Streamlined robot for viewing

Abstract

The present invention relates to the field of amusement equipment, in particular to a streamlined robot for viewing, comprising: a shell, a first fin-shaped component, a second fin-shaped component, a first driving device, a second driving device, and a third driving device. The streamlined robot for viewing provided by the present invention meets the demand for viewing through the streamlined shell, the first fin-shaped component and the second fin-shaped component; the advancement of the streamlined robot is achieved through the first driving device and the first fin-shaped component; the turning, floating and sinking of the streamlined robot are achieved through the combined use of the first driving device, the first fin-shaped component, the second driving device and the second fin-shaped component; the third driving device is used in combination with the lower jaw to achieve biting, thereby solving the technical problem of how to achieve bionic actions such as advancement, turning, floating and diving of the streamlined toy under the condition of maintaining the streamlined appearance.

Description

Technical Field

[0001] The invention relates to the field of amusement equipment, in particular to a streamlined robot for viewing. Background Art

[0002] As people's living standards improve, they begin to pursue more novel amusement experiences. Ornamental streamlined toys, such as fish-shaped toys, provide a new amusement experience. Users can independently control the streamlined toys to achieve human-machine interaction, which is more playable and ornamental, fully meeting people's expectations for amusement equipment.

[0003] Streamlined toys with ornamental value usually swim under the water surface. However, how to realize the bionic movements of streamlined toys such as moving forward, turning, floating and diving under the condition of maintaining the streamlined shape has become a difficult problem in designing streamlined toys with ornamental value. Summary of the invention

[0004] In order to solve the technical problem of how to realize the bionic actions of a streamlined toy such as moving forward, turning, floating, diving and biting while maintaining a streamlined shape, the present invention provides a streamlined robot for viewing.

[0005] The technical solution of the present invention is as follows:

[0006] Streamlined robot for viewing, including:

[0007] A shell, wherein the shell is streamlined and can be suspended in water, a first fin-shaped component is arranged at the tail of the shell, and a pair of second fin-shaped components are horizontally symmetrically arranged near two sides of the shell;

[0008] a first driving device, wherein a tail end of the first driving device is connected to the first fin-shaped component, and the first driving device drives the first fin-shaped component to swing back and forth;

[0009] a second driving device, wherein a pair of the second fin-shaped members are respectively rotatably connected to the second driving device, and the second driving device drives the second fin-shaped members to rotate bidirectionally;

[0010] A third driving device, wherein the output end of the third driving device is connected to the lower jaw of the robot, and the third driving device drives the lower jaw to swing back and forth to achieve a biting action.

[0011] The first drive device, the second drive device, and the third drive device are respectively accommodated in the housing;

[0012] When the first fin-shaped member performs reciprocating swinging and the angle of the second fin-shaped member relative to the horizontal plane is a preset angle, the housing moves horizontally relative to the horizontal plane;

[0013] When the first fin-shaped component reciprocates and the angle of the second fin-shaped component relative to the horizontal plane deviates from the preset angle, the housing moves obliquely relative to the horizontal plane.

[0014] The streamlined robot for viewing provided by the present invention meets the demand for viewing through the streamlined shell, the first fin-shaped component and the second fin-shaped component; the forward movement of the streamlined robot is achieved through the first driving device and the first fin-shaped component; the turning, floating and sinking of the streamlined robot are achieved through the combined use of the first driving device, the first fin-shaped component, the second driving device and the second fin-shaped component; the third driving device is used in combination with the lower jaw to achieve biting, thereby solving the technical problem of how to achieve bionic actions such as forward movement, turning, floating, diving and biting of the streamlined toy while maintaining the streamlined appearance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic structural diagram of a streamlined robot for viewing provided by an embodiment of the present invention;

[0016] Figure 2 A schematic diagram of the structure of a first driving device and a second driving device provided in an embodiment of the present invention;

[0017] Figure 3 A schematic diagram of a third driving device provided in an embodiment of the present invention;

[0018] Figure 4 Schematic diagram of a pressure-resistant battery compartment provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0019] See also Figure 1 In order to solve the technical problem of how to realize the bionic actions of a streamlined toy such as moving forward, turning, floating up and diving while maintaining a streamlined shape, the present invention provides a streamlined robot for viewing.

