CN108421263A - A kind of fighter toy and its deformation method and combination steering engine repositioning method - Google Patents
A kind of fighter toy and its deformation method and combination steering engine repositioning method Download PDFInfo
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- CN108421263A CN108421263A CN201810259218.7A CN201810259218A CN108421263A CN 108421263 A CN108421263 A CN 108421263A CN 201810259218 A CN201810259218 A CN 201810259218A CN 108421263 A CN108421263 A CN 108421263A
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- steering engine
- joint
- arm
- leg
- main body
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
- A63H33/003—Convertible toys, e.g. robots convertible into rockets or vehicles convertible into planes
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/04—Dolls with deformable framework
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/05—Trucks; Lorries
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/05—Trucks; Lorries
- A63H17/06—Trucks; Lorries with tipping bodies
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
- A63H3/46—Connections for limbs
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Toys (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of fighter toys, including fuselage main body, the head mechanism for being connected to fuselage main body top, the arm mechanism for being connected to fuselage main body top both sides and the leg mechanism for being connected to fuselage main body lower part both sides, the fuselage main body and the leg mechanism, the arm mechanism all connected by articulation；It is provided with trailing wheel on the outside of the leg mechanism, front-wheel is provided on the outside of the arm mechanism；The robot is humanoid or vehicle shape by the rotation transformation of servo driving joint.
Description
Technical field
The present invention relates to robot field more particularly to fighter toys and its deformation method and combination steering engine reset side
Method.
Background technology
With the development of modern science and technology, the robot product of multiple degrees of freedom free movement, rapid deformation is quickly grown.At present
Fighter toy in the market is the transformation for realizing robot and automobile or other structures shape.Application No. is
The Chinese patent of CN201210179130.7 discloses technology disclosed in a kind of deformation mechanical figure toy：It is entire with holder
The central core part of battlebus plays the role of all components connecting into an entirety, and the body is all by various machines
Structure is ingenious to be connected on holder, will be specifically described in detail below, and the roof can be lifted and be rotated on holder, two arms point
Not can front and back rotation and left and right offset on holder, the two legs can rotate on holder bottom end respectively and individually flexible change
Shape.And the support force of fighter toy deformation standpoint is leg completely, therefore force unbalance can be caused in deformation,
And the deformable supports power of leg is big, and the motor of relatively high power is needed to drive, and can also cause deformation speed it is slow, in view of with
Upper defect, it is really necessary to design variations robot and its methods of deformation.
Authorization Notice No. is that the Chinese patent of CN202822784U discloses a kind of vehicle deformation robot distressed structure, machine
Device human body makes machine human body fold to chassis curving, realizes that robot is deformed into vehicle and robot from midstance
Switch to posture of droping to the ground, the body straightening of bending fold realizes that vehicle is deformed into robot and robot and switchs to stand from posture of droping to the ground
Posture.Wherein：Realize that robot is bent downwardly body by bending over；Realize that robot is bent downwardly body by rhaeboscelia；Pass through
Realize that robot is bent downwardly body in rotation waist-leg engaging portion；Realize that robot is bent downwardly body with rhaeboscelia by bending over simultaneously
Body.The utility model realizes low cost, simply, reliable vehicle deformation robot, Remote Control Vehicle fighter toy product,
The development need of autonomous vehicle fighter toy product.Although however, in the patent robot deformation can be with simple realization outside
The transformation of form is seen, but basic structural framing is constant, the action behavior of robot cannot be compatible with two kinds of forms, robot
After the form be grown up by the model deformation of vehicle, it cannot be walked with humanoid gait, be moved yet by vehicle wheel.
Application No. is the Chinese patents of CN201621056591.5 to disclose a kind of 17 humanoid machines of degree of freedom bus steering engine
People, including fuselage, holder, steering engine and control panel, the steering engine are connected into 1-4 connection described in by steering engine connecting line
On control panel.For anthropomorphic robot in the prior art in booting, whole steering engines all steps reset to original state.It is resetting
It can not avoid interfering interference between each joint in the process, be easy to cause mutually touching for each joint of robot and other component
It hits, causes to damage, be easy to cause security risk.
Invention content
In order to overcome the shortcomings of above-mentioned at least one aspect in the prior art, a kind of fighter toy of present invention offer and its change
Shape method, the robot is symmetrical, and whole body has 21 degree of freedom, and deformation velocity is fast, flexible movements, reasonable in design,
Deformation be people form after, can gait walking, and not against vehicle shape wheel move, can be applied to civilian robot or industrial machine
Device people field, has far-reaching significance intelligence machine man-based development.There is provided a kind of combination steering engine repositioning method, this method simultaneously
It is more advanced, more practical, it is more intelligent, robot can be avoided to interfere interference between each joint in reseting procedure, carried
The high service life of steering engine and robot other component, further improves the machine using the combination steering engine repositioning method
The service life that people uses.
Technical solution is used by the present invention solves aforementioned technical problem：A kind of fighter toy, including fuselage main body,
It is connected to the head mechanism on fuselage main body top, the arm mechanism of fuselage main body top both sides is connected to and is connected to fuselage main body
The leg mechanism of lower part both sides, the fuselage main body and the leg mechanism, the arm mechanism are all connected by articulation；
It is provided with trailing wheel on the outside of the leg mechanism, front-wheel is provided on the outside of the arm mechanism；The robot passes through servo driving
Joint rotation transformation is humanoid or vehicle shape.
Preferably, leg mechanism includes the leg assembly being connect with fuselage main body and the standing branch being connect with leg assembly
Support component；Trailing wheel is set to the outside of leg assembly.
Any of the above-described scheme is preferably, and fuselage main body includes framework, is set in framework and shaft connects with two arm mechanisms
The arm driving steering engine connect, and in framework and leg that shaft is connect with leg assembly driving steering engine.
Any of the above-described scheme is preferably, and arm drives the axle center of the shaft of steering engine to drive the axle center of steering engine mutual with leg
Vertically.
