TWM515405U - Attack-reinforced robot - Google Patents

Description

Enhanced attack robot

The invention relates to a reinforcement attack robot, in particular to a humanoid electronic mechanical structure.

Most of the human-type toys that were seen in the market in the early days were static dolls, or movable dolls that could move in four different limbs, but the movable dolls could not move autonomously. A robot toy that can be driven by a simple mechanism and a small electric motor, but a robot toy can only repeat the same walking motion, and cannot perform complicated or diverse actions.

Until the later period, with the advancement of technology, electronic information and micro-mechanical technology have become more and more developed. The development of robots is similar to the law of development of nature. From simple to complex structure, it has produced electronic robots who take action with computer programs. The electronic robots integrate high-level technologies in all aspects, including high-level electromechanical integration of information, electronics, motors, machinery and other fields.

Nowadays, related researches of electronic robots are still in progress, and the use of electronic robots is becoming more and more extensive, such as medical care, home preservation, and entertainment. It has gradually become a part of human life, and thus various electronic The robot competition, and one of the competitions is the fighting competition, which is for the two robots to attack each other. The lesser number of knockdowns in a limited time is the winning competition, and the inherent human-type electronic robot is more in combat. Lack of attack and the range of attacks is limited by the size of the organization being designed.

In view of this, how to provide a enhanced attack robot that can enhance the fighting attack function has become a problem to be improved by the present invention.

The purpose of the present invention is to provide an enhanced attack robot that can emphasize the fighting ability and the mobility.

In order to solve the above problems and achieve the object of the present invention, the technical means of the present invention is realized as a reinforcement attack robot, the robot (100) comprising a trunk structure (1), two upper limb structures (2), and two lower limbs. a structure (3), a control device (4), and a battery unit (5); the trunk structure (1) having a head (11), the torso structure (1) including at least one Trunk structure (1) a torso servo motor (10) for use as a joint for the trunk; the two upper limb structures (2) are respectively pivoted and symmetrical to the left and right sides of the trunk structure (1), The upper limb structure (2) includes at least one upper limb servo motor (20) for actuating the upper limb structure (2) for use as a joint of the upper limb; the two lower limb structures (3) are respectively pivoted and symmetrical The lower limb structure (3) includes at least one lower limb servo motor (30) capable of actuating the lower limb structure (3) for use as a joint of the lower limb; a control device (4) disposed at one side of the trunk structure (1) and with the torso servo motor (10), the upper limb servo motor (20) The lower limb servo motor (30) is electrically connected; the battery unit (5) is disposed at the other side of the trunk structure (1) and electrically connected to the control device (4) The upper limb structure (2) includes an upper arm (21) whose one end is pivotally connected to the trunk structure (1), and a lower arm (22) whose one end is connected to the other end of the upper arm (21). An attacking member (23) disposed at the other end of the lower arm (22) and movable at the lower arm (22); an attack servo motor (24) located at the lower arm (22); A drive structure (25) located at the lower arm (22) for driving the attack servo motor (24) to displace the attacking member (23) for attack behavior.

More preferably, the upper arm (21) is a bracket provided by two types of protrusions (211) A cross-connection is formed, and the two brackets (211) are respectively open to the upper and lower ends, and can accommodate the upper-limb servo motor (20).

More preferably, the lower arm (22) is composed of two pivoting members (221) respectively located outside the upper arm (21), and two guides respectively located outside one end of the two pivoting members (221). The guiding member (222) is formed, and at the inner side of one end of the guiding member (222), a guiding groove (2221) for inserting the attacking member (23) is further provided.

More preferably, the driving structure (25) is a cam (251) that can be driven by the attack servo motor (24), and a resetting unit that can be reset after the attacking member (23) is attacked. (252) consists of.

More preferably, the reset portion (252) has one end connected to the attacking member (23) and the other end connected to the cam (251) side.

