CN207076118U - A kind of modular toy robot - Google Patents
A kind of modular toy robot Download PDFInfo
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- CN207076118U CN207076118U CN201720297635.1U CN201720297635U CN207076118U CN 207076118 U CN207076118 U CN 207076118U CN 201720297635 U CN201720297635 U CN 201720297635U CN 207076118 U CN207076118 U CN 207076118U
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- shell
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- toy robot
- attachment means
- modular toy
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Abstract
The utility model discloses a kind of modular toy robot, including shell, the attachment means being located on shell, the moment of torsion being located in shell provides device, the shell, attachment means and moment of torsion provide device comprising modules toy robot monomer, the shell forms a solid by multiple U-shaped components, the U-shaped component of at least one in the shell is provided with a reserving hole, the attachment means are arranged in reserving hole, the reserving hole can be additionally used in installing and connecting apparatus or other functional devices, the shell realizes the twisting of monnolithic case by moment of torsion offer device.Overcome that existing module robot architecture's form is single, and without the problem of metastable connected mode, overall versatility be not strong, expansion is not high, wire exposed safety coefficient difference.
Description
Technical field
It the utility model is related to robot field, and in particular to a kind of modular toy robot.
Background technology
As social science and technology and expanding economy, robot are applied to numerous areas, such as industry, military, service, medical treatment
Deng, or even applied to intelligent toy field.Traditional toy such as down toy, picture mosaic, electric car etc., form content is single, and can
Application is poor, is unfavorable for the exploitation of user's intelligence.And the combination of robot element make it that the interest of toy and expansion are big
Big to improve, in conjunction with modular thought, the diversity and application value of its practical combinations are also improved.
At present, external Duo Suo universities, universities and colleges are all in research modularization robot, including institute of Britain AA buildings alliance, health
Nai Er universities, Harvard University and Zurich Polytechnics of federation etc., although these robots are not applied to toy art,
It is also to turn into carry out one of focus of attention of robot technology research this year.Such as SuperBot (the by Wei-Min of USC universities of the U.S.
Shen), Molecubes (by Hod Lipson) robot system of Cornell University, the The Kilobot of Harvard University
Project etc..
The Kilobot Project modularization robot is very compact and can perform complicated order, but does not have
Standby assembling combination function, although Molecubes can be attached the integrated mode of combination module by plane joint face
It is sufficiently complex not possess playability, although SuperBot can be with simple combination, due to individual sufficiently complex and interface shape
And quantity limitation, expansibility be not strong.
Robot architecture's form in the past is single and the protection of no shell can bring inconvenience to user, and passes through connection
Hole connected structure stability is poor and can not be connected with multiple module, structure design imperfection, versatility be not strong, expansion is not high,
Structure species are single, connective stability is poor, complicated the problems such as are not easy to use.
Utility model content
A kind of modularization is provided and played in order to solve certain or some technical problems, the utility model present in prior art
Have robot, overcome that existing module robot architecture's form is single, and without metastable connected mode, overall logical
With the problem of property is not strong, expansion is not high, wire exposed safety coefficient difference.
To solve above-mentioned existing technical problem, the utility model uses following scheme：A kind of modular toy robot,
Including shell, the attachment means being located on shell, the moment of torsion offer device being located in shell, the shell, attachment means and torsion
Square provides device comprising modules toy robot monomer, and the shell forms a solid by multiple U-shaped components, described outer
The U-shaped component of at least one in shell is provided with a reserving hole, and the attachment means are arranged in reserving hole, the preformed hole
Hole can be additionally used in installing and connecting apparatus or other functional devices, and the shell provides device by moment of torsion and realizes monnolithic case
Twisting.
Preferably, the two panels blade that the U-shaped component includes a bottom surface, is connected with bottom surface, the shell uses
Square structure, two top surfaces up and down of the shell are made up of blade, and a rotation is provided between described two adjacent U-shaped components
Axle, the rotary shaft are located at the both sides of bottom surface, deploy or incline after being rotated between the two neighboring U-shaped component by rotary shaft
It is tiltedly mobile.