[0020] Streamlined robot for viewing, including:

[0021] The shell 1 is streamlined and can be suspended in water. The first fin-shaped member 6 is arranged at the tail of the shell 1 , and a pair of second fin-shaped members 12 are horizontally symmetrically arranged on both sides close to the shell 1 ;

[0022] A first driving device, wherein the tail end of the first driving device is connected to the first fin-shaped component 6, and the first driving device drives the first fin-shaped component 6 to swing back and forth;

[0023] A second driving device, a pair of second fin-shaped components 12 are respectively rotatably connected to the second driving device, and the second driving device drives the second fin-shaped components 12 to rotate bidirectionally;

[0024] a third driving device, wherein an output end of the third driving device is connected to the lower jaw (26), and the third driving device drives the lower jaw (26) to swing back and forth to achieve a biting action;

[0025] The first drive device, the second drive device and the third drive device are respectively accommodated in the housing (1);

[0026] When the first fin-shaped member 6 performs reciprocating swinging and the angle of the second fin-shaped member 12 relative to the horizontal plane is a preset angle, the housing 1 moves horizontally relative to the horizontal plane;

[0027] When the first fin-shaped component 6 swings back and forth, and the angle of the second fin-shaped component 12 relative to the horizontal plane deviates from the preset angle, the housing 1 moves obliquely relative to the horizontal plane.

[0028] Among them, the streamlined shell 1 includes a shell 1 with a dolphin, whale or shark appearance. On the one hand, the streamlined shell 1 meets the needs of ornamental properties, and on the other hand, the streamlined shell 1 can effectively reduce the resistance of water when moving in the water. The dolphin, whale or shark appearance has pectoral fins and tail fins respectively, except for some whales, all of which have dorsal fins. The shape of the aforementioned first fin-shaped component 6 is the same as or similar to the tail fin, and the shape of the aforementioned second fin-shaped component 12 is the same as or similar to the pectoral fin. In order to improve the ornamental properties, preferably, a third fin-shaped component that is the same as or similar to the dorsal fin can also be provided on the top of the shell 1. The shell 1, the first fin-shaped component 6 and the second fin-shaped component 12 form a dolphin, whale or shark appearance, which meets the needs of ornamental properties.

[0029] The horizontal straight line from the head end to the tail end of the shell 1 is the X-axis, and the vertical line perpendicular to the horizontal plane and the X-axis is the Z-axis to establish an XZ vertical plane coordinate system, and the origin of the coordinate system is at the center of the shell 1. When the first driving device drives the first fin-shaped component 6, the first fin-shaped component 6 reciprocates in the first quadrant and the fourth quadrant of the XZ vertical plane coordinate system. Relying on the swing of the first fin-shaped component 6, a reaction force that pushes away the water is generated to push the shell 1 forward, thereby simulating the bionic action of dolphins, whales or sharks when they move forward.

[0030] The horizontal straight line from the head end to the tail end of the housing 1 is the X-axis, and the vertical line perpendicular to the X-axis in the horizontal plane where the X-axis is located is the Y-axis, and an XY plane coordinate system is established, and the origin of the coordinate system is at the center of the housing 1. When the first driving device drives the first fin-shaped component 6, the first fin-shaped component 6 reciprocates in the first quadrant and the fourth quadrant of the XY plane coordinate system. Alternatively, when the first driving device drives the first fin-shaped component 6, a reaction force that pushes away the water is generated by relying on the first fin-shaped component 6 and the swinging from the middle to the tail of the shell 1; and when the first fin-shaped component 6 and the middle to the tail of the shell 1 tend to the first quadrant of the XY plane coordinate system, the angle of the first fin-shaped component 6 and the middle to the tail of the shell 1 relative to the X-axis is the first quadrant angle; similarly, when the first fin-shaped component 6 and the middle to the tail of the shell 1 tend to the fourth quadrant of the XY plane coordinate system, the angle of the first fin-shaped component 6 and the middle to the tail of the shell 1 relative to the X-axis is the fourth quadrant angle; when the first quadrant angle is not equal to the fourth quadrant angle, the shell 1 forms a turning state in the XY plane coordinate system, thereby simulating the bionic movements of dolphins, whales or sharks when turning.