More preferably, the return portion (252) has one end connected to the attacking member (23) and the other end connected to the lower arm (22).

More preferably, the drive structure (25) is comprised of a crank link structure.

More preferably, the torso structure (1) is composed of an upper pivot (12) and a lower pivot (13) connected to the upper pivot (12).

More preferably, the torso servo motor (10) has two internal portions disposed in the lower pivot (13); and between the upper pivot (12) and the lower pivot (13), The two torso servomotors (10) rotate the gear set (14) of the upper pivot (12); the gear set (14) further includes two respectively for the two torso servomotors (10) a driving gear (141); and a driven gear (142) located between the two driving gears (141) and capable of driving the two driving gears (141) to drive the upper pivoting gear (12).

More preferably, the lower limb structure (3) further includes a thigh portion (31) pivotally connected to the trunk structure (1), and a lower leg portion pivotally connected to the thigh portion (31). (32), and one with the small The leg portion (32) pivotally connected to the leg portion (32).

Compared with the prior art, the effects of the present invention are as follows:

The first point: In the present invention, the robot (100) designed in this way has an upper limb structure (21), a lower arm (22), an attacking member (23), and the attacking member (23). Attacking the servo motor (24) and the driving structure (25), by driving the driving structure (25) by attacking the servo motor (24), the attacking member (23) connected to the lower arm (22) can be pushed out to make an assault. Upgrade the original attack mode and power.

The second point: In this novel, the robot (100) of this design, the upper trunk (12) and the lower pivot (13) of the trunk structure (1) can imitate the action of rotating the waist of a real person, and is to use two The torso servo motor (10) cooperates with the gear set (14) to drive the upper pivot (12). In addition to increasing the angular range of the waist rotation, it can also increase the strength and speed of the waist rotation to enhance the attack of the upper limb structure (2). strength.

Third point: In the present invention, the robot (100) composed of the trunk structure (1), the two upper limb structures (2), the two lower limb structures (3), the control device (4), and the battery unit (5) can The trunk servo motor (10), the upper limb servo motor (20), and the lower limb servo motor (30) are driven by the control device (4), so that various movements such as walking and swinging can be performed, and the appearance and operation of the simulated human type can be achieved.

1‧‧‧ Trunk structure

11‧‧‧ head

12‧‧‧Upper trunk

13‧‧‧The lower pivot

14‧‧‧ Gear Set

141‧‧‧Drive gear

142‧‧‧ driven gear

2‧‧‧Upper limb structure

21‧‧‧Upper arm

211‧‧‧ bracket

22‧‧‧ Lower arm

221‧‧‧ pivotal parts

222‧‧‧ Guides

2221‧‧‧ guiding slot

23‧‧‧attacks

24‧‧‧ Attack servo motor

25‧‧‧Drive structure

251‧‧‧ cam

252‧‧‧Return Department

3‧‧‧ Lower limb structure

31‧‧‧Thigh

32‧‧‧小腿部

33‧‧‧foot

4‧‧‧Control device

5‧‧‧ battery unit

10‧‧‧Tropical servo motor

20‧‧‧Upper limb servo motor

30‧‧‧ Lower limb servo motor

100‧‧‧ Robot

Figure 1: A perspective view of the robot.

Figure 2: Schematic representation of the stereoscopic decomposition of the robot.

Figure 3: A perspective view of the novel.

Figure 4: Schematic exploded view of the novel.

Figure 5: Schematic diagram of the three-dimensional implementation of the new attack.

Figure 6: A perspective view of the new type of recovery attack.

Figure 7 is a perspective view of another embodiment of the present invention.