Any of the above-described scheme is preferably, and two arm driving servo drivings, two arm mechanism rotations, two legs are driven
Dynamic two leg mechanisms of servo driving are opened and are folded.
Any of the above-described scheme is preferably, and leg assembly includes the first linking arm being connect with leg driving steering engine shaft,
The first steering engine that shaft is connect with the first linking arm, the second linking arm being fixedly connected with the first steering engine, shaft are connect with second
Second steering engine of arm connection, the third linking arm being fixedly connected with the second steering engine and the third rudder being fixedly connected with third linking arm
Machine, and the rear wheel drive steering engine set on the second linking arm front end, trailing wheel are set in the shaft of rear wheel drive steering engine.
Any of the above-described scheme is preferably, and the junction of the first linking arm and leg driving steering engine forms the first joint, the
The junction of one steering engine and the first linking arm forms second joint, the junction formation third pass of the second linking arm and the second steering engine
Section.
Any of the above-described scheme is preferably, and standing support component includes the standing connection being connect with the shaft of third steering engine
Arm, the standing steering engine that shaft is connect with standing linking arm, and the support plate set on standing steering engine bottom.
Any of the above-described scheme is preferably, and third steering engine and the junction of standing linking arm form standing joint, standing rudder
The junction of machine and standing linking arm forms support joint.
Any of the above-described scheme is preferably, and leg drives the axle center phase in the axle center and the shaft of the first steering engine of the shaft of steering engine
It is mutually vertical, the axis perpendicular in the axle center of third steering engine and the shaft of standing steering engine；The axle center of the shaft of second steering engine to its distal end
Distance be less than its rotating shaft core to the first steering engine proximal end distance；One end of third steering engine is bonded with the front end of the second steering engine.
Any of the above-described scheme is preferably, and arm mechanism includes driving the rotation connection that the shaft of steering engine is connect with arm
Part, the rotation steering engine being fixedly connected with rotating connector, the rotation connection arm being connect with the shaft of rotation steering engine, shaft and rotation
4th steering engine of linking arm connection, the 4th linking arm being fixedly connected with the 4th steering engine, shaft connect with the 4th linking arm the
Five steering engines, and it is connected to the palm component of the 5th steering engine end；Front-wheel is connected to the outside of rotation connection arm.
Any of the above-described scheme is preferably, and arm drives the junction of steering engine and rotating connector to form chest shoulder joint, turns
The junction of dynamic steering engine and the junction formation shoulder extrinsic articulation for being rotatablely connected arm, the 4th steering engine and rotation connection arm forms the 4th and closes
The junction of section, the 5th steering engine and the 4th linking arm forms the 5th joint.
Any of the above-described scheme is preferably, and the end of the 5th steering engine is additionally provided with the support element that length is longer than palm component.
Any of the above-described scheme is preferably, and the front end of the third linking arm of two leg mechanisms is equipped with half of babinet knot
Structure, when in leg, driving two leg mechanism of servo driving folds, two half of body structures form a whole box body.
Any of the above-described scheme is preferably, and the fuselage main body back side is equipped with automobile head, is equipped with and is turned in the front end of fuselage main body
It comes about machine；Overturn the overturning linking arm that " L " shape structure is fixedly connected in the shaft of rudder；The end for overturning linking arm is equipped with automobile
Bonnet.
Any of the above-described scheme is preferably, and openable and closable car door and covering for roofs is arranged in automobile head, and control is arranged in covering for roofs
Panel processed, control panel are equipped with power switch, USB interface, charging interface weapons pylons groove, and robot Add-on accessories pass through
Weapons pylons coordinate with weapons pylons groove, are installed to car roof.
Any of the above-described scheme is preferably, the control circuit board that setting is connect with each steering engine circuit in automobile head, control
It is provided with the communication module docked with mobile phone on circuit board processed, the fighter toy and its are controlled by the APP programs of user terminal
His structural form free switching；Control circuit board connects USB interface, for downloading program to control circuit board or connecting with computer
It connects；Control circuit board is electrically connected with MP3 modules, and two loud speakers that the control of MP3 modules is attached thereto play sound, and loud speaker is set
It sets inside the car door of both sides；Control circuit board is connect with battery and charging interface；The battery uses rechargeable battery.
Any of the above-described scheme is preferably, and is serial or parallel connection between each steering engine, series system is preferably with Transistor-Transistor Logic level multilayer
Connection type is connected by shared bus, also can select other connection types according to actual use situation.
Any of the above-described scheme is preferably, and robot finger respectively includes remote articulations digitorum manus, middle articulations digitorum manus and nearly articulations digitorum manus, respectively
It uses and snaps connection between joint；The nearly articulations digitorum manus of thumb and palm part by flexural pivot chain link, other four refer to nearly articulations digitorum manus with
Palm part is connected by a snap；Each joint can be rotated around tie point.
Any of the above-described scheme is preferably, and fighter toy is formed with case lorry, jeep, Super Car, work after folding
Any one of journey vehicle, battlebus, tank, fighter plane, airship, laser gun, machine insect or machine dinosaur shape.
A kind of deformation method of fighter toy, robot are humanoid or vehicle shape by joint rotation transformation；At robot
When vehicle shape, Chinese herbaceous peony wheel and back wheels of vehicle land, and arm mechanism and fuselage main body are located at below vehicle body, and leg mechanism bending is located at
Vehicle body rear, sole position are forwardly toward headstock direction；When robot becomes humanoid from vehicle shape, include the following steps：
（1）The 4th articulation of 4th servo driving, the 5th articulation of the 5th servo driving so that the 5th steering engine is contiguously
Face, and up support；
（2）It up arches upward in first the first joint of servo driving；Second servo driving third articulation is unfolded so that support plate
End supports on the ground；
（3）It stretches support fuselage main body and up rotates in the 5th joint of 5th servo driving so that the supporting surface of support plate and support
Ground is bonded；
（4）Second steering engine and third steering engine respectively drive third joint and standing joint and stretch, and dragging arm mechanism is supported on ground
Face simultaneously moves backward, supports fuselage main body, while the first servo driving second joint rotates so that the fighter toy is stood；
（5）Two legs drive two leg mechanism of servo driving to open, and two arms drive servo driving arm mechanism to be rotated toward both sides
It opens, forms robot shape.
