CN101616255A

CN101616255A - Throwable scout ball

Info

Publication number: CN101616255A
Application number: CN200910158262A
Authority: CN
Inventors: 战强; 叔广慧
Original assignee: Individual
Current assignee: Individual
Priority date: 2009-07-23
Filing date: 2009-07-23
Publication date: 2009-12-30

Abstract

Throwable scout ball, be used for the detection of enclosure space, its profile is spherical, size is close with antitank grenade, can be portable with oneself, motion, controller, transducer, Wireless Telecom Equipment, battery etc. are arranged in it, shock resistance mechanism is arranged outside spherical shell, this mechanism is by the reciprocal telescopic drive mechanism controls of scouting ball inside, and in the throwing process, driving mechanism struts it, the scouting ball is in the shock resistance mechanism, land stable after, driving mechanisms control shock resistance mechanism regains, thereby protects whole scouting ball in the throwing process; Scout the inner motion in addition of ball, it is divided into straight-line motion mechanism and divertical motion mechanism, realizes scouting the straight line and the turning motion of ball under controller action; Scout ball inside the first-class transducer of shooting is housed, give the end user with the enclosure space message transmission by radio transmission apparatus.Throwable scout ball can be used for environment such as cave that people can't arrive, fire hazard aerosol fog, poison gas and surveys.

Description

Throwable scout ball

Affiliated technical field

The present invention relates to a kind of enclosure space or hazardous environment of being used for, for example the scouting ball of throwing of detections such as poison gas environment, cave.

Background technology

On in ground attack, fight against terrorism and violence or disaster relief, the problem that the operational staff often runs into is: how to guarantee understanding the truth in the enclosure spaces such as building, basement, cave under the inherently safe prerequisite.Though modern detection and reconnaissance means are varied, can be to almost not having that enclosure space is is effectively sought and visited.Country such as the U.S., Israel had once carried out big quantity research, had developed the robot system of various ways such as wheeled, crawler type even bionic machine snake, was used to scout building and cave.Although it is original that these unmanned scout cars show in actual use, still exposed many shortcomings, for example size is bigger than normal, is unfavorable for that the individual soldier carries; Can't be by simply, mode (as throw) enters enclosure space fast; Training and logistic support are had relatively high expectations; Price height, unit price are substantially more than 100,000 dollars.

In order to address this problem, patent of the present invention is intended to create a kind of Throwable scout ball, and it is a kind of new-type detection and reconnaissance equipment, the scouting ball that has controlled motion, video/audio feedback and can throw.

Summary of the invention

Technology of the present invention is dealt with problems and is: a kind of scouting ball that can throw that can move is provided, shock resistance function to Throwable scout ball provides a solution, control the shock resistance mechanism that is embedded in the spherical shell by the telescoping mechanism of scouting in the ball, when telescoping mechanism is protruding, each six groups of quadric chain of two ends, the spherical shell left and right sides are opened, formation is to whole scouting ball protection rack, thereby formation is to scouting the protection of ball in the throwing process; Simultaneously, can also provide a kind of platform that does not rotate, is convenient to install and use transducer,, different operational environments be surveyed to be applicable to for system's control provides stable image with spherical shell.In addition, Throwable scout ball can finish neatly advance, retreat, turn left, motor function such as right-hand rotation, climbing and obstacle detouring, to make it have no-radius pivot stud function simultaneously, so that it can be surveyed at narrow and small working space.

Technical solution of the present invention is: the motor-driven gear pair, thereby driving leading screw rotates, make the left-handed and right-handed nut's inwardly motion respectively in two ends, the left and right sides, thereby drive and decoupling rod left-handed and that the right-handed nut is connected respectively, this decoupling rod is that six groups of quadric chains are public, and decoupling rod inwardly moves, and each the six groups of quadric chain that promotes two ends, left and right sides symmetry outwards open, thereby the formation network is protected whole scouting ball; Two terminal pads are fixed on spherical shell inside, and the rectilinear motion drive motors directly drives spherical shell by synchronous pulley and does rectilinear motion; Rolling bearing by spherical axis direction is housed respectively on two terminal pads, the interior shelf of a handstand links to each other with terminal pad by rolling bearing, this bracing frame does not rotate with spherical shell in motion process, keep level with ground, its bottom is connected with pouring weight by thrust ball bearing, and the gyration drive motors can drive the pouring weight interior shelf of standing upside down relatively and rotate;