The following is a detailed description of the following embodiments according to the drawings: as shown in FIG. 1 to FIG. 7, the figure discloses a enhanced attack robot, the robot (100) including a trunk structure (1), a second upper limb structure (2), a second lower limb structure (3), a control device (4), and a battery unit (5); the trunk structure (1) having a head (11), the trunk structure ( 1) comprising at least one torso servo motor (10) for actuating the torso structure (1) for use as a joint for the torso; the two upper limb structures (2) respectively pivoted and symmetrical to the torso structure (1) Left and right sides, the upper limb structure (2) includes at least one upper limb servo motor (20) capable of actuating the upper limb structure (2) for use as an upper limb joint; the lower limb structure ( 3), respectively, pivoted and symmetrical to the left and right of the trunk structure (1), the lower limb structure (3) includes at least one lower limb servo motor (30) for the lower limb structure (3) to operate, For use as a joint for the lower limbs; the control device (4) is disposed at one side of the trunk structure (1), and is coupled to the torso servo motor (10), the upper limb servo The motor (20) and the lower limb servo motor (30) are electrically connected; the battery unit (5) is disposed at the other side of the trunk structure (1) and electrically connected to the control device (4) Connecting; characterized in that: the upper limb structure (2) comprises an upper arm (21) having one end pivotally connected to the torso structure (1); and a lower arm (22) having one end connected to the other end of the upper arm (21) An attack member (23) disposed at the other end of the lower arm (22) and movable at the lower arm (22); an attack servo motor (24) located at the lower arm (22); A drive structure (25) located at the lower arm (22) for driving the attack servo motor (24) to displace the attack member (23) for aggressive behavior.

Among them, in recent years, the promotion of robots has gradually developed into a national movement, deepening the good interaction between the people, and today's robot competitions are warmly welcomed. One of the competitions is the robotic fighting competition, which is for the two robots. Attack, but the robotic fighting competition has specifications, except for the inability to install liquid, powder, or squib, discharge, etc. The arm can't be too long to fight close.

Secondly, in order to enhance the aggressiveness of the new robot (100) in violation of the above-mentioned fighting competition rules, please refer to Fig. 3, and provide an attacking member (23) at the lower arm (22) of the upper limb structure (2). In the attack, by attacking the servo motor (24) to drive the drive structure (25), the attacker (23) can be moved out to increase the effective distance of the attack from the appropriate attack range to upgrade the original attack. Mode and strength.

In the above, the upper arm (21) is composed of two brackets (211) arranged in a cross-connection, and the two brackets (211) are respectively open to the upper and lower ends, and can be accommodated. The upper limb servo motor (20).

Among them, please refer to the figure 4, through the upper arm (21) set by the two brackets (211), in order to install the upper limb servo motor (20), so that the upper limb structure (2) can imitate the human joint parts, Simulate humanoid actions.

In the above, the lower arm (22) is composed of two pivoting members (221) respectively located outside the upper arm (21), and two guiding members respectively located outside one end of the two pivoting members (221). (222), and at the inner side of one end of the guiding member (222), there is further provided a guiding groove (2221) for inserting the attacking member (23).

Referring to FIG. 4, through the arrangement of the pivoting member (221) and the guiding member (222), an attack servo motor (24) can be placed between the two pivoting members (221), and the driving structure (25) It can be placed between the two guiding members (222) at the side of the attacking end of the attack servo motor (24), so as to drive the attacking member (23) to attack according to the orbital movement of the guiding slot (2221).

In the above, the driving structure (25) is a cam (251) that can be driven by the attack servo motor (24), and a resetting portion (252) that can be reset after the attacking member (23) is attacked. ) composed of.

Among them, please refer to Figure 5, the new cam (251) is an eccentric cam. One end of the attacking member (23), when attacking the servo motor (24) to rotate the cam (251), one end of the attacking member (23) moves to the eccentric distance of the cam (251) according to the trajectory of the cam (251). At the largest position, the other end can be launched for attack to increase the scope and intensity of the attack.

Secondly, if the attacking member (23) is to be stowed, as shown in Fig. 6, the attacking servo motor (24) again drives the cam (251) to rotate, so that the attacking member (23) is pulled by the returning portion (252). After returning, the end of the attacking member (23) is at a position where the eccentric distance of the cam (251) is small, which not only allows the protruding attacking member (23) to recover, but also reduces the time for re-attacking.

