CN102381358B - Ground mobile robot with inflatable car body - Google Patents
Ground mobile robot with inflatable car body Download PDFInfo
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- CN102381358B CN102381358B CN 201110279609 CN201110279609A CN102381358B CN 102381358 B CN102381358 B CN 102381358B CN 201110279609 CN201110279609 CN 201110279609 CN 201110279609 A CN201110279609 A CN 201110279609A CN 102381358 B CN102381358 B CN 102381358B
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- car body
- mobile robot
- lower body
- ground mobile
- end cap
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Abstract
The invention discloses a ground mobile robot with inflatable car body comprising a car body, travel mechanisms, an electric and control module and a power module, and driving and transmission mechanisms; the quantity of the driving and transmission mechanisms are corresponded to that of the travel mechanisms; each driving and transmission mechanism is connected with a corresponding travel mechanism; the car body comprises an upper car body, a lower car body and a lower car body skeleton; the upper car body is connected with the lower car body and forms a closed air pocket carriage; an air tap is provided on the upper car body, the lower car body is fixed on the lower car body skeleton, wherein both the upper car body and the lower car body are made of light materials. The ground mobile robot with inflatable car body uses a light and hard inflatable car body as the car body force-bearing structure, then the robot reduces the car body weight of the ground mobile robot effectively, raises power weight ratio of the robot, and makes the robot have advantages of large load an rapid movement; meanwhile, because the tightness is good, the robot can further move in water, for possessing amphibious ability.
Description
Technical field
The present invention relates to ground mobile robot, particularly a kind of ground mobile robot of inflating car body that has.
Background technology
Ground mobile robot is to adopt remote control, autonomous or half mode such as autonomous at the automation equipment of ground motion.
The height of ground mobile robot locomitivity is one of main performance of mobile robot.Improving one of method of ground mobile robot exercise performance, is the weight that alleviates robot.Because the cross country power requirement of robot make robot must have certain length, width and height, thereby the weight that how to alleviate robot under the situation of volume basic fixed just becomes key.If robot weight saving can make its speed faster, it is more to bear a heavy burden, and required motor power is little, and corresponding accumulator capacity also can reduce; If robot weight is too big, then can cause kinematic velocity slow, obstacle climbing ability is poor, and load-carrying capacity is poor.
Ground mobile robot generally takes the body construction of framework-covering to come expendable weight now.Because the ground mobile robot car body must have certain intensity, rigidity, guarantee effects such as the motor support is located, front and back wheel supports the location, anti-twist, so framework and fixed sturcture also must have constant weight, make existing ground mobile robot be difficult to further loss of weight.Therefore, how to guarantee that ground mobile robot has under the prerequisite of good exercise performance, the weight that effectively reduces ground mobile robot is a difficult point.
Summary of the invention
The purpose of the embodiment of the invention is the defective at above-mentioned prior art, has proposed a kind of ground mobile robot of inflating car body that has, and can effectively reduce the weight of ground mobile robot, and make it have good exercise performance.
The technical scheme taked of the embodiment of the invention is to achieve these goals: a kind of ground mobile robot of inflating car body that has, comprise car body, be located at the travel mechanism of side body, be located at electric and control module and power module in the car body, and be located at driving and transmission device on the car body, described driving and transmission device are corresponding with the quantity of described travel mechanism, driving separately and transmission device link to each other with travel mechanism separately, described car body comprises upper body, lower body and lower body skeleton, described upper body is connected with described lower body and forms airtight gas bag formula compartment, described upper body is provided with valve, described valve is used for inflation and venting, described lower body is fixed on the described lower body skeleton, and wherein, described upper body and described lower body are made by light material.
Particularly, as preferably, described light material is leather, dermatine or rubber.
Particularly, as preferably, described travel mechanism is crawler type, comprises two crawler belts and four wheels of being located at symmetrical car body both sides, wherein, and two wheels arranging before and after each crawler belt inside is arranging.
Particularly, as preferably, the outer rim of described upper body and described lower body is respectively equipped with ruffle separately, described upper body and described lower body link to each other by ruffle separately, and fix by the bolt and nut that is arranged on the described ruffle separately, described ruffle is separately made by the hard aluminum material.
Particularly, as preferably, described lower body skeleton is arranged on the bottom of described lower body, and the bottom of described lower body skeleton and described lower body is fixing by bonding.