Preferably, between the two neighboring modular toy robot monomer by way of attachment means screw phase
Connect fixation.
Preferably, the moment of torsion provide device include being arranged on motor in shell on the bottom surface of wherein one U-shaped component,
The train of reduction gears that is located on motor, it is located at the steering wheel for driving rotation in train of reduction gears by motor, one end of the steering wheel
It is connected with the blade of the adjacent U-shaped component for the U-shaped component for installing motor, the shell drives the adjacent U connected by steering wheel
Type component, and then realize the inclination movement of whole shell.
Preferably, the steering wheel includes eccentric wheel, is located at one end and the rocking arm of blade switching on eccentric wheel.
Preferably, the eccentric wheel is provided with two rocking arms, two rocking arms are respectively with installing the U-shaped component of motor
Two adjacent U-shaped components blade switching.
Preferably, the blade uses arc-shaped structure, coordinated between two relative blades using gap and set
Put.
Preferably, being provided with mounting structures in the shell, the shell and attachment means are by plastics, silica gel, rubber, Buddhist nun
Dragon, timber or metal are made.
Module is expanded preferably, being provided with the shell, the expansion module is used for control mode and provides device or add
Add follow-up function.
Beneficial effect：
The utility model provides a kind of modular toy robot using above-mentioned technical proposal, can be used in toy product,
In modular toy robot in industrial goods, household and daily necessities.Overall structure is simple, and connected mode is easy, connection
Fixation afterwards, flexibility is strong, and versatility is wide, and expansion is high.Wire is integrally placed to enclosure interior, and safety coefficient is higher, makes
Longer with the life-span, wire coverage is short, easy to maintenance after damage, and by attachment means, the robot toy adjacent to two connects
Order body is attached fixation, and dismounting is easier, while the robot that can be easily combined into difference in functionality is overall, very
It is adapted to suitable for purpose is different, body is not fixed, the robot of needs flexibility and changeability is overall.
The U-shaped component of the modular toy robot has special relative displacement relation, installs the U-shaped component of motor
Rotary shaft between U-shaped component adjacent thereto around the U-shaped component both sides is rotated, and the U-shaped component of opposite side is then
Remain parallel with it.In the overall structure formed by four U-shaped components, under the constraint of U-shaped two blades of component, shape
Into a kind of parallelogram sturcutre of changeable type.Its internal moment of torsion provides the company that the output shaft of device passes through steering wheel and rocking arm
Mode is connect, drives two non-conterminous U-shaped components to do and synchronously swings.Meanwhile filled installed in the connection of each reserving hole
Putting can be connected with other modular toy robots.When attachment means are connected with other modular toy robots, it is connected
The modular toy robot connect is driven movement, after engaged with one another, robot can be made integrally to occur in form
Change, when the connection quantity of modularization robot reaches to a certain degree, similar insect can be formed after quantity rises
The structure of wriggling is twisted.
Brief description of the drawings
Fig. 1 is internal structure schematic diagram of the present utility model；
Fig. 2 is the structural representation of the utility model modular toy robot monomer；
Fig. 3 provides the attachment structure schematic diagram of device and U-shaped component for the utility model moment of torsion；
Fig. 4 is the structural representation of two modular toy robot monomer connections of the utility model；
In figure：Blade 1, shell 2, U-shaped component 3, eccentric wheel 4, reserving hole 5, steering wheel 6, train of reduction gears 7, motor 8,
Moment of torsion provides device 9, support 10, bottom surface 11, rotary shaft 12, attachment means 13, modular toy robot monomer 14, rocking arm
15th, communication interface 16.