In the above, the reset portion (252) has one end connected to the attacking member (23) and the other end connected to the cam (251) side.

In the above, the returning portion (252) has one end connected to the attacking member (23) and the other end connected to the lower arm (22).

Wherein, the returning portion (252) can be a tension spring or a magnet, such as a magnet, which can be used to retract the attacking member (23), and the resetting portion (252) illustrated in the present drawing is an example of a tension spring. Except as shown in Fig. 3, one end is connected to the attacking member (23), and the other end is disposed between the cam (251) and the attack servo motor (24), and is connected to the cam (251), and can also be connected as shown in Fig. 7. The other end of the return portion (252) is connected to the lower arm (22).

In the above, the drive structure (25) is composed of a crank link structure. The driving structure (25) of the present invention also has another embodiment [not disclosed], which utilizes a crank connecting rod for connecting the attack servo motor (24) with the attacking member (23), and also with the cam (251). The setting of the reset section (252) achieves the same effect.

In the above, the trunk structure (1) is composed of an upper pivot (12) and a lower pivot (13) connected to the upper pivot (12).

In the above, the torso servo motor (10) has two internal portions disposed in the lower pivot (13); and between the upper pivot (12) and the lower pivot (13), The two torso servo horse Up to (10) rotating the gear set (14) of the upper pivot (12); the gear set (14) further includes two driving gears (141) respectively for driving the two torso servo motors (10) And a driven gear (142) located between the two driving gears (141) and capable of driving the upper driving gears (141) to drive the upper pivoting gear (12).

Among them, please refer to Figure 2, there are two trunk servo motors (10) in the lower pivot (13), and two driving gears are arranged between the upper pivot (12) and the lower pivot (13). (141) The gear set (14) composed of the driven gear (142) is driven by the trunk servo motor (10) in cooperation with the gear set (14) to drive the upper pivot (12) so that the trunk structure (1) can be emulated The real person rotates the waist to achieve a stable output.

Secondly, the gear set (14) is designed by the two driving gears (141) and the driven gears (142) in a ratio of 1:1:1, and the two torso servomotors (10) are respectively rotated and respectively driven by two driving gears ( 141) Connected to drive the driven gear (142) to enhance the torque. In addition to increasing the angular range of the waist rotation, it can also increase the strength and speed of the waist rotation to match and enhance the attack strength of the upper limb structure (2). .

In the above, the lower limb structure (3) further includes a thigh portion (31) pivotally connected to the trunk structure (1), and a lower leg portion (32) pivotally connected to the thigh portion (31). And a foot portion (33) pivotally connected to the lower leg portion (32).

Among them, the human lower limb structure (3) is composed of the thigh portion (31), the lower leg portion (32), and the sole portion (33), and the three structures are as shown in Fig. 1. All of them are link-type mechanisms, which make the robot (100) more stable when walking, and behave more closely when people are walking and standing.

In addition, the head (11) of the trunk structure (1) can be designed as a horn structure for easy extraction, and the robot (100) is equipped with a control device (4) and a battery unit (5) in order to free up more space. And it does not hinder the operation of the robot (100), which is designed based on the maximum size of both the control device (4) and the battery unit (5), so that the robot (100) does not easily cause the center of gravity to be unstable.

The structure, features and structures of the present invention are described in detail above based on the embodiments shown in the drawings. The effect is due to the novelty and progressive requirements, and the new patent application is filed according to law; however, the above description is only a preferred embodiment of the present invention, but the present invention does not limit the implementation scope as shown in the drawing, so Modifications of new meanings that are consistent with each other shall fall within the scope of this new patent as long as they are within the same scope.