[0031] The horizontal straight line from the head end to the tail end of the shell 1 is the X-axis, and the vertical line perpendicular to the horizontal plane and the X-axis is the Z-axis to establish an XZ vertical plane coordinate system, and the origin of the coordinate system is at the center of the shell 1. When the first driving device drives the first fin component 6, and the second fin component 12 maintains a preset angle relative to the X-axis, the first fin component 6 reciprocates in the first quadrant and the fourth quadrant of the XZ vertical plane coordinate system. Relying on the swing of the first fin component 6, a reaction force that pushes away the water is generated, and the shell 1 is pushed forward. When the first driving device drives the first fin component 6 and the second driving device drives the second fin component 12 to rotate, at this time, the angle of the second fin component 12 relative to the X-axis is greater than or less than the preset angle, and the first fin component 6 reciprocates in the first quadrant and the fourth quadrant of the XZ vertical coordinate system; relying on the swing of the first fin component 6, a reaction force to push the water away is generated, and relying on the angle of the second fin component 12 relative to the X-axis being greater than or less than the preset angle, the shell 1 is pushed to float up or sink inclined relative to the horizontal plane.

[0032] Therefore, the streamlined robot for viewing provided by the present invention meets the viewing requirements through the streamlined shell 1, the first fin-shaped component 6 and the second fin-shaped component 12; the forward movement of the streamlined robot is achieved through the first driving device and the first fin-shaped component 6; the turning, floating and sinking of the streamlined robot are achieved through the combined use of the first driving device, the first fin-shaped component 6, the second driving device and the second fin-shaped component 12, thereby solving the technical problem of how to achieve bionic actions such as forward movement, turning, floating and diving of the streamlined toy while maintaining the streamlined shape.

[0033] Further, when the first fin-shaped component 6 is parallel to the horizontal plane, the first driving device includes:

[0034] A tail handle 8, the tail end of the tail handle 8 is movably connected to the first fin-shaped component 6 through a first rotation pair 7, the axis of the first rotation pair 7 is parallel to the horizontal plane, and the middle part of the tail handle 8 is connected to the first fin-shaped component 6 through a spring 19;

[0035] A tail motor 20, the rotating shaft of the tail motor 20 is movably connected to the head end of the tail handle 8 through a second rotating pair 9, and the axis of the second rotating pair 9 is perpendicular to the horizontal plane;

[0036] The waist motor 21, the rotating shaft of the waist motor 21 is movably connected with the tail motor 20 through the third rotating pair 10, and the axis of the third rotating pair 10 is parallel to the horizontal plane.

[0037] Among them, when the waist motor 21 drives the tail motor 20 through the third rotation pair 10, the tail motor 20, the tail handle 8 and the first fin-shaped component 6 respectively swing back and forth in a direction perpendicular to the horizontal plane with the axis of the third rotation pair 10 as the center. Compared with the solution of only driving the tail fin (first fin-shaped component 6) in the prior art, the swing amplitude of the first fin-shaped component 6 is larger, so that a larger reaction force for discharging water can be obtained. When the tail motor 20 drives the tail handle 8 through the second rotation pair 9, the tail handle 8 and the first fin-shaped component 6 swing back and forth in a direction parallel to the horizontal plane with the axis of the second rotation pair 9 as the center. When the tail handle 8 swings back and forth in a direction perpendicular to the horizontal plane, the first fin-shaped component 6 is subjected to the resistance of water, and the first fin-shaped component 6 rotates relative to the tail handle 8 with the axis of the first rotation pair 7. At this time, the spring 19 is in a stretched state; when the tail handle 8 stops swinging, the spring 19 is in a contracted state, and the spring 19 can return the first fin-shaped component 6 to its original position.

[0038] In addition, the first rotating pair 7, the second rotating pair 9 and the third rotating pair 10 can respectively adopt a motor reciprocating swing or a motor continuous rotation plus a crank connecting rod mechanism.