Embodiment
Below, with reference to accompanying drawing and embodiment, the utility model is described further：As Figure 1-4, one
Kind of modular toy robot, including shell 2, the attachment means 13 being located on shell 2, the moment of torsion that is located in shell 2 provide dress
Put 9, the shell 2, attachment means 13 and moment of torsion provide the comprising modules toy robot monomer 14 of device 9, the shell 2 by
Multiple U-shaped components 3 form a solid, and at least one U-shaped component 3 is provided with a reserving hole 5, institute in the shell 2
Attachment means 13 are stated in reserving hole 5, the reserving hole 5 can be used for installing and connecting apparatus 13 or other features to fill
Put, the shell 2 realizes the twisting of monnolithic case by moment of torsion offer device 9；The U-shaped component 3 include a bottom surface 11, with
The two panels blade 1 that bottom surface 11 is connected, the shell 2 use square structure, and two top surfaces up and down of the shell 2 are by blade 1
Form, be provided with a rotary shaft 12 between described two adjacent U-shaped components 3, the rotary shaft 12 is located at the both sides of bottom surface 11, institute
State expansion or inclination movement after being rotated by rotary shaft 12 between two neighboring U-shaped component 3；The two neighboring modularization is played
It is interconnected and fixed between tool robot monomer 14 by way of attachment means 13 screw；The moment of torsion, which provides device 9, to be included
Motor 8 on the bottom surface 11 of in shell 2 wherein one U-shaped component 3, the train of reduction gears 7 being located on motor 8, it is located at and subtracts
The steering wheel 6 of rotation is driven on fast gear train 7 by motor 8, what one end of the steering wheel 6 and the U-shaped component 3 of installation motor 8 connect
The blade 1 of adjacent U-shaped component 3 connects, and the shell 2 drives the adjacent U-shaped component connected by steering wheel 6, and then realizes whole
The inclination movement of individual shell；The steering wheel 6 includes eccentric wheel 4, is located at the rocking arm 15 that one end is transferred with blade 1 on eccentric wheel 4；Institute
State eccentric wheel 4 and be provided with two rocking arms 15, two rocking arms 15 respectively with to install two that the U-shaped component 3 of motor 8 connects adjacent
The blade 1 of U-shaped component 3 is transferred；The blade 1 uses arc-shaped structure, is matched somebody with somebody between two relative blades 1 using gap
Close and set；Be provided with the shell 2 structure of support 10, the shell 2 and attachment means 13 by plastics, silica gel, rubber, nylon,
Timber or metal are made；It is provided with the shell 2 and expands module, the expansion module is used for control mode and provides device 9
Or addition follow-up function.
During real work, the shell 2 forms a solid by multiple U-shaped components 3, and the shell 2 passes through moment of torsion
The twisting that device 9 realizes monnolithic case is provided, when carrying out the variation of shape to whole shell 2, automation mechanized operation can be realized,
It need not be deformed manually, control is more accurate during deformation, and the attachment means 13 are arranged in reserving hole 5, can be right
The height of projection of attachment means 13 is reduced, and two neighboring robot toy is connected monomer 14 and is entered by attachment means 13
After row is fixed, the connection that adjacent two robot toys are connected between monomer 14 is even closer, and overall volume is smaller, the preformed hole
Hole 5 can also be used to install other functional devices, and communication interface 16 is provided with attachment means 4, will be provided with communication interface 16
Attachment means 13 be installed in reserving hole 5, be fixed by reserving hole 5, it is more convenient in dismounting, pass through communication
During connection and transmission signal of the interface 16 for circuit, it can be carried out by splitting attachment means 13 with reserving hole 5
It is directly connected to and dismantles, while two robot toys are connected with the conveying that monomer 14 enters row information, makes tearing open for communication interface 16
Dress is more flexible, and the use of whole robot is more flexible.
The shell 2 is parallel six face structure, during the overall structure formed by four U-shaped components 3, in U-shaped 3 liang of component
Under the constraint of individual blade 1, a kind of parallelogram sturcutre of changeable type is formd, when in use, parallelogram can be realized
Two carry out horizontal tilt on the door, when two neighboring U-shaped component 3 moves, mutual rotation, energy are carried out by rotary shaft 12
Enough make the movement of parallelogram more flexible, the upset of two adjacent U-shaped components 3 can also be realized by rotary shaft 12, when four
When side shape is not closed also, it is possible to achieve horizontal development.Pass through company between the two neighboring modular toy robot monomer 14
The mode that connection device 13 screws is interconnected and fixed, and in connection, dismounting is more convenient, flexible.