2‧‧‧Upper limb structure

21‧‧‧Upper arm

22‧‧‧ Lower arm

221‧‧‧ pivotal parts

222‧‧‧ Guides

2221‧‧‧ guiding slot

23‧‧‧attacks

24‧‧‧ Attack servo motor

25‧‧‧Drive structure

251‧‧‧ cam

252‧‧‧Return Department

20‧‧‧Upper limb servo motor

Claims (10)

An enhanced attacking robot, the robot (100) comprising a trunk structure (1), two upper limb structures (2), two lower limb structures (3), a control device (4), and a battery unit (5); a trunk structure (1) having a head (11) including at least one torso servo motor (10) for actuating the torso structure (1) for use as a joint for the torso; The two upper limb structures (2) are respectively pivoted and symmetrical to the left and right sides of the trunk structure (1), and the upper limb structure (2) includes at least one upper limb servo capable of actuating the upper limb structure (2) a motor (20) for use as a joint of the upper limb; the two lower limb structures (3) are respectively pivoted and symmetrical to the left and right sides of the trunk structure (1), and the lower limb structure (3) includes At least one lower limb servo motor (30) capable of actuating the lower limb structure (3) for use as a joint of the lower limb; the control device (4) disposed at one side of the trunk structure (1), and The trunk servo motor (10), the upper limb servo motor (20), and the lower limb servo motor (30) are electrically connected; the battery unit (5) is disposed on the trunk structure ( 1) at the other side, and electrically connected to the control device (4); characterized in that: the upper limb structure (2) comprises an upper arm having one end pivoted to the torso structure (1) (21 a lower arm (22) having one end connected to the other end of the upper arm (21); an attacking member (23) disposed at the other end of the lower arm (22) and movable at the lower arm (22); An attack servo motor (24) at the lower arm (22); and a lower arm (22) for driving the attack servo motor (24) to displace the attacking member (23) for attack Behavioral drive structure (25). The enhanced attack robot according to claim 1, wherein the upper arm (21) is composed of a cross-connection of two brackets (211), and the two brackets (211) can respectively face upward. And the lower ends, and can accommodate the upper limb servo motor (20). The enhanced attack robot of claim 1, wherein the lower arm (22) is composed of two a pivoting member (221) located outside the upper arm (21) and a guiding member (222) respectively located outside one end of the two pivoting members (221), and one end of the guiding member (222) At the inner side, there is further provided a guiding groove (2221) for inserting the attacking member (23). The enhanced attack robot of claim 1, wherein the driving structure (25) is a cam (251) that can be driven by the attack servo motor (24), and a attacking component (23) The reset section (252) that is reset after the attack is composed. The enhanced attack robot of claim 4, wherein the reset portion (252) has one end connected to the attacking member (23) and the other end connected to the cam (251) side. The enhanced attack robot of claim 4, wherein the reset portion (252) has one end connected to the attacking member (23) and the other end connected to the lower arm (22). The enhanced attack robot of claim 1, wherein the drive structure (25) is composed of a crank link structure. The enhanced attack robot according to claim 1, wherein the trunk structure (1) is an upper pivot (12) and a lower pivot (13) connected to the upper pivot (12). Composed of. The enhanced attack robot of claim 8, wherein the torso servo motor (10) has two internals disposed in the lower pivot (13); the upper pivot (12) and the lower pivot ( 13), further comprising a gear set (14) for the two torso servo motors (10) to rotate the upper pivot (12); the gear set (14) further comprising two for each of the two a driving gear (141) driven by a torso servo motor (10); and a driven gear (142) between the two driving gears (141) and capable of driving the upper driving gear (141) to drive the upper pivoting gear (12) ). The enhanced attack robot according to claim 1, wherein the lower limb structure (3) further includes a thigh portion (31) having one end pivotally connected to the trunk structure (1), and a thigh portion ( 31) A pivotal lower leg portion (32) and a sole portion (33) pivotally coupled to the lower leg portion (32).