Particularly, as preferably, each described driving and transmission device include motor, electric motor end cap and felt collar, the output shaft of described motor passes described car body and penetrates in the described travel mechanism corresponding with it, pass on the described output shaft of described car body then electric motor end cap of cover, by described electric motor end cap and screw described motor and described car body are fixed together, the front end face of described electric motor end cap is provided with groove, place described felt collar in the described groove, realize water seal and oil sealing by described felt collar, the output shaft of described motor is provided with key, by described key described output shaft and described travel mechanism is linked together.
Further, in order to prevent that gas from entering described car body inner chamber from described driving and transmission device, the outer cover of described motor is provided with sealing bag, described sealing bag is made by gas impermeable material, the port of described sealing bag is glued at the inwall of described lower body, makes the inner chamber of described car body form an airtight space to form sealing gland.
Further, in order to guarantee the conformability of each travel mechanism's operation, be connected with the electric motor end cap attaching parts between the described driving of described car body homonymy and the described electric motor end cap in the transmission device, make the described travel mechanism of described car body homonymy when mobile, can keep the conformability of its travel direction by described electric motor end cap attaching parts.
Particularly, as preferably, described electric motor end cap attaching parts integral body is sheet material, which is provided with perforation and through hole, and described perforation is used for passing the output shaft of described motor, and described through hole is used for passing described screw.
The beneficial effect of the embodiment of the invention is: the framed structure car body compared to existing technology will lean on frame supported and maintenance, anti-twist, opposing external force, and frame strength requires very big, and sectional area can not be too little, and car body weight can not be accomplished very little; The upper body that the embodiment of the invention adopts light material to make, lower body, after charging gas, whole locomotive body becomes a hard gas bag, thereby the overall weight of the embodiment of the invention is than light many of tower structure of the prior art, make the ground mobile robot overall weight greatly alleviate, and because the embodiment of the invention is mainly stressed by the high pressure gas bag, car body has very big intensity and hardness, guarantee that car body is being stretched, distortion, can guarantee car body strength during bump, and the location of travel mechanism, and during normal operation, car body also has certain elasticity, when being subjected to external impacts or falling, can play buffer action.
Therefore, the embodiment of the invention effectively reduces the weight of ground mobile robot guaranteeing that ground mobile robot has under the prerequisite of good exercise performance, has improved the power-weight ratio of robot, thereby makes robot have big, the mobile fast advantage of bearing a heavy burden.
Description of drawings
Fig. 1 is the described block diagram that has the ground mobile robot of inflating car body of the embodiment of the invention;
Fig. 2 is the explosive view of Fig. 1;
Fig. 3 is the partial enlarged view of A among Fig. 2;
Fig. 4 is the partial view of the described upper body of the embodiment of the invention and lower body bonding part.
Among the figure: 1 crawler belt, 2 wheels, 3 keys, 4 screws, 5 electric motor end cap attaching partss, 6 electric motor end caps, 7 felt collars, 8 motors, 9 sealing bags, 10 upper bodies, 11 valves, 12 electric and control modules, 13 power modules, 14 lower body skeletons, 15 lower bodies.
The specific embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Shown in Fig. 1-2, a kind of ground mobile robot of inflating car body that has, comprise car body, be located at a plurality of travel mechanisms of side body, be located at electric and control module 12 and power module 13 in the car body, and be located at driving and transmission device on the car body, described driving and transmission device are corresponding with the quantity of described travel mechanism, driving separately and transmission device link to each other with separately travel mechanism, described car body comprises upper body 10, lower body 15 and lower body skeleton 14, described upper body 10 is connected with described lower body 15 and forms airtight gas bag formula compartment, described upper body 10 is provided with valve 11, and described valve 11 is used for inflation and venting, and described lower body 15 is fixed on the described lower body skeleton 14, wherein, described upper body 10 and described lower body 15 are made by light material.
Framed structure car body compared to existing technology will lean on frame supported and maintenance, anti-twist, opposing external force, and frame strength requires very big, and sectional area can not be too little, and car body weight can not be accomplished very little; The upper body 10 that the embodiment of the invention adopts light material to make, lower body 15, after charging gas, whole locomotive body is equivalent to a gas bag, thereby the overall weight of the embodiment of the invention is than light many of tower structure of the prior art, make the ground mobile robot overall weight greatly alleviate, and because the embodiment of the invention is mainly stressed by the high pressure gas bag, car body has very big intensity and hardness, guarantee that car body is being stretched, distortion, can guarantee car body strength during bump, and during normal operation, car body also has certain elasticity, when being subjected to external impacts or falling, can play buffer action.
Therefore, the embodiment of the invention effectively reduces the weight of ground mobile robot guaranteeing that ground mobile robot has under the prerequisite of good exercise performance, has improved the power-weight ratio of robot, thereby makes robot have big, the mobile fast advantage of bearing a heavy burden.
Particularly, described travel mechanism, the travel mechanism that can adopt crawler type, wheel formula or other form.
Particularly, as preferably, as shown in Figure 1, in this example, described travel mechanism is crawler type, comprises two crawler belts 1 and four wheels 2 of being located at symmetrical car body both sides, wherein, and two wheels 2 arranging before and after each crawler belt 1 inside is arranging.
Particularly, as preferably, described light material is leather, dermatine or rubber.
Particularly, as preferably, referring to Fig. 2, the outer rim of described upper body 10 and described lower body 15 is respectively equipped with ruffle separately, described upper body 10 and described lower body 15 link to each other by ruffle separately, and fix by the bolt and nut that is arranged on the described ruffle separately, thereby form the good gas bag of leak tightness, wherein, described ruffle is separately made by the hard aluminum material.
Concrete, as Fig. 2 and shown in Figure 4, in this example, the ruffle of described upper body 10 and lower body 15 is made by the hard aluminum material, remainder adopts leather or dermatine or rubber to make, ruffle and remainder are glued together, are consolidated with the ruffle of bolt and nut with upper body 10 and lower body 15 then, thereby can realize good sealing effectiveness.
Particularly, as preferably, as shown in Figure 2, described lower body skeleton 14 is arranged on the bottom of described lower body 15, and described lower body skeleton 14 is fixing by bonding with the bottom of described lower body 15, makes too greatly and overhead too near that described lower body 15 bottoms can not rise after inflation.
Particularly, as preferably, as shown in Figure 3, each described driving and transmission device include motor 8, electric motor end cap 6 and felt collar 7, the output shaft of described motor 8 passes described car body and penetrates in the travel mechanism corresponding with it, pass on the described output shaft of described car body then electric motor end cap 6 of cover, by described electric motor end cap 6 and screw 4 described motor 8 is fixed together with described car body, the front end face of described electric motor end cap 6 is provided with groove, place described felt collar 7 in the described groove, realize water seal and oil sealing by described felt collar 7, the output shaft of described motor 8 is provided with key 3, by described key 3 described output shaft and described travel mechanism is linked together.
Further, as shown in Figure 3, in order to prevent that gas from entering described car body inner chamber from described driving and transmission device, the outer cover of described motor 8 is provided with sealing bag 9, described sealing bag 9 is made by gas impermeable material, the port of described sealing bag 9 is glued at the inwall of described lower body 15, makes the inner chamber of described car body form an airtight space to form sealing gland.Thereby whole locomotive body forms an airtight gas bag, makes the favorable sealing property of car body to make described ground mobile robot possess amphibious locomitivity at underwater exercise.
Further, in order to guarantee the conformability of the operation of two wheels in every group of crawler type wheel, as shown in Figure 2, be connected with electric motor end cap attaching parts 5 between the corresponding described electric motor end cap 6 of the described crawler type wheel of described car body homonymy, make the described travel mechanism of described car body homonymy when mobile, can keep the conformability of its travel direction by described electric motor end cap attaching parts 5.In this example, kept the conformability of two wheel 2 travel direction of homonymy.
Particularly, as preferably, as shown in Figure 2, described electric motor end cap attaching parts 5 integral body are sheet material, which is provided with perforation and through hole, and described perforation is used for passing the output shaft of described motor 8, and described through hole is used for passing described screw 4.
As Fig. 2, Fig. 3 and shown in Figure 4, owing to can produce the problem of heat radiation under the sealed environment, for solving the problem of heat radiation, except the ruffle of selecting the good hard aluminum material of heat dispersion as upper body 10 and lower body 15, select the good electric motor end cap attaching parts 5 of heat dispersion and electric motor end cap 6 as the heat dissipation element of drive part simultaneously.
Especially, referring to Fig. 2, when robot needs repairing, only need unclamp the bolt and nut that is connected between upper body 10 and the lower body 15, allow upper body 10 separate with lower body 15 and get final product; When gas bag has the gas leakage situation to take place, coat the mending-leakage of usefulness glue in the place of gas leakage and get final product, keep in repair very convenient.
Further, referring to shown in Figure 2, car body inside is provided with reinforced rib, and described reinforced rib adopts thin and tough material to make, and it only plays the effect of auxiliary positioning.
Above-described embodiment, the present invention specific embodiment a kind of more preferably just, the common variation that those skilled in the art carries out in the technical solution of the present invention scope and replacing all should be included in protection scope of the present invention.
Claims (7)
1. one kind has the ground mobile robot of inflating car body, comprise car body, be located at the travel mechanism of side body, be located at electric and control module and power module in the car body, and be located at driving and transmission device on the car body, described driving and transmission device are corresponding with the quantity of described travel mechanism, driving separately and transmission device link to each other with travel mechanism separately, it is characterized in that, described car body comprises upper body, lower body and lower body skeleton, described upper body is connected with described lower body and forms airtight gas bag formula compartment, described upper body is provided with valve, and described valve is used for inflation and venting, and described lower body is fixed on the described lower body skeleton, wherein, described upper body and described lower body are made by light material;
Each described driving and transmission device include motor, electric motor end cap and felt collar, the output shaft of described motor passes described car body and penetrates in the described travel mechanism corresponding with it, pass on the described output shaft of described car body then electric motor end cap of cover, by described electric motor end cap and screw described motor and described car body are fixed together, the front end face of described electric motor end cap is provided with groove, place described felt collar in the described groove, realize water seal and oil sealing by described felt collar, the output shaft of described motor is provided with key, by described key described output shaft and described travel mechanism is linked together;
The outer cover of described motor is provided with sealing bag, and described sealing bag is made by gas impermeable material, and the port of described sealing bag is glued at the inwall of described lower body, makes the inner chamber of described car body form an airtight space to form sealing gland.
2. ground mobile robot as claimed in claim 1 is characterized in that, described light material is leather, dermatine or rubber.
3. ground mobile robot as claimed in claim 1 is characterized in that, described travel mechanism is crawler type, comprises two crawler belts and four wheels of being located at symmetrical car body both sides, wherein, and two wheels arranging before and after each crawler belt inside is arranging.
4. ground mobile robot as claimed in claim 1, it is characterized in that, the outer rim of described upper body and described lower body is respectively equipped with ruffle separately, described upper body and described lower body link to each other by ruffle separately, and fix by the bolt and nut that is arranged on the described ruffle separately, described ruffle is separately made by the hard aluminum material.
5. ground mobile robot as claimed in claim 1 is characterized in that, described lower body skeleton is arranged on the bottom of described lower body, and the bottom of described lower body skeleton and described lower body is fixing by bonding.
6. ground mobile robot as claimed in claim 1, it is characterized in that, be connected with the electric motor end cap attaching parts between the described driving of described car body homonymy and the described electric motor end cap in the transmission device, make the described travel mechanism of described car body homonymy when mobile, can keep the conformability of its travel direction by described electric motor end cap attaching parts.
7. as the described ground mobile robot of each claim of claim 1-6, it is characterized in that described electric motor end cap attaching parts integral body is sheet material, which is provided with perforation and through hole, described perforation is used for passing the output shaft of described motor, and described through hole is used for passing described screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110279609 CN102381358B (en) | 2011-09-20 | 2011-09-20 | Ground mobile robot with inflatable car body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110279609 CN102381358B (en) | 2011-09-20 | 2011-09-20 | Ground mobile robot with inflatable car body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102381358A CN102381358A (en) | 2012-03-21 |
| CN102381358B true CN102381358B (en) | 2013-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110279609 Expired - Fee Related CN102381358B (en) | 2011-09-20 | 2011-09-20 | Ground mobile robot with inflatable car body |
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| CN (1) | CN102381358B (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4709265A (en) * | 1985-10-15 | 1987-11-24 | Advanced Resource Development Corporation | Remote control mobile surveillance system |
| CN2815823Y (en) * | 2005-09-15 | 2006-09-13 | 张国印 | Suspension crawler type running device |
| ES2334186B1 (en) * | 2006-08-11 | 2010-12-28 | Ventol España S.L. | ROBOT TREPADOR CLEANER. |
| US7891446B2 (en) * | 2006-10-06 | 2011-02-22 | Irobot Corporation | Robotic vehicle deck adjustment |
| CN101734295B (en) * | 2010-02-03 | 2012-03-21 | 中国人民解放军国防科学技术大学 | Deformed caterpillar robot |
| CN101758865B (en) * | 2010-02-08 | 2012-05-02 | 朱晓义 | Inflatable automobile |
| CN101780817B (en) * | 2010-04-14 | 2011-11-09 | 山东大学 | Robot platform for detecting underground danger area of coal mine |
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2011
- 2011-09-20 CN CN 201110279609 patent/CN102381358B/en not_active Expired - Fee Related
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| CN102381358A (en) | 2012-03-21 |
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