The moment of torsion, which provides device 9, to be included being arranged on motor 8 in shell 2 on the bottom surface 11 of wherein one U-shaped component 3, sets
Train of reduction gears 7 on motor 8, the steering wheel 6 for driving rotation in train of reduction gears 7 by motor 8 is located at, the steering wheel 6
The blade 1 for the adjacent U-shaped component 3 that one end connects with installing the U-shaped component 3 of motor 8 is connected, and the shell 2 is by steering wheel 6 with movable vane
Piece 1 is rotated so as to realize the movement of whole shell 2.During device 9 is provided by moment of torsion and drives U-shaped component 3 to rotate, by
In shell 2；Two planes of symmetry are made up of blade 1, are not fixed, when driving the rotation of steering wheel 6 by motor 8, Neng Gougeng
Adding the convenient variation for realizing quadrangle, control is more convenient accurate, meanwhile, can be to the rotating speed of motor 8 by train of reduction gears 7
It is controlled, so that the flat rate of the movement of U-shaped component 3 is controlled effectively, the robot toy after installation is connected monomer
14 in activity control it is more convenient.
The steering wheel 6 includes eccentric wheel 4, is located at the rocking arm 15 that one end is transferred with blade 1 on eccentric wheel 4, the eccentric wheel 4
It is provided with two rocking arms 15, two adjacent U-shaped components 3 that two rocking arms 15 connect with installing the U-shaped component 3 of motor 8 respectively
Blade 1 transfer；When being rotated by motor 8, the bilateral reciprocation of U-shaped component 3, rocking arm 15 can be realized by rocking arm 15
Using two, and the blade 1 of the two adjacent U-shaped components 3 connect respectively with installing the U-shaped component 3 of motor 8 is transferred, in driving
During, power is stronger.
The blade 1 uses arc-shaped structure, is equipped with, moved using gap between two relative blades 1
In dynamic process, cost is lower, is not in stuck phenomenon excessively more flexibly.
Be provided with the shell 2 structure of support 10, the shell 2 and attachment means 13 by plastics, silica gel, rubber, nylon,
Timber or metal are made, and in selection, scope is wider, and cost is lower, while moment of torsion are provided after device 9 is fixed, peace
Dress is more stable.
It is provided with the shell 2 and expands module, the expansion module is used for control mode and provides device 9 or the follow-up work(of addition
Can, during rotation, the rotary speed of control mode offer device 9 can be provided by the expansion module, make shell 2
Rotation control it is more convenient accurate, other desired follow-up function can also be added, so that robot toy connects monomer 14
Realize multifunctional mode.
It will be apparent to those skilled in the art that technical scheme that can be as described above and design, make other various
Corresponding change and deformation, and all these changes and deformation should all belong to the protection of the utility model claims
Within the scope of.
Claims (9)
- A kind of 1. modular toy robot, it is characterised in that：Including shell, the attachment means being located on shell, it is located at shell Interior moment of torsion provides device, and the shell, attachment means and moment of torsion provide device comprising modules toy robot monomer, described Shell forms a solid by multiple U-shaped components, and at least one U-shaped component is provided with a reserving hole in the shell, The attachment means are arranged in reserving hole, and the reserving hole can be additionally used in installing and connecting apparatus, and the shell passes through torsion Square provides the twisting that device realizes monnolithic case.
- A kind of 2. modular toy robot according to claim 1, it is characterised in that：The U-shaped component includes one Bottom surface, the two panels blade being connected with bottom surface, the shell use square structure, and two top surfaces up and down of the shell are by blade Form, be provided with a rotary shaft between two adjacent U-shaped components, the rotary shaft is located at the both sides of bottom surface, two neighboring Expansion or inclination movement after being rotated between the U-shaped component by rotary shaft.
- A kind of 3. modular toy robot according to claim 1, it is characterised in that：The two neighboring modularization is played It is interconnected and fixed between tool robot monomer by way of attachment means screw.