[0039] Further, when the first fin-shaped component 6 is perpendicular to the horizontal plane, the first driving device includes:

[0040] A tail handle 8, the tail end of the tail handle 8 is movably connected to the first fin-shaped component 6 through a first rotation pair 7, the axis of the first rotation pair 7 is perpendicular to the horizontal plane, and the middle part of the tail handle 8 is connected to the first fin-shaped component 6 through a spring 19;

[0041] A tail motor 20, the rotating shaft of the tail motor 20 is movably connected to the head end of the tail handle 8 through a second rotating pair 9, and the axis of the second rotating pair 9 is parallel to the horizontal plane;

[0042] The waist motor 21, the rotating shaft of the waist motor 21 is movably connected with the tail motor 20 through the third rotating pair 10, and the axis of the third rotating pair 10 is perpendicular to the horizontal plane.

[0043] When the waist motor 21 drives the tail motor 20 through the third rotation pair 10, the tail motor 20, the tail handle 8 and the first fin-shaped component 6 respectively swing back and forth in a direction parallel to the horizontal plane with the axis of the third rotation pair 10 as the center. When the tail motor 20 drives the tail handle 8 through the second rotation pair 9, the tail handle 8 and the first fin-shaped component 6 respectively swing back and forth in a direction perpendicular to the horizontal plane with the axis of the second rotation pair 9 as the center. When the tail handle 8 swings back and forth in a direction parallel to the horizontal plane, the first fin-shaped component 6 is affected by the resistance of the water, and the first fin-shaped component 6 rotates relative to the tail handle 8 with the axis of the first rotation pair 7. At this time, the spring 19 is in a stretched state; when the tail handle 8 stops swinging, the spring 19 is in a contracted state, and the spring 19 can return the first fin-shaped component 6 to its original position.

[0044] Furthermore, the second driving device comprises:

[0045] The chest motor 22 and the pair of second fin-shaped components 12 are respectively connected to the rotation shafts of the two chest motors 22 .

[0046] Among them, two chest motors 22 are symmetrically arranged in the shell 1, and the rotating shafts of the two chest motors 22 extend out of the shell 1 respectively, the axis lines of the two rotating shafts should be on the same straight line, and a pair of second fin-shaped parts 12 are connected to the two rotating shafts respectively. When the two chest motors 22 rotate, the angles of the pair of second fin-shaped parts 12 relative to the horizontal plane should be the same. The plane where the edge of the second fin-shaped part 12 close to the head end of the shell 1 to the edge of the tail end of the shell 1 is located is the rotation plane, the horizontal plane where the edge of the tail end of the shell 1 touches is the reference plane, and the angle between the rotation plane and the base plane is the reference angle. When the second fin-shaped part 12 rotates, when the first angle between the rotation plane of the second fin-shaped part 12 and the reference plane is greater than the reference angle, the streamlined robot is in an ascending state under the push of the first drive device and the first fin-shaped part 6; conversely, when the second fin-shaped part 12 rotates, when the first angle between the rotation plane of the second fin-shaped part 12 and the reference plane is less than the reference angle, the streamlined robot is in a sinking state under the push of the first drive device and the first fin-shaped part 6.

[0047] Preferably, the second driving device comprises:

[0048] Chest motor 22;

[0049] A reversing gear set, comprising a driving gear and at least one passive gear, the driving gear meshes with the passive gear, the axis of the driving gear is perpendicular to the axis of the passive gear, and the rotating shaft of the chest motor 22 is coaxially connected to the driving gear of the reversing gear set;

[0050] The driving shaft is coaxially connected to the driven gear, and both ends of the driving shaft extend out of the housing 1 respectively. A pair of second fin-shaped components 12 are respectively connected to both ends of the driving shaft.

[0051] Among them, using one chest motor 22, in conjunction with a reversing gear set and a drive shaft, can save space in the housing 1 and effectively reduce the weight of the streamlined robot. Compared with the above solution with two chest motors 22, the two have the same function.

[0052] The third driving device comprises:

[0053] The bite motor 25 has a rotating shaft movably connected to the lower jaw 26 via a fourth rotation pair 24, and the axis of the fourth rotation pair 24 is parallel to the horizontal plane.