A kind of deformation method of fighter toy, robot are humanoid or vehicle shape by joint rotation transformation；At robot
It is the standing state of people when humanoid, leg mechanism is opened in splayed, and arm mechanism is located at the fuselage main body left and right sides；Machine
People from it is humanoid become vehicle shape when, include the following steps：
（1）Leg driving two leg mechanism of servo driving folds, and arm driving servo driving arm mechanism rotates to fuselage main body
Front end；
（2）First servo driving second joint is bent down, and third servo driving standing articulation, the 4th servo driving
4th joint is turned out so that arm mechanism is contacted with ground；
（3）Second servo driving third articulation so that fuselage main body and leg assembly are toward top rake, while second joint is stretched
Directly, the 5th arthrogryposis, rear wheel support is on the ground；
（4）The 4th joint of 4th servo driving rotates so that arm mechanism is contracted in the bottom of fuselage main body, and makes front-wheel branch
Support is on the ground；
（5）Second servo driving third arthrogryposis, and third steering engine is fitted on the first steering engine, simultaneously support plate and machine
The end face of body main body is bonded, and realizes that robot becomes vehicle from humanoid.
A kind of combination steering engine repositioning method of fighter toy, specially：Booting detection program is preset in control circuit board
Calculation procedure is resetted with steering engine, each steering engine presets initial position；Each joint is in any position before activation for the robot
State, after powering, booting detection program starts and the current location of read machine people's whole steering engine, steering engine are multiple for the robot
Homing action according to the real time position of whole steering engines is resolved into multistep by position calculation procedure, by hiding interference, being mutually linked
Mode resets, to ensure the case where interference do not occur between each joint in reseting procedure.
The beneficial effects of the invention are as follows：When being deformed into robot, the arm mechanism supports downwards this fighter toy
The fuselage main body, the joint that the leg mechanism is connect with the fuselage main body are up arched upward bending, the leg mechanism
End overturns and is supported on ground, and the joint that the fuselage main body is around in the leg mechanism junction up rotates so that should
Fighter toy is stood.It is played a supporting role to fuselage main body by arm mechanism when variable body, therefore leg mechanism can be reduced
Driving force when standing, and stress balance when also ensuring deformation, so as to realize rapid deformation.The present invention robot and
Its deformation method, by servo driving joint, can be the form of people from the metamorphosis of vehicle by the way that flexible joint is arranged,
Also it can be the form of vehicle from the metamorphosis of people, and can realize the action of a variety of people, such as walk, wave, swinging arm,
Dance etc., intelligence machine man-based development is had far-reaching significance.The present invention combination steering engine repositioning method method it is more advanced,
It is more practical, it is more intelligent.Robot can be avoided to interfere interference between each joint in reseting procedure, improve steering engine
With the service life of robot other component, the use of the robot using the combination steering engine repositioning method is further improved
Service life.
Description of the drawings
Fig. 1 is the topology view of a preferred embodiment of the fighter toy of the present invention；
Fig. 2 is the structure chart of a preferred embodiment of fighter toy leg mechanism of the present invention；
Fig. 3 is the structure chart of a preferred embodiment of fighter toy arm mechanism of the present invention；
Fig. 4 is the structure chart of a preferred embodiment of fighter toy fuselage main body of the present invention；
Fig. 5 is fighter toy of the present invention from the schematic diagram of the humanoid preferred embodiment for becoming vehicle；
Fig. 6 is fighter toy of the present invention from the schematic diagram of the humanoid preferred embodiment for becoming having case lorry；
Fig. 7 is that fighter toy of the present invention has been deformed into case lorry prototype structure view；
Fig. 8 is the topology view that fighter toy of the present invention is deformed into after case lorry.
Fig. 9 is the roof structure view that fighter toy of the present invention is deformed into after case lorry.
Figure 10 is the topology view of a preferred embodiment of fighter toy Add-on accessories machine gun of the present invention.
Figure 11 is the topology view of a preferred embodiment of fighter toy Add-on accessories artillery of the present invention.
Figure 12 is the block diagram of a preferred embodiment of the control system of fighter toy of the present invention.
Figure 13 is the hand exploded view of a preferred embodiment of fighter toy of the present invention.
Figure 14 is the schematic diagram of one preferred embodiment of combination steering engine reseting procedure of fighter toy of the present invention.
It illustrates：
1- fuselage main bodies, 10- frameworks, 100- bonnets, 11- arms drive steering engine, 11b- chest shoulder joint, the legs 12- to drive rudder
Machine, 2- leg mechanisms, 20- leg assemblies, the first linking arms of 200-, the first joints 200a-, the first steering engines of 201-, 201a- second
Joint, the second linking arms of 202-, 202a- thirds joint, the second steering engines of 203-, 204- third linking arms, 204a- standings joint,
205- third steering engines, 206- rear wheel drive steering engines, 21- standing support components, 210- standing linking arms, 210a- support joint,
211- standing steering engines, 212- support plates, 3- arm mechanisms, 300- rotating connectors, 30- rotation steering engines, 30b- shoulder extrinsic articulations,
31- is rotatablely connected arm, the 4th joints 31b-, the 4th steering engines of 32-, the 5th joints 32b-, the 4th linking arms of 33-, the 5th rudders of 34-
Machine, 35- palm components, the remote articulations digitorum manus of 351-, articulations digitorum manus in 352-, the nearly articulations digitorum manus of 353-, the nearly articulations digitorum manus of 354- thumbs, 36- branch
Support member, 4- front-wheels, 5- trailing wheels, 6- body structures, 7- headstocks, 71- weapons pylons grooves, 72- power switches, 73-USB interfaces,
74- charging interfaces, 8- overturn steering engine, and 9- overturns linking arm.
