of machinery palm points mechanical device, points mechanical device and includes second solenoid valve, short type pneumatic cylinder, second pressure sensor and wire rope.

Through above-mentioned technical scheme, utilize at limit palm inside fixed connection finger mechanical device to be convenient for protect finger mechanical device.

Furthermore, the bottom of the second electromagnetic valve is fixedly connected with a short hydraulic cylinder, the bottom of the short hydraulic cylinder is fixedly connected with a second pressure sensor, and the bottom of the second pressure sensor is fixedly connected with a steel wire rope.

Through the technical scheme, the second electromagnetic valve and the second pressure sensor are used for controlling the movement of the mechanical knuckle, so that data collection is facilitated.

Further, the bottom of the mechanical palm is fixedly connected with a mechanical knuckle, a limiting groove is formed in the surface of the mechanical knuckle, a limiting ball is connected in the limiting groove in a sliding mode, a limiting ball is fixedly connected to the surface of the steel wire rope, and the surface of the steel wire rope is connected with the inner wall of the limiting groove in a sliding mode.

Through the technical scheme, the steel wire rope is fixedly connected with the limiting ball, and the limiting ball can only move in the limiting groove, so that the stretching range of the steel wire rope is limited, and the steel wire rope is prevented from being broken.

Furthermore, the tail end of the steel wire rope is fixedly connected with a tail end knuckle, the two mechanical knuckles are rotatably connected, and a torsion spring is fixedly connected at the joint of the two mechanical knuckles.

Through the technical scheme, the torsion spring is fixedly connected at the joint of the two mechanical knuckles, so that the recovery of the mechanical knuckles after being stressed and bent is promoted.

To sum up, the utility model discloses following beneficial effect has:

1. the elbow mechanical device and the finger mechanical device are respectively fixedly connected with the elbow part and the finger part of the robot through the arrangement, the first pressure sensor is triggered to collect data when the arm is stressed, the second pressure sensor is triggered to collect data when the finger is stressed, the whole arm is differentiated and the data are directly and accurately collected, and therefore the robot has the advantages of being careful and accurately collecting the data of the self hand bearing force.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the arm structure of the present invention;

fig. 3 is a schematic view of the finger structure of the present invention.

In the figure: 1. a machine body; 2. a mechanical upper arm; 3. a universal ball head; 4. a mechanical forearm; 5. an annular hydraulic cylinder; 6. a first solenoid valve; 7. a piston rod; 8. a first pressure sensor; 9. a mechanical palm; 10. a second solenoid valve; 11. a short hydraulic cylinder; 12. a second pressure sensor; 13. a wire rope; 14. a mechanical knuckle; 15. a limiting groove; 16. a limiting ball; 17. a terminal knuckle; 18. a torsion spring.

Detailed Description

Example (b):

the present invention will be described in further detail with reference to the accompanying fig. 1-3.

A bionic fighting training robot is shown in figures 1-3 and comprises a mechanical body 1, an elbow mechanical device and a finger mechanical device, wherein the two sides of the middle of the mechanical body 1 are fixedly connected with mechanical upper arms 2, the bottoms of the two mechanical upper arms 2 are both connected with universal ball heads 3 in a sliding manner, the bottom of each universal ball head 3 is fixedly connected with a mechanical front arm 4, the elbow mechanical device is positioned between each mechanical upper arm 2 and each mechanical front arm 4, the elbow mechanical device comprises an annular hydraulic cylinder 5, a first electromagnetic valve 6 and a pressure sensor group, and the side wall of the first electromagnetic valve 6 is fixedly connected with the surface of each mechanical upper arm 2;

as shown in fig. 1-3, the side wall of the first electromagnetic valve 6 is fixedly connected to an annular hydraulic cylinder 5 through an oil pipe, the end of the annular hydraulic cylinder 5 is slidably connected to a piston rod 7, the piston rod 7 is fixedly connected to a mechanical forearm 4, a pressure sensor group is fixedly connected to the inside of the side wall of the mechanical forearm 4, the pressure sensor group is composed of four first pressure sensors 8, two mechanical forearms 4 are both fixedly connected to a mechanical palm 9, a finger mechanical device is fixedly connected to the inside of the mechanical palm 9, and the finger mechanical device includes a second electromagnetic valve 10, a short hydraulic cylinder 11, a second pressure sensor 12 and a steel wire rope 13;