[0054] Furthermore, the housing 1 comprises:

[0055] The shell 1 is made of nylon material, and the shell 1 is filled with foam. It should be understood that the shell 1 can also be made of other low-density materials, such as rubber. In addition, the shell 1 is filled with foam, which can provide buoyancy to the shell 1 and has a buffering effect. Preferably, the filled foam is a contoured foam, which can have a certain bionic effect.

[0056] Furthermore, the streamlined robot also includes:

[0057] The pressure-resistant battery compartment 2 is installed in the shell 1. After the back shell 27 is disassembled and the watertight connector 29 is disconnected, the pressure-resistant battery compartment 2 can be freely removed from the shell 1 for charging.

[0058] The battery is arranged in a pressure-resistant battery compartment (2), which is arranged inside the housing (1) and comprises a switch 30, a lifting ring 32, a strap 31, a watertight connector 29, a plug 38, a compartment, a 24V lithium battery 37, a front sealing cover 39, a rear sealing cover 35, a relay 36, a compartment 33, and a sealing ring 34; the front sealing cover 39 is installed at one end of the compartment 33, and the rear sealing cover 35 is installed at the other end of the compartment 33, and a sealing ring 34 is provided between the compartment 33 and the front sealing cover 39 and the rear sealing cover 35; the relay 36 and the 24V lithium battery 37 are arranged inside the compartment 33, the watertight connector 29 and the switch 30 are installed on the front sealing cover 39, and the switch 30 is connected to the relay 36; the strap 31 is mounted on the outside of the compartment 33, and the lifting ring 32 is also installed on the compartment 33.

[0059] Furthermore, the streamlined robot also includes:

[0060] An integrated controller 23, wherein the integrated controller 23 is formed into a sealed entity by injection molding;

[0061] A main control board, the main control board is accommodated in the integrated controller 23, and the main control board includes a memory for storing a preset control program;

[0062] Take the streamlined robot as an example of a dolphin-like appearance: In order to ensure the safe use of the main control board and the cable connector, the integrated controller 23 should adopt a sealing structure to prevent water from contacting the main control board and the cable connector. Waterproof glue or resin is injected into the integrated controller 23 by injection molding, and the integrated controller 23 can be sealed after curing. Heat shrink tubing can also be used on the cable connector for further waterproofing, which can effectively save space in the integrated controller 23 compared to waterproof connectors.

[0063] Furthermore, the streamlined robot also includes:

[0064] The wireless communication module 3 is arranged in the housing 1, and the wireless communication module 3 is connected to the integrated controller 23. When the wireless communication module 3 sends the received control signal to the memory, the preset control program outputs the corresponding control instruction according to the control signal.

[0065] The wireless communication module 3 can receive external wireless control signals through wireless communication, and can also reduce the number of openings and corresponding sealing components of the fish-shaped housing 1 or the sealed cavity. According to the external wireless control signal and the preset control program in the memory, the operator of the streamlined robot and the streamlined robot can establish a control structure to achieve remote human-machine interaction.

[0066] The robot can be controlled by: mobile phone APP wireless remote control or wireless handle wireless remote control. Among them, mobile phone APP remote control can realize the control of the robot swimming on the water surface within a range of 10 meters, and wireless handle remote control can realize the control of the robot on the water surface or 1.8 meters underwater within a range of 10 meters. Both remote control operation interfaces contain direction keys, floating and diving keys, water spray keys, water jump, camera keys, bite and grab and other function keys to realize the control of the robot.

[0067] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structural transformation made by using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A streamlined robot for viewing, characterized in that: include: A shell (1), the shell (1) being streamlined and capable of floating in water, a first fin-shaped component (6) being arranged at the tail of the shell (1), and a pair of second fin-shaped components (12) being arranged horizontally and symmetrically on both sides close to the shell (1); a first driving device, wherein the tail end of the first driving device is connected to the first fin-shaped component (6), and the first driving device drives the first fin-shaped component (6) to swing back and forth; a second driving device, wherein a pair of the second fin-shaped components (12) are respectively rotatably connected to the second driving device, and the second driving device drives the second fin-shaped components (12) to rotate bidirectionally; a third driving device, wherein an output end of the third driving device is connected to the lower jaw (26), and the third driving device drives the lower jaw (26) to swing back and forth to achieve a biting action; The first drive device, the second drive device and the third drive device are respectively accommodated in the housing (1); When the first fin-shaped component (6) swings back and forth, and the angle of the second fin-shaped component (12) relative to the horizontal plane is a preset angle, the housing (1) moves horizontally relative to the horizontal plane; When the first fin-shaped component (6) performs reciprocating swinging and the angle of the second fin-shaped component (12) relative to the horizontal plane deviates from the preset angle, the housing (1) moves obliquely relative to the horizontal plane; An engagement motor (25), wherein the rotation shaft of the engagement motor (25) is movably connected to the lower jaw (26) via a fourth rotation pair (24), wherein the axis of the fourth rotation pair (24) is parallel to the horizontal plane; Also includes: A pressure-resistant battery compartment (2), wherein the pressure-resistant battery compartment (2) is installed in the housing (1), and after the back housing (27) is disassembled and the watertight connector (29) is disconnected, the pressure-resistant battery compartment (2) can be freely removed from the housing (1) for charging; The battery is arranged in a pressure-resistant battery compartment (2), wherein the pressure-resistant battery compartment comprises a switch (30), a lifting ring (32), a binding strap (31), a watertight connector (29), a plug (38), a compartment, a 24V lithium battery (37), a front sealing cover (39), a rear sealing cover (35), a relay (36), a compartment (33), and a sealing ring (34); the front sealing cover (39) is installed at one end of the compartment (33), and the rear sealing cover (35) is installed at the other end of the compartment (33). A sealing ring (34) is provided between the cabin (33) and the front sealing cover (39) and the rear sealing cover (35); a relay (36) and a 24V lithium battery (37) are arranged inside the cabin (33); a watertight connector (29) and a switch (30) are installed on the front sealing cover (39); the switch (30) is connected to the relay (36); a binding strap (31) is provided on the outside of the cabin (33); and a lifting ring (32) is also installed on the cabin (33).

2. The streamlined robot according to claim 1, characterized in that: The first driving device comprises: a tail handle (8), the tail end of the tail handle (8) being movably connected to the first fin-shaped component (6) via a first rotating pair (7), the axis of the first rotating pair (7) being parallel to a horizontal plane, and the middle part of the tail handle (8) being connected to the first fin-shaped component (6) via a spring (19); A tail motor (20), wherein the rotating shaft of the tail motor (20) is movably connected to the head end of the tail handle (8) via a second rotating pair (9), and the axis of the second rotating pair (9) is perpendicular to a horizontal plane; A waist motor (21), wherein the rotating shaft of the waist motor (21) is movably connected to the tail motor (20) via a third rotating pair (10), and the axis of the third rotating pair (10) is parallel to the horizontal plane.

3. The streamlined robot according to claim 1, characterized in that: The second driving device comprises: A chest motor (22), wherein a pair of the second fin-shaped components (12) are respectively connected to the rotating shafts of two of the chest motors (22); The output shaft of the chest motor (22) is directly connected to the second fin-shaped component (12), and the axis of the output shaft of the chest motor (22) is parallel to the horizontal plane.

4. The streamlined robot according to claim 1, characterized in that: The housing (1) comprises: The shell (1) is made of nylon material or other lightweight non-metallic material, and the filling density inside the shell (1) is (0.1±0.02) g / cm 3 Foam.

5. The streamlined robot according to claim 1, characterized in that: The streamlined robot also includes: An integrated controller (23), wherein the integrated controller (23) is formed into a sealed entity by injection molding; A main control board, the main control board is accommodated in the integrated controller (23), and the main control board includes a memory for storing a preset control program.

6. The streamlined robot according to claim 5, characterized in that: The streamlined robot also includes: A wireless communication module (3), the wireless communication module (3) being arranged in the housing (1), the wireless communication module (3) being connected to the integrated controller (23), and when the wireless communication module (3) sends a received control signal to the memory, the preset control program outputs a corresponding control instruction according to the control signal.

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