Specific implementation mode
In order to be further understood that present disclosure, the present invention is made below in conjunction with specific embodiment more detailed
Description, embodiment only has exemplary effect to the present invention, without the effect of any restrictions；Any people in the art
The insubstantial modifications that member makes on the basis of the present invention, should all belong to the scope of protection of the invention.
Embodiment 1
As shown in Figure 1, a kind of fighter toy, including fuselage main body 1, the head mechanism for being connected to 1 top of fuselage main body, connection
Arm mechanism 3 in 1 top both sides of fuselage main body and the leg mechanism 2 for being connected to 1 lower part both sides of fuselage main body, the fuselage master
Body 1 and the leg mechanism 2, the arm mechanism 3 are all connected by articulation；After 2 outside of the leg mechanism is provided with
Wheel 5,3 outside of the arm mechanism are provided with front-wheel 4；The robot is humanoid or vehicle by the rotation transformation of servo driving joint
Shape.
As shown in Figure 1, in the present embodiment, leg mechanism 2 includes the leg assembly 20 and and leg being connect with fuselage main body 1
The standing support component 21 that parts 20 connect；Trailing wheel 5 is set to the outside of leg assembly 20.When being deformed into robot, arm machine
Structure 3 supports fuselage main body 1, and the joint that leg assembly 20 is connect with fuselage main body 1 is arched upward upwards, while standing support component 21
Overturning, and arm mechanism 3 continues to support so that and the supporting surface of standing support component 21 is contacted with ground, then by leg assembly
20 up support with the joint of 1 junction of fuselage main body so that the fighter toy is stood.
As shown in figure 4, in the present embodiment, fuselage main body 1 includes framework 10, and shaft interior set on framework 10 and two hands
The arm that arm mechanism 3 connects drives steering engine 11, and the leg that interior and shaft is connect with leg assembly 20 set on framework 10 to drive
Steering engine 12.The axle center of the shaft of arm driving steering engine 11 drives the axle center of steering engine 12 to be mutually perpendicular to leg.Arm drives steering engine
11 driving arm mechanisms 3 rotate, and two leg driving steering engines 12 drive two leg mechanisms 2 to open and fold.The metamorphic robotic
People drives leg mechanism 2 to open and stands when being deformed into robot, by leg driving steering engine 12, and arm drives steering engine 11 to drive hand
Arm mechanism 3 rotates to both sides from the front end of fuselage main body 1, to realize the overall deformation of robot.
As shown in Fig. 2, in the present embodiment, leg assembly 20 includes that first connect with leg driving 12 shaft of steering engine connects
Connect arm 200, the first steering engine 201 that shaft is connect with the first linking arm 200, and the first steering engine 201 is fixedly connected second connect
Arm 202, the second steering engine 203 that shaft is connect with the second linking arm 202, the third linking arm being fixedly connected with the second steering engine 203
204 and the third steering engine 205 that is fixedly connected with third linking arm 204, and trailing wheel 5 set on 202 front end of the second linking arm drives
Dynamic steering engine 206, trailing wheel 5 are set to trailing wheel 5 and drive in the shaft of steering engine 206.The company of first linking arm 200 and leg driving steering engine 12
It meets place and forms the first joint 200a, the junction formation second joint 201a of the first steering engine 201 and the first linking arm 200, second
The junction of linking arm 202 and the second steering engine 203 forms third joint 202a.Wherein the first joint 200a is equivalent to robot change
For the hip joint of robot；Third joint 202a is equivalent to the knee joint that the fighter toy is deformed into after robot.The leg
Portion drives steering engine 12 identical with 201 structure of the first steering engine, turn of the leg driving steering engine 12 and first steering engine 201
The first engaging tooth is designed on axis, the leg drives the first joint 200a between steering engine 12 and first steering engine 201 and turns
Shaft connection place is equipped with the second engaging tooth, first engaging tooth and second engaging tooth be mutually matched to by the shaft with
It engages in joint；The leg driving steering engine 12 drives the rotation of its shaft, drives the first joint 200a and the first steering engine 201 same
Step rotation.Other steering engines and joint or the junction of connector, are equally mutually matched using the first engaging tooth and the second engaging tooth
Mode be driven.
In the present embodiment, standing support component 21 includes the standing linking arm being connect with the shaft of third steering engine 205
210, the standing steering engine 211 that shaft is connect with standing linking arm 210, and the support plate 212 set on 211 bottom of standing steering engine.
The junction of third steering engine 205 and standing linking arm 210 forms standing joint 204a, standing steering engine 211 and standing linking arm 210
Junction formed support joint 210a.Wherein support plate 212 is equivalent to the sole of robot.When deformation, pass through two hands first
Arm mechanism 3 supports down, and 3 ancon of arm mechanism lands support, and second joint 201a arches upward forward, and third joint 202a is stretched,
The end of the support plate 212 contacts support with ground, and the elbow joint of arm mechanism 3, which stretches, to be continued to support fuselage main body 1, third
Steering engine 205 drives third joint 202a bendings so that support plate 212 lands, and stands to which robot realizes.
As illustrated in fig. 1 and 2, in the present embodiment, turn in the axle center of the shaft of leg driving steering engine 12 and the first steering engine 201
The axle center of axis is mutually perpendicular to, the axis perpendicular in the axle center of third steering engine 205 and the shaft of standing steering engine 211；Second steering engine 203
The distance of the axle center of shaft to its distal end is less than its rotating shaft core to the distance of 201 proximal end of the first steering engine；The one of third steering engine 205
End is bonded with the front end of the second steering engine 203.When the fighter toy is deformed into other structures, the second steering engine 203 is housed in
In the cavity of two linking arms 202, third steering engine 205 is then superimposed on the first steering engine 201.The end of support plate 212 then with fuselage
The end face of main body 1 is bonded.Wherein the mechanism of the first linking arm 200 and third linking arm 204 is two " [companies of " character form structure
Fishplate bar is cross-superimposed to be fixedly connected.Two " [connecting plate of " character form structure is equipped with two axis holes being fixedly connected with shaft, and two
" [axis hole of the connecting plate of " character form structure is mutually perpendicular to.Therefore can realize and meanwhile with the orthogonal steering engine shaft in two axle center
Connection.
As shown in figure 3, in the present embodiment, arm mechanism 3 includes driving the rotation that the shaft of steering engine 11 is connect with arm
Connector 300, the rotation steering engine 30 being fixedly connected with rotating connector 300, the rotation being connect with the shaft of rotation steering engine 30 connect
Connect arm 31, the 4th steering engine 32 that shaft is connect with rotation connection arm 31, the 4th linking arm 33 being fixedly connected with the 4th steering engine 32,
The 5th steering engine 34 that shaft is connect with the 4th linking arm 33, and it is connected to the palm component 35 of 34 end of the 5th steering engine；Arm
The junction of steering engine 11 and rotating connector 300 is driven to form chest shoulder joint 11b, rotation steering engine 30 and the company for being rotatablely connected arm 31
The place of connecing forms shoulder extrinsic articulation 30b, and the junction of the 4th steering engine 32 and rotation connection arm 31 forms the 4th joint 31b, is equivalent to this
Fighter toy is deformed into shoulder joint when robot.The junction of 5th steering engine 34 and the 4th linking arm 33 forms the 5th joint
32b is equivalent to elbow joint.Front-wheel 4 is connected to the outside of rotation connection arm 31.When being deformed into robot shape, the 4th steering engine
32 driving the 4th joint 31b rotations, the 5th steering engine 34 drive the 5th joint 32b rotations so that the side of the 5th steering engine 34 and ground
Face contacts, and reaches and plays a supporting role to fuselage main body 1, and the 5th steering engine 34 drives the 5th joint 32b to stretch, to push third
Joint 202a stands.After deformation, arm driving steering engine 11 drives the rotation of arm mechanism 3 to open.
For the fighter toy when becoming other structures, two front-wheels 4 and two trailing wheels 5 contact support with ground, and pass through
Trailing wheel 5 drives steering engine 206 that trailing wheel 5 is driven to rotate, so that the fighter toy deformation mechanism is run.
In the present embodiment, the end of the 5th steering engine 34 is additionally provided with the support element 36 that length is longer than palm component 35.Therefore
Deformation when, arm mechanism 3 is contacted with ground is, when contacted with ground by support element 36, support element 36 be use metalwork or
Person's wear-resistant material is made, therefore arm mechanism 3 is avoided that arm mechanism 3 is contacted with ground and rubbed in support.
The deformation method of fighter toy in the present embodiment, robot are humanoid or vehicle shape by joint rotation transformation；Machine
When device people is in vehicle shape, Chinese herbaceous peony wheel 4 and back wheels of vehicle 5 land, and arm mechanism 3 and fuselage main body 1 are located at below vehicle body, leg mechanism
2 bendings, are located at vehicle body rear, sole position is forwardly toward 7 direction of headstock；When robot becomes humanoid from vehicle shape, including it is as follows
Step：
（1）4th steering engine 32 drives the 4th joint 31b rotations, the 5th steering engine 34 to drive the 5th joint 32b rotations so that the 5th rudder
Machine 34 contacts ground, and up supports；
（2）First steering engine 201 drives the first joint 200a up to arch upward；Second steering engine 203 drives third joint 202a to rotate exhibition
It opens so that the end support of support plate 212 is on the ground；
（3）5th steering engine 34 drives the 5th joint 32b to stretch support fuselage main body 1 and up rotates so that the support of support plate 212
Face is bonded with support ground；
（4）Second steering engine 203 and third steering engine 205 respectively drive third joint 202a and standing joint 204a is stretched, and drag hand
Arm mechanism 3 is supported on ground and moves backward, supports fuselage main body 1, while the first steering engine 201 driving second joint 201a turns
It is dynamic so that the fighter toy is stood；
（5）Two legs drive steering engine 12 that two leg mechanisms 2 is driven to open, and two arms drive steering engine 11 to drive arm mechanism 3 toward two
Side rotation is opened, and robot shape is formed.
As shown in figure 5, in the present embodiment fighter toy deformation method, robot by joint rotation transformation be it is humanoid
Or vehicle shape；It is the standing state of people when robot is in humanoid, leg mechanism 2 is opened in splayed, and arm mechanism 3 is located at fuselage
1 left and right sides of main body；Robot from it is humanoid become vehicle shape when, include the following steps：
（1）Leg driving steering engine 12 drives two leg mechanisms 2 to fold, and arm driving steering engine 11 drives arm mechanism 3 to rotate to machine
The front end of body main body 1；
（2）First steering engine 201 driving second joint 201a is bent down, and third steering engine 205 drives standing joint 204a to turn
Dynamic, the 4th steering engine 32 drives the 4th joint 31b to be turned out so that arm mechanism 3 is contacted with ground；
（3）Second steering engine 203 drives third joint 202a rotations so that fuselage main body 1 and leg assembly 20 are toward top rake, simultaneously
Second joint 201a is stretched, and the 5th joint 32b bendings, trailing wheel 5 supports on the ground；
（4）4th steering engine 32 drives the 4th joint 31b rotations so that arm mechanism 3 is contracted in the bottom of fuselage main body 1, and makes
Obtain the support of front-wheel 4 on the ground；
（5）Second steering engine 203 drives third joint 202a bendings, and third steering engine 205 is fitted on the first steering engine 201,
It simultaneously supports plate 212 to be bonded with the end face of fuselage main body 1, realizes that robot becomes vehicle from humanoid.
Embodiment 2
The fighter toy be formed with after folding case lorry, jeep, Super Car, engineering truck, battlebus, tank, fighter plane,
Any one of airship, laser gun, machine insect or machine dinosaur shape.And it is according to required structure in fuselage main body
On 1, on leg mechanism 2, different planforms is set on standing support component 21 so that combined after fighter toy deformation
At having case lorry, jeep, Super Car, engineering truck, battlebus, tank, fighter plane, airship, laser gun, machine insect or machine
The structure of different shapes such as dinosaur.
Embodiment 2 is similar to Example 1, the difference is that the vehicle form in embodiment 2 is to have case lorry, and the machine
People has 21 degree of freedom.
As Figure 7-8, in the present embodiment, the front end of the third linking arm 204 of two leg mechanisms 2 is equipped with one side of something
Body structure 6, when in leg, driving steering engine 12 drives two leg mechanisms 2 to fold, two half of body structures 6 form a FCL
Body.
In the present embodiment, 1 back side of fuselage main body is equipped with automobile head 7, and overturning steering engine is equipped in the front end of fuselage main body 1
8；Overturn the overturning linking arm 9 that " L " shape structure is fixedly connected in the shaft of rudder；Draw equipped with automobile the end of overturning linking arm 9
Hold up lid 100.
As shown in figure 9, in the present embodiment, openable and closable car door and covering for roofs is arranged in automobile head 7, is arranged in covering for roofs
Control panel, control panel are equipped with power switch 72, USB interface 73,74 weapons pylons groove 71 of charging interface.
As shown in figure 12, in the present embodiment, the control circuit that setting is connect with each steering engine circuit in automobile head 7
Plate is provided with the communication module docked with mobile phone in control circuit board, the fighter toy is controlled by the APP programs of user terminal
With other structures form free switching；Control circuit board connect USB interface 73, for control circuit board download program or with electricity
Brain connects；Control circuit board is electrically connected with MP3 modules, and two loud speakers that the control of MP3 modules is attached thereto play sound, raise one's voice
Device is arranged inside the car door of both sides；Control circuit board is connect with battery and charging interface 74；The battery is filled using 12V lithium ions
Battery.
In the present embodiment, it is serial or parallel connection between each steering engine, is passed through altogether with Transistor-Transistor Logic level multilayer connection type when series connection
It is connected with bus.
It is the method for robot by there is the change of case lorry：4th steering engine 32 drives the 4th joint 31b to rotate, institute
Stating the 5th steering engine 34 drives the 5th joint 32b to rotate so that the one side of the 5th steering engine 34 contacts ground, and up props up
Support；First steering engine 201 drives and arches upward on the first joint 200a；Second steering engine 203 drives the third joint
202a rotation expansion so that the end support of the support plate 212 is on the ground；5th steering engine 34 drives the described 5th to close
Section 32b, which is stretched, supports the fuselage main body 1 up to rotate so that the supporting surface of the support plate 212 is bonded with support ground；Institute
It states the second steering engine 203 and the third steering engine 205 respectively drives the third joint 202a and the standing joint 204a is stretched,
It drags the arm mechanism 3 simultaneously to be supported on ground and move backward, supports the fuselage main body 1, while first steering engine
The 201 drivings second joint 201a rotations so that the fighter toy is stood.The driving overturning linking arm 9 of steering engine 8 is overturn to drive
The overturning of bonnet 100 is combined to the back side of fuselage main body 1 with the headstock 7 of automobile, and arm drives steering engine 11 to drive arm mechanism 3 past
Outside is rotated by 90 °；It overturns the driving overturning driving leg mechanism 2 of steering engine 8 to open, and steering engine 211 of standing drives standing joint
204a is rotated so that support plate 212 is contacted with ground always, to form robot shape.
As shown in fig. 6, the method for being deformed into case lorry by robot：Leg driving steering engine 12 drives leg mechanism 2 to close
It closes, and two half of body structures 6 is made to form the rear box of automobile, and steering engine 211 of standing drives standing joint 204a to turn
It is dynamic so that support plate 212 is contacted with ground always；The overturning driving overturning linking arm 9 of steering engine 8 drives the overturning of bonnet 100 to lift；
Arm driving steering engine 11 drives arm mechanism 3, and side is rotated by 90 ° the front end of fuselage main body 1 outward；The driving overturning of steering engine 8 is overturn to connect
Connecing arm 9 drives bonnet 100 to be turned to the back side of fuselage main body 1 and combined with the headstock 7 of automobile；First steering engine 201 driving second
Joint 201a is bent down, and the driving standing joint 204a rotations of the second steering engine 203, the 4th steering engine 32 drive the 4th joint
31b is turned out so that arm mechanism 3 is contacted with ground, and the second steering engine 203 driving standing joint 204a is rotated so that machine
Body main body 1 and leg assembly 20 are toward top rake, while second joint 201a is stretched, and the 5th joint 32b bendings, trailing wheel 5 is supported on
On ground, the 4th steering engine 32 drives the 4th joint 31b rotations so that arm mechanism 3 is contracted in the bottom of fuselage main body 1, and makes
Obtain the support of front-wheel 4 on the ground；Second steering engine 203 drives third joint 202a bending, and third steering engine 205 is made to be fitted in the
It on one steering engine 201, simultaneously supports plate 212 and is bonded with the end face of fuselage main body 1, to be formed with case vehicle structure.And before two
Wheel 4 and two trailing wheels 5 are contacted with ground, drive steering engine 206 that this is driven to have case running car by trailing wheel 5.
Embodiment 3
Embodiment 3 is similar to Example 2, the difference is that embodiment 3 further includes robot Add-on accessories, such as Figure 10-11 institutes
Show, robot Add-on accessories are varied, such as machine gun and artillery, coordinated by weapons pylons and weapons pylons groove 71, installation
To car roof.
Embodiment 4
Embodiment 4 is similar to Example 2, the difference is that embodiment 4 further comprises the robot finger of fining, such as schemes
Shown in 13, in the present embodiment, robot finger respectively includes remote articulations digitorum manus 351, middle articulations digitorum manus 352 and nearly articulations digitorum manus 353, respectively
It uses and snaps connection between joint；The nearly articulations digitorum manus 354 of thumb passes through flexural pivot chain link, other nearly articulations digitorum manus of four fingers with palm part
353 are connected by a snap with palm part；Each joint can be rotated around tie point.
Embodiment 5
The present embodiment can independently form complete technical solution, can also be combined to form complete technical side with embodiment 1
Case can also arrange/combine to form complete technical solution with other any embodiments of the present invention.
A kind of combination steering engine repositioning method of fighter toy, specially：Booting detection program is preset in control circuit board
Calculation procedure is resetted with steering engine, each steering engine presets initial position；Each joint is in any position before activation for the robot
State, after powering, booting detection program starts and the current location of read machine people's whole steering engine, steering engine are multiple for the robot
Homing action according to the real time position of whole steering engines is resolved into multistep by position calculation procedure, by hiding interference, being mutually linked
Mode resets, to ensure the case where interference do not occur between each joint in reseting procedure.As initial setting arm mechanism 3 is located at machine
The angle of 1 side of body main body is 225 °, and booting remote holder arm mechanism 3 is in free position, and the steering engine after booting on arm mechanism 3 drives
It is dynamic to be restored to 225 °.
As shown in figure 14, the previous arm mechanism 3 that is switched on is in straight up and the forward position of the palm of the hand, is switched on after booting
The current location that program starts simultaneously read machine people's whole steering engine is detected, to hide interference, be mutually linked reset principle, steering engine is multiple
Homing action is resolved into multistep by position calculation procedure according to the real time position of whole steering engines, is first rotated by 90 ° rotation steering engine 30
So that arm mechanism 3 is converted into the state in figure 2., afterwards turns over the driving overturning linking arm 9 of steering engine 8 and drive bonnet 100 to turning over
It goes in figure 3., the 4th steering engine 32 drives the 4th joint 31b to be rotated down, and so that arm mechanism 3 is reached 4. shown position, finally turns over
Machine 8 of coming about driving overturning linking arm 9 drives bonnet 100 to downwardly turn over into figure 6., reaches initially set robotary.
Robot can be avoided to interfere interference between each joint in reseting procedure in the reseting procedure, improve steering engine and machine
The service life of device people's other component further improves the use longevity of the robot using the combination steering engine repositioning method
Life.
Although having shown and described the present invention referring particularly to its preferred embodiment, those skilled in the art can be with
Understand, model of the various changes in form and details without departing from the present invention described in the appended claims can be made
It encloses.It is described in detail above in association with specific embodiments of the present invention, but is not limitation of the present invention.It is every according to this hair
Any simple modification made to the above embodiment of bright technical spirit, still falls within the range of technical solution of the present invention.
Claims (10)
1. a kind of fighter toy, including fuselage main body（1）, be connected to fuselage main body（1）The head mechanism on top is connected to machine
Body main body（1）The arm mechanism of top both sides（3）Be connected to fuselage main body（1）The leg mechanism of lower part both sides（2）, feature
It is：The fuselage main body（1）With the leg mechanism（2）, the arm mechanism（3）All connected by articulation；It is described
Leg mechanism（2）Outside is provided with trailing wheel（5）, the arm mechanism（3）Outside is provided with front-wheel（4）；The robot passes through
The rotation transformation of servo driving joint is humanoid or vehicle shape.
2. fighter toy according to claim 1, it is characterised in that：Leg mechanism（2）Including with fuselage main body（1）Even
The leg assembly connect（20）With with leg assembly（20）The standing support component of connection（21）；Trailing wheel（5）Set on leg assembly
（20）Outside.
3. fighter toy according to claim 2, it is characterised in that：Fuselage main body（1）Including framework（10）, it is set to framework
（10）Interior and shaft and two arm mechanisms（3）The arm of connection drives steering engine（11）, and it is set to framework（10）Interior and shaft
With leg assembly（20）The leg of connection drives steering engine（12）.
4. fighter toy according to claim 3, it is characterised in that：Arm drives steering engine（11）Shaft axle center and leg
Drive steering engine（12）Axle center be mutually perpendicular to.
5. fighter toy according to claim 4, it is characterised in that：Two arms drive steering engine（11）Drive two arm machines
Structure（3）Rotation, two legs drive steering engine（12）Drive two leg mechanisms（2）It opens and folds.
6. fighter toy according to claim 5, it is characterised in that：Leg assembly（20）Including driving steering engine with leg（12）
First linking arm of shaft connection（200）, shaft and the first linking arm（200）First steering engine of connection（201）, with the first steering engine
（201）The second linking arm being fixedly connected（202）, shaft and the second linking arm（202）Second steering engine of connection（203）, with
Two steering engines（203）The third linking arm being fixedly connected（204）With with third linking arm（204）The third steering engine being fixedly connected
（205）, and it is set to the second linking arm（202）The trailing wheel of front end（5）Drive steering engine（206）, trailing wheel（5）Set on trailing wheel（5）It drives
Dynamic steering engine（206）Shaft on.
7. fighter toy according to claim 6, it is characterised in that：First linking arm（200）Steering engine is driven with leg
（12）Junction formed the first joint（200a）, the first steering engine（201）With the first linking arm（200）Junction formed second
Joint（201a）, the second linking arm（202）With the second steering engine（203）Junction form third joint（202a）.
8. fighter toy according to claim 7, it is characterised in that：Standing support component（21）Including with third steering engine
（205）Shaft connection standing linking arm（210）, shaft and standing linking arm（210）The standing steering engine of connection（211）, with
And it is set to standing steering engine（211）The support plate of bottom（212）.
9. the deformation method of fighter toy according to any one of claims 1 to 8, it is characterised in that：Robot passes through
Joint rotation transformation is humanoid or vehicle shape；When robot is in vehicle shape, Chinese herbaceous peony wheel（4）And back wheels of vehicle（5）It lands, arm mechanism
（3）And fuselage main body（1）Below vehicle body, leg mechanism（2）Bending is located at vehicle body rear, and sole position is forwardly toward vehicle
Head（7）Direction；When robot becomes humanoid from vehicle shape, include the following steps：
(1) the 4th steering engine（32）Drive the 4th joint（31b）Rotation, the 5th steering engine（34）Drive the 5th joint（32b）Rotation, makes
Obtain the 5th steering engine（34）Ground is contacted, and is up supported；
(2) first steering engines（201）Drive the first joint（200a）Up arch upward；Second steering engine（203）Drive third joint
（202a）Rotation expansion so that support plate（212）End support on the ground；
(3) the 5th steering engines（34）Drive the 5th joint（32b）Stretch support fuselage main body（1）It up rotates so that support plate
（212）Supporting surface with support ground be bonded；
(4) second steering engines（203）With third steering engine（205）Respectively drive third joint（202a）With standing joint（204a）It stretches
Directly, arm mechanism is dragged（3）It is supported on ground and moves backward, support fuselage main body（1）, while the first steering engine（201）Driving
Second joint（201a）Rotation so that the fighter toy is stood；
(5) two legs drive steering engine（12）Drive two leg mechanisms（2）It opens, two arms drive steering engine（11）Drive arm mechanism
（3）It is opened toward both sides rotation, forms robot shape.
10. the combination steering engine repositioning method of fighter toy according to any one of claims 1 to 8, it is characterised in that：
Booting detection program is preset in control circuit board and steering engine resets calculation procedure, and each steering engine presets initial position；The machine
Each joint is in any position state to people before activation, and after powering, booting detection program starts and reading machine for the robot
The current location of device people's whole steering engine, steering engine reset calculation procedure and are resolved into homing action according to the real time position of whole steering engines
Multistep is resetted by way of hiding interference, being mutually linked, to ensure the feelings for not occurring interfering between each joint in reseting procedure
Condition.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810142007 | 2018-02-11 | ||
| CN2018101420075 | 2018-02-11 |
Publications (2)
| Publication Number | Publication Date |
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| CN108421263A true CN108421263A (en) | 2018-08-21 |
| CN108421263B CN108421263B (en) | 2023-06-23 |
Family
ID=63019339
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810259246.9A Active CN108371820B (en) | 2018-02-11 | 2018-03-27 | Deformation robot, deformation method thereof and automatic resetting method of combined steering engine |
| CN201820422268.8U Withdrawn - After Issue CN208081848U (en) | 2018-02-11 | 2018-03-27 | A kind of fighter toy |
| CN201820422266.9U Withdrawn - After Issue CN208340114U (en) | 2018-02-11 | 2018-03-27 | A kind of fighter toy |
| CN201810259218.7A Active CN108421263B (en) | 2018-02-11 | 2018-03-27 | Deformation robot, deformation method thereof and combined steering engine resetting method |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810259246.9A Active CN108371820B (en) | 2018-02-11 | 2018-03-27 | Deformation robot, deformation method thereof and automatic resetting method of combined steering engine |
| CN201820422268.8U Withdrawn - After Issue CN208081848U (en) | 2018-02-11 | 2018-03-27 | A kind of fighter toy |
| CN201820422266.9U Withdrawn - After Issue CN208340114U (en) | 2018-02-11 | 2018-03-27 | A kind of fighter toy |
Country Status (1)
| Country | Link |
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| CN (4) | CN108371820B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109454649A (en) * | 2018-11-27 | 2019-03-12 | 孙喜斌 | A kind of automobile deformed robot |
| CN111267141A (en) * | 2020-04-09 | 2020-06-12 | 白志超 | Extensible robot joint and switchable robot with driving modes formed by same |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108371820B (en) * | 2018-02-11 | 2023-08-18 | 乐森机器人(深圳)有限公司 | Deformation robot, deformation method thereof and automatic resetting method of combined steering engine |
| CN109876463A (en) | 2019-02-28 | 2019-06-14 | 乐森机器人(深圳)有限公司 | A kind of fighter toy |
| CN109876464A (en) * | 2019-03-29 | 2019-06-14 | 乐森机器人(深圳)有限公司 | A kind of fighter toy |
| JP7175258B2 (en) * | 2019-12-24 | 2022-11-18 | 株式会社バンダイ | doll body arm and doll body |
| CN113941160A (en) * | 2020-07-17 | 2022-01-18 | 乐森机器人(深圳)有限公司 | Shape shifting robot |
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- 2018-03-27 CN CN201820422268.8U patent/CN208081848U/en not_active Withdrawn - After Issue
- 2018-03-27 CN CN201820422266.9U patent/CN208340114U/en not_active Withdrawn - After Issue
- 2018-03-27 CN CN201810259218.7A patent/CN108421263B/en active Active
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| US4586911A (en) * | 1983-01-19 | 1986-05-06 | Kabushiki Kaisha Bandai | Transformable toy vehicle |
| CN202289438U (en) * | 2011-09-09 | 2012-07-04 | 周剑 | Man and automobile transformation self-programming telecontrol robot toy |
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| CN109454649A (en) * | 2018-11-27 | 2019-03-12 | 孙喜斌 | A kind of automobile deformed robot |
| CN111267141A (en) * | 2020-04-09 | 2020-06-12 | 白志超 | Extensible robot joint and switchable robot with driving modes formed by same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108371820A (en) | 2018-08-07 |
| CN108421263B (en) | 2023-06-23 |
| CN208340114U (en) | 2019-01-08 |
| CN208081848U (en) | 2018-11-13 |
| CN108371820B (en) | 2023-08-18 |
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