as shown in fig. 1-3, a short hydraulic cylinder 11 is fixedly connected to the bottom of the second electromagnetic valve 10, a second pressure sensor 12 is fixedly connected to the bottom of the short hydraulic cylinder 11, a wire rope 13 is fixedly connected to the bottom of the second pressure sensor 12, a mechanical knuckle 14 is fixedly connected to the bottom of the mechanical palm 9, a limiting groove 15 is formed in the surface of the mechanical knuckle 14, a limiting ball 16 is slidably connected to the limiting groove 15, a limiting ball 16 is fixedly connected to the surface of the wire rope 13, the surface of the wire rope 13 is slidably connected to the inner wall of the limiting groove 15, a terminal knuckle 17 is fixedly connected to the terminal of the wire rope 13, the two mechanical knuckles 14 are rotatably connected to each other, and a torsion spring 18 is fixedly connected to the joint of the two mechanical knuckles 14.

As shown in fig. 1-3, the elbow mechanism and the finger mechanism are respectively and fixedly connected with the elbow part and the finger part of the robot, the first pressure sensor 8 is triggered to collect data when the arm is stressed, the second pressure sensor 12 is triggered to collect data when the finger is stressed, the whole arm is divided and the data is directly and accurately collected, so that the robot has the characteristic of meticulous and accurate collection of the data of the self-hand bearing force.

The working principle is as follows:

with bionical fighting training robot and backstage controlgear electric connection, through the motion cooperation training of the whole arm of first solenoid valve 6 and second solenoid valve 10 control robot, when the robot arm atress, first pressure sensor 8 is triggered, and pass through the signal of telecommunication with atress information transfer and give backstage equipment, when the robot palm, when finger atress, second pressure sensor 12 is triggered, and pass through the signal of telecommunication with the atress information transfer and give backstage equipment, backstage equipment is again to data collection analysis.

The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications to the present embodiment without inventive contribution as required after reading the present specification, but all of them are protected by patent laws within the scope of the claims of the present invention.

Claims

1. The utility model provides a bionical combat training robot, includes mechanical body (1), elbow mechanical device and finger mechanical device, its characterized in that: the utility model discloses a mechanical body, including the middle part both sides fixedly connected with mechanical upper arm (2) of machinery body (1), two the equal sliding connection in bottom of mechanical upper arm (2) has universal bulb (3), the bottom fixedly connected with mechanical forearm (4) of universal bulb (3), elbow mechanical device is located between mechanical upper arm (2) and mechanical forearm (4), elbow mechanical device includes annular hydraulic cylinder (5), first solenoid valve (6) and pressure sensor group, the surface of the lateral wall fixed connection and mechanical upper arm (2) of first solenoid valve (6).

2. The bionic combat training robot according to claim 1, wherein: the side wall of the first electromagnetic valve (6) is connected and fixedly connected with the annular hydraulic cylinder (5) through an oil pipe, and the tail end of the annular hydraulic cylinder (5) is connected with a piston rod (7) in a sliding mode.

3. The bionic combat training robot according to claim 2, wherein: piston rod (7) and mechanical forearm (4) fixed connection, the inside fixedly connected with pressure sensor group of lateral wall of mechanical forearm (4), pressure sensor group comprises four first pressure sensor (8).

4. The bionic combat training robot according to claim 3, wherein: two equal fixedly connected with machinery palm (9) of machinery forearm (4), the inside fixedly connected with of machinery palm (9) points mechanical device, point mechanical device and include second solenoid valve (10), short type pneumatic cylinder (11), second pressure sensor (12) and wire rope (13).

5. The bionic combat training robot according to claim 4, wherein: the bottom fixedly connected with short type pneumatic cylinder (11) of second solenoid valve (10), the bottom fixedly connected with second pressure sensor (12) of short type pneumatic cylinder (11), the bottom fixedly connected with wire rope (13) of second pressure sensor (12).

6. The bionic combat training robot according to claim 5, wherein: the fixed fixedly connected with machinery knuckle (14) in bottom of machinery palm (9), spacing groove (15) have been seted up on the surface of machinery knuckle (14), sliding connection has spacing ball (16) in spacing groove (15), the fixed surface of wire rope (13) is connected with spacing ball (16), the surface of wire rope (13) is in the inner wall sliding connection of spacing groove (15).

7. The bionic combat training robot according to claim 6, wherein: the tail end of the steel wire rope (13) is fixedly connected with a tail end knuckle (17), the two mechanical knuckles (14) are connected in a rotating mode, and a torsion spring (18) is fixedly connected at the joint of the two mechanical knuckles (14).