- A kind of 4. modular toy robot according to claim 2, it is characterised in that：The moment of torsion, which provides device, to be included Motor in shell on the bottom surface of wherein one U-shaped component, the train of reduction gears being located on motor, it is located at train of reduction gears The upper steering wheel that rotation is driven by motor, one end of the steering wheel and the blade of the adjacent U-shaped component of the U-shaped component of installation motor Connection, the shell drives the adjacent U-shaped component connected by steering wheel, and then realizes the inclination movement of whole shell.
- A kind of 5. modular toy robot according to claim 4, it is characterised in that：The steering wheel include eccentric wheel, It is located at one end and the rocking arm of blade switching on eccentric wheel.
- A kind of 6. modular toy robot according to claim 5, it is characterised in that：The eccentric wheel is provided with two Rocking arm, blade of two rocking arms respectively with two adjacent U-shaped components of the U-shaped component for installing motor are transferred.
- A kind of 7. modular toy robot according to claim 6, it is characterised in that：The blade uses circular arc knot Structure, it is equipped with using gap between relative two blades.
- A kind of 8. modular toy robot according to claim 6, it is characterised in that：Support knot is provided with the shell Structure, the shell and attachment means are made by plastics, silica gel, rubber, nylon, timber or metal.
- A kind of 9. modular toy robot according to claim 1, it is characterised in that：It is provided with the shell and expands mould Block, the expansion module are used for control mode and provide device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720297635.1U CN207076118U (en) | 2017-03-24 | 2017-03-24 | A kind of modular toy robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720297635.1U CN207076118U (en) | 2017-03-24 | 2017-03-24 | A kind of modular toy robot |
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| Publication Number | Publication Date |
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| CN207076118U true CN207076118U (en) | 2018-03-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720297635.1U Active CN207076118U (en) | 2017-03-24 | 2017-03-24 | A kind of modular toy robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN207076118U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994254A (en) * | 2017-03-24 | 2017-08-01 | 杭州零界线数字科技有限公司 | A kind of modular toy robot |
| CN108372499A (en) * | 2018-05-15 | 2018-08-07 | 哈尔滨理工大学 | Spatial cell robot via Self-reconfiguration cradle head module |
| CN108381540A (en) * | 2018-05-15 | 2018-08-10 | 哈尔滨理工大学 | A kind of space self-reorganization robot elbow turns cell |
-
2017
- 2017-03-24 CN CN201720297635.1U patent/CN207076118U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994254A (en) * | 2017-03-24 | 2017-08-01 | 杭州零界线数字科技有限公司 | A kind of modular toy robot |
| CN106994254B (en) * | 2017-03-24 | 2023-04-07 | 杭州亿零智能科技有限公司 | Modularization toy robot |
| CN108372499A (en) * | 2018-05-15 | 2018-08-07 | 哈尔滨理工大学 | Spatial cell robot via Self-reconfiguration cradle head module |
| CN108381540A (en) * | 2018-05-15 | 2018-08-10 | 哈尔滨理工大学 | A kind of space self-reorganization robot elbow turns cell |
| CN108372499B (en) * | 2018-05-15 | 2024-02-27 | 哈尔滨理工大学 | Space cell robot self-reconstruction rotary joint module |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201208 Address after: 310026 Zhejiang Province Hangzhou Xiaoshan District Ningwei Street Pinglan Road 299 Zhejiang Chamber of Commerce Building 3601 Patentee after: ZHEJIANG JINKE TOM CAT NETWORK TECHNOLOGY Co.,Ltd. Address before: 310000, Hangzhou, Binjiang District, No. six and road, a building (North) on the third floor B3151 room Patentee before: HANGZHOU LINGJIEXIAN DIGITAL TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220408 Address after: 310051 Room 309, building 2, No. 1, Weiye Road, Puyan street, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Yiling Intelligent Technology Co.,Ltd. Address before: 310026 3601, building 1, Zhejiang chamber of Commerce building, No. 299, Pinglan Road, ningwei street, Xiaoshan District, Hangzhou, Zhejiang Province Patentee before: ZHEJIANG JINKE TOM CAT NETWORK TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |