CN100586664C - Casting type miniature robot of spring vibration reduction inflatable wheel with omnidirectional buffer capacity - Google Patents

Casting type miniature robot of spring vibration reduction inflatable wheel with omnidirectional buffer capacity Download PDF

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Publication number
CN100586664C
CN100586664C CN200810224563A CN200810224563A CN100586664C CN 100586664 C CN100586664 C CN 100586664C CN 200810224563 A CN200810224563 A CN 200810224563A CN 200810224563 A CN200810224563 A CN 200810224563A CN 100586664 C CN100586664 C CN 100586664C
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China
Prior art keywords
wheel
robot
buffer capacity
fuselage
vibration damping
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Expired - Fee Related
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CN200810224563A
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Chinese (zh)
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CN101402198A (en
Inventor
黄强
黄远灿
桑文华
刘雅芳
李科杰
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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Priority to CN200810224563A priority Critical patent/CN100586664C/en
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Publication of CN100586664C publication Critical patent/CN100586664C/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention discloses a throwing type microrobot with spring vibration damping inflation type wheels with omnidirectional buffering capability, which comprises a body, wheels connected on two ends of the body, and a bottom truckle arranged under the body for balancing, wherein the body is provided with an antenna, a wireless camera and a sensing module; a motor driving the two wheels to move anda speed reducer are arranged inside the body; and the wheels are the spring vibration damping inflation type wheels with the omnidirectional buffering capacity. After the microrobot is involved in aspecial target area and landed, the microrobot can effectively resist landing overload shock, ensure completeness of functions of the robot after the robot is landed, so that the robot can quickly enter the target area to acquire spot information and monitor important targets. The microrobot is particularly suitable for completing target monitoring and scouting tasks indoors, in caves, urban laneways and other special areas.

Description

The small scale robot that declines of jettisoninging with spring vibration reduction inflatable wheel of omnidirectional buffer capacity
Technical field
The invention belongs to Robotics and automatic field, be particularly related to a kind of small scale robot that declines of jettisoninging with spring vibration reduction inflatable wheel of omnidirectional buffer capacity, this robot gets involved the special objective zone by the mode of jettisoninging, after the landing, can resist effectively and land overload impact and carry out field data by autokinetic movement and obtain with important goal and monitor.
Background technology
With the targeted surveillance of special areas such as indoor, cavern and tunnel, city, to scout be application background, requires the robot volume little, disguised strong.Simultaneously because regional environment the unknown requires robot to have stronger adaptive capacity to environment, especially to have anti-ability of landing overload impact really up to the mark, to guarantee to land back robot functional integrity.At present, microminiature ground robot is because anti-ability of landing overload impact can not guarantee to land back robot functional integrity, and little, in light weight and battery capacity is limited because of its volume, make this kind microminiature ground robot be difficult to quick target approach zone and effectively finish the work.Therefore need design a kind of anti-strong micro robot of ability that lands overload impact, get involved after special objective zone lands in the mode of jettisoninging, can resist effectively and land overload impact, the functional completeness of the robot after guaranteeing to land, target approach zone and effectively finishing the work fast.
Summary of the invention
The objective of the invention is defective at above-mentioned prior art, a kind of small scale robot that declines of jettisoninging with spring vibration reduction inflatable wheel of omnidirectional buffer capacity is provided, get involved after special objective zone lands in the mode of jettisoninging, can resist effectively and land overload impact, the functional completeness of the robot after assurance is landed, fast target approach zone and carry out field data and obtain with important goal and monitor.Be particularly suitable for finishing targeted surveillance, reconnaissance mission with special areas such as indoor, cavern and tunnels, city.
The technical scheme taked of the present invention is to achieve these goals: a kind of small scale robot that declines of jettisoninging with spring vibration reduction inflatable wheel of omnidirectional buffer capacity comprises fuselage, is connected the wheel at fuselage two ends and is located at the footing wheel that the fuselage below is used for balance; Fuselage is provided with antenna, wireless camera and sensing module, and fuselage interior is provided with motor and the decelerator that drives two wheel movement; Wheel is the spring vibration reduction inflatable formula wheel with omnidirectional buffer capacity.Two wheels drove about the present invention adopted, and are simple in structure, and increase footing wheel as the strong point, guaranteed described robot pose and antenna direction.Because car wheel structure of the present invention possesses the anti-overload impact ability of landing, the functional completeness of the robot after assurance is landed, make robot of the present invention can adopt the mode of jettisoninging to realize quick deployment, can be deployed to the special area that general carrying platform such as indoor, cavern or tunnel, city or small scale robot are difficult to arrive flexible, motor-driven, fast, understand its inner case in real time by hand-held or Wearable PDA etc., realize closely active probe, obtain field data timely and accurately or finish targeted surveillance; Can large-arealy jettisoning simultaneously dispenses, and carries out field monitor, scouting and coring by autokinetic movement and gives birth to tasks such as detection.
Described spring vibration reduction inflatable formula wheel with omnidirectional buffer capacity, mainly comprise inflatable tire, be arranged on the shock-absorbing spring and the vibration damping lid in the described hub for vehicle wheel outside, the vibration damping lid is the netted lid of arc or arc entity lid, its bottom embedding and is supported on the wheel hub that center, the other end that an end of shock-absorbing spring is supported on wheel hub are supported on the inwall center that vibration damping covers.Described spring vibration reduction inflatable formula wheel with omnidirectional buffer capacity; the machinery that is primarily aimed under shock environment uses; cover absorption axes to reaching the lateral impact energy by the high-intensity shock-absorbing spring in the wheel hub outside, vibration damping; absorb the radial impact energy by high resiliency inflatable tire rice; thereby reach the purpose that reduces the power transmission shaft impact; effectively protected motor shaft, so realize omnidirectional's vibration damping reliably, cushion and guarantee robot land the back functional integrity.The vibration damping lid is the arc network structure generally speaking, adopts the arc entity structure for special application scenario such as meadow, slob etc.
For supervision, the scouting of carrying out special area, described sensing module is that the one or more combination in the acquisition sensor is given birth in sound transducer, optical sensor, temperature sensor, imageing sensor, range sensor or coring.
Described motor is the miniature brush-less direct current generator, and corresponding described decelerator is the planet wheel decelerator that matches with it.
Described wireless camera is hypomegetic CMOS camera or CCD camera.
The invention has the beneficial effects as follows:
1) compared to existing technology, robot of the present invention has novel target area intervention pattern: be deployed to the target area fast by the mode of jettisoninging, broken through the limited shortcoming of microminiature ground robot working range;
2) compared to existing technology, spring vibration reduction inflatable formula wheel with omnidirectional buffer capacity of the present invention adopts omnibearing overload-resistant structural design, the machinery that is primarily aimed under shock environment uses, cover absorption axes to reaching the lateral impact energy by the high-intensity shock-absorbing spring in the wheel hub outside, vibration damping, absorb the radial impact energy by the high resiliency inflatable tire, thereby reach the purpose that reduces the power transmission shaft impact, effectively protected motor shaft, so realize omnidirectional's vibration damping reliably, cushion and guarantee robot land the back functional integrity; Two wheels drive about employing, and mechanism is simple and with low cost, have at realization scene, target area feedback information, supervision, scouting function fast;
3) robot of the present invention is according to the needs of job task, and robot can carry sensors such as imaging, sound, coring life, and the information of carrying out the target area is scouted, tasks such as detection are given birth in coring.
Therefore, the present invention gets involved after special objective zone lands in the mode of jettisoninging, can resist effectively to land overload impact, the functional completeness of the robot after guaranteeing to land, fast the target approach zone with carry out field data and obtain with important goal and monitor.Be particularly suitable for finishing targeted surveillance, reconnaissance mission with special areas such as indoor, cavern and tunnels, city.
Description of drawings
Fig. 1 is the stereogram of small scale robot of declining of jettisoninging of the present invention;
Fig. 2 is the front view of small scale robot of declining of jettisoninging of the present invention;
Fig. 3 a is the stereogram of wheel of the present invention;
Fig. 3 b is the A-A cutaway view of wheel of the present invention;
Fig. 4 is the user mode figure of small scale robot of declining that jettisonings of the present invention.
Among the figure: 1 inflatable tire, 2 wheel hubs, 3 vibration dampings lid, 4 shock-absorbing springs, 5 casing covers, 6 power transmission shafts, 7 snap rings, 8 motor shafts, 9 bearings, 10 motor fixed racks, 20 have small scale robot, 21 wheels, 22 antennas, 23 fuselages, 24 wireless cameras, 25 footing wheel, 26 sensing modules of declining of jettisoninging of the spring vibration reduction inflatable wheel of omnidirectional buffer capacity.
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.
A kind of small scale robot 20 that declines of jettisoninging with spring vibration reduction inflatable wheel of omnidirectional buffer capacity shown in Fig. 1-2 and 4 comprises fuselage 23, is connected the spring vibration reduction inflatable formula wheel 21 with omnidirectional buffer capacity at fuselage 23 two ends and is located at the footing wheel 25 that fuselage 23 belows are used for balance.Have two wheels, 21 drivings about small scale robot 20 employings that decline of jettisoninging of the spring vibration reduction inflatable wheel of omnidirectional buffer capacity, simple in structure, and increase footing wheel 25 as the strong point, guaranteed described robot pose and antenna 22 directions.
Shown in Fig. 1-2 and 4, fuselage 23 is provided with antenna 22, wireless camera 24 and sensing module 26.For supervision, the scouting of carrying out special area, can be configured sensor according to mission requirements, described sensing module 26 is that the one or more combination in the acquisition sensor is given birth in sound transducer, optical sensor, temperature sensor, imageing sensor, range sensor or coring.Described sound transducer adopts, and the described temperature sensor of miniature Mike adopts pyroelectric infrared sensor, and described range sensor adopts infrared distance sensor.If information spinner is gathered sound and image information, realize by wireless camera 24 and miniature Mike.Described wireless camera 24 is hypomegetic CMOS camera or CCD camera.Because the CMOS camera is little, low in energy consumption than CCD camera volume, to infrared and near infrared light sensitivity, CMOS camera of the preferential employing of this robot, the image of acquisition are one square inch antenna 22 emissions by area, frequency is 915MHz, and transmission range is 1000 feet.In order to adapt to the requirement of microminaturization, sensing module 26 all is hidden in the fuselage 23, carries out sensing detection by dedicated window.Wherein, the CMOS camera can install The Cloud Terrace as required additional.The audio and video information that miniature Mike and CMOS obtain feeds back by antenna 22.And then the information of finishing special area is obtained, important goal monitors and detection etc. is given birth in coring.
Fuselage 23 inside are provided with motor and the decelerator (not shown) that drives 21 motions of two wheels.Described motor is the miniature brush-less direct current generator, and corresponding described decelerator is the planet wheel decelerator that matches with it, and weight is 17g altogether, and overall dimension is φ 13 * 43.1mm.Because this robot load is few, required driving torque is less, is that 67: 1 planet wheel decelerator can reach to slow down and increases the job requirement of square by speed reducing ratio.
Shown in Fig. 3 b, transmission system with spring vibration reduction inflatable formula wheel 21 of omnidirectional buffer capacity is arranged in the casing cover 5, and wherein motor is arranged on the motor fixed rack 10, and motor shaft 8 links to each other with power transmission shaft 6, power transmission shaft 6 supports by bearing 9, and bearing 9 outsides are provided with location snap ring 7.Wheel hub 2 is socketed on the power transmission shaft 6, and wheel hub 2 outer cover are connected to inflatable tire 1.
The spring vibration reduction inflatable formula wheel 21 that has omnidirectional buffer capacity shown in Fig. 3 a mainly comprises inflatable tire 1, is arranged on the shock-absorbing spring 4 in described wheel 21 wheel hubs 2 outsides and vibration damping lid 3.Vibration damping lid 3 is netted lid of arc or arc entity lid, and its bottom embeds and is supported on the wheel hub 2.Center, the other end that one end of shock-absorbing spring 4 is supported on wheel hub 2 is supported on the inwall center of vibration damping lid 3.Structure and material performance according to each parts in the spring vibration reduction inflatable formula wheel 21 with omnidirectional buffer capacity of described robot is determined its safe load that can bear, safe moment of flexure and moment of torsion; And, determine the scope of robot or fuselage suffered shock loading when landing or clash into, and it is decomposed into axially and radial impact load according to concrete operating position.
Wherein, the intensity of shock-absorbing spring 4 and coefficient of elasticity be according to the scope of suffered shock loading, the decisions such as safe load that output, power shaft can bear.Vibration damping lid 3 is camber network structure (Fig. 3 a, 3b) generally speaking, is designed to arc entity structure (not shown) for vibration dampings such as special application scenario such as meadow, slob lid 3.The size that vibration damping lid 3 embeds wheel hub 2 is decided according to the compression degree of shock-absorbing spring 4 and the size of wheel hub 2.Described in addition wheel 21 also is equipped with the inflatable tire 1 that high resiliency, great friction coefficient are installed.Inflatable tire 1 main component is a natural rubber, and its surface makes the elasticity tread with certain buffer capacity.Described spring vibration reduction inflatable formula wheel 21 with omnidirectional buffer capacity adopts omnibearing overload-resistant structural design; the machinery that is primarily aimed under shock environment uses; come absorption axes to reaching the lateral impact energy by the high-intensity shock-absorbing spring 4 in wheel hub 2 outsides, vibration damping lid 3; absorb the radial impact energy by high resiliency inflatable tire 1; thereby reach the purpose that reduces the power transmission shaft impact; effectively protected motor shaft, so realize omnidirectional's vibration damping reliably, cushion and guarantee robot land the back functional integrity.Simultaneously, provide precondition for realizing by the mode of jettisoninging disposing fast.
The present invention gets involved after special objective zone lands in the mode of jettisoninging, can resist effectively to land overload impact, the functional completeness of the robot after guaranteeing to land, fast the target approach zone with carry out field data and obtain with important goal and monitor.Be particularly suitable for finishing targeted surveillance, reconnaissance mission with special areas such as indoor, cavern and tunnels, city.
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 (4)

1. the small scale robot that declines of jettisoninging with spring vibration reduction inflatable wheel of omnidirectional buffer capacity is characterized in that: comprise fuselage, be connected the wheel at fuselage two ends and be located at the footing wheel that the fuselage below is used for balance; Fuselage is provided with antenna, wireless camera and sensing module, and fuselage interior is provided with motor and the decelerator that drives two wheel movement; Wheel is the spring vibration reduction inflatable formula wheel with omnidirectional buffer capacity, described spring vibration reduction inflatable formula wheel with omnidirectional buffer capacity, mainly comprise inflatable tire, be arranged on the shock-absorbing spring and the vibration damping lid in the described hub for vehicle wheel outside, the vibration damping lid is the netted lid of arc or arc entity lid, its bottom embedding and is supported on the wheel hub that center, the other end that an end of shock-absorbing spring is supported on wheel hub are supported on the inwall center that vibration damping covers.
2. the small scale robot that declines of jettisoninging according to claim 1 is characterized in that: described sensing module is that the one or more combination in the acquisition sensor is given birth in sound transducer, optical sensor, temperature sensor, imageing sensor, range sensor or coring.
3. the small scale robot that declines of jettisoninging according to claim 2 is characterized in that: described motor is the miniature brush-less direct current generator, and corresponding described decelerator is the planet wheel decelerator that matches with it.
4. the small scale robot that declines of jettisoninging according to claim 3 is characterized in that: described wireless camera is hypomegetic CMOS camera or CCD camera.
CN200810224563A 2008-10-20 2008-10-20 Casting type miniature robot of spring vibration reduction inflatable wheel with omnidirectional buffer capacity Expired - Fee Related CN100586664C (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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CN100586664C true CN100586664C (en) 2010-02-03

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Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101927659B (en) * 2010-08-05 2013-04-03 北京理工大学 Split omnibearing overload-resistant rubber wheel
CN102336229B (en) * 2011-07-06 2013-04-03 昆山市工业技术研究院有限责任公司 Throwing robot with changeable shape
CN102431042B (en) * 2011-09-19 2014-06-11 浙江中控研究院有限公司 Robot tumble protection mechanism
CN102514647A (en) * 2012-01-05 2012-06-27 北京市劳动保护科学研究所 High-impact resistance two-wheeled mobile robot
CN102862616B (en) * 2012-09-05 2015-01-07 北京航空航天大学 Throwing type mobile robot
CN104802588B (en) * 2014-01-23 2017-01-25 南京聚特机器人技术有限公司 Extensible dual-purpose wheel of micro-robot
CN104228998B (en) * 2014-07-04 2016-04-20 北京航空航天大学 One can throw type reconnaissance robot
CN104149867B (en) * 2014-08-19 2017-01-11 东南大学 Miniature robot capable of being thrown
CN104477271B (en) * 2014-12-24 2016-11-02 北京航空航天大学 Robot can be moved by throw type
CN106002915A (en) * 2016-06-08 2016-10-12 北京晶品特装科技有限责任公司 Throwing type two-wheel reconnaissance robot
CN111496811B (en) * 2020-04-29 2021-07-20 三江学院 Drum-type reconnaissance device

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