The present invention's beneficial effect compared with prior art:

1, adopts stretching out and withdrawal of built-in telescoping mechanism control decoupling rod, in the process that decoupling rod inwardly shrinks, driving symmetrical six groups of quadric chains opens, about form spherical envelope in the Throwable scout ball outside, in Throwable scout ball throwing process, each six groups of quadric chain elder generation kiss the earth about open, the protection internal mechanism; Simultaneously, the interior shelf of Throwable scout ball is made up of three parts, adopts the anti-buffer structure that impacts up and down respectively, makes that energy-absorbing shrank in mechanism when Throwable scout ball was subjected to impacting in inside, and when impact finished, mechanism recovered deformation again; Ground keeps level relatively in the process of Throwable scout ball motion, for transducers such as video camera provide a metastable mounting platform; This Throwable scout ball also has the remotely controlling exercise function, can move according to feedback image remote control Throwable scout ball by the operator, all mechanisms of this Throwable scout ball, device all are sealed in spherical shell inside, can stop external environment condition that internal components is damaged, so can finish the enclosure space that can't arrive to people, for example cave, fire hazard aerosol fog, environment such as poison gas be multiple-task such as detection down.

2, the present invention's patent content different from the past mainly shows: this Throwable scout ball not only can open the shock resistance of netted envelope mechanism in the throwing process, there is buffer gear inside, but also have motor function, and make the Throwable scout ball range of movement increase, more flexible; This Throwable scout ball has unique internal motion mechanism, makes this Throwable scout ball motion flexibly, mobility strong.Pivot stud mechanism can realize 360 degree scanning probes to surrounding environment, and in addition, the camera support at these Throwable scout ball two ends does not rotate with Throwable scout ball, and ground keeps level relatively, can provide a metastable mounting platform for transducer etc.So this Throwable scout ball can be worked under complex environment, the reliability height.

Description of drawings

Fig. 1 is an overall structure schematic diagram of the present invention;

Fig. 2 is a shock resistance device protection shell frame schematic diagram of the present invention;

Fig. 3 is the structural representation that removes after the shock resistance mechanism of the present invention.

Fig. 4 is the structural representation that removes behind the hollow out spherical shell of the present invention.

Fig. 5 is an internal motion mechanism structure schematic diagram of the present invention.

Fig. 6 is the structural representation of decoupling rod of the present invention.

Fig. 7 is the structure front view of interior shelf of the present invention.

Fig. 8 is the structural representation of interior shelf of the present invention.

Embodiment

Shown in preceding figure, embodiment of the present invention is: left and right sides two parts mechanism of shock resistance mechanism symmetry, the left side is made up of six groups of quadric chains, one section of every group of quadric chain of left end is all adopted hinge to be connected on the circular connecting ring 19, circular connecting ring 19 mesopores stretch out decoupling rod 45 and adopt round nut 20 that it is fastening, drive motors 26 is installed in and is used for driven wheel 29 on the interior shelf 60, thereby driven gear axle 28 rotates, thereby drive left-handed nut 24 and right-handed nut 30 along polished rod 25,27 inwardly motions respectively, wherein gear shaft 28 is installed on the interior shelf 60 by the bearing and the end cap at two ends, the left and right sides, polished rod 25,27 also are installed on the interior shelf 60, be connected with public decoupling rod 45 on the left-handed nut 24, when inwardly moving, public decoupling rod 45 drives circular connecting ring 19, be hinged with six groups of connecting rods 3 in the quadric chain on the circular connecting ring 19,6,9,12,15,18 (as shown in Figure 1), these six link motions drive side link 1,4,7,10,13,16 (as shown in Figure 2) broke away from from hollow out spherical shell 21 outwards opens, side link 1,4,7,10,13,16 shape be respectively spherical bending and to have three bars to be fixed together approximate forked to improve protection range, wherein side link 1,4,7,10,13,16 middle part is hinged on frame post 2 respectively, 5,8,11,14, on 17, and frame post 2,5,8,11,14, the 17th, be fixed on the hollow out spherical shell 21 (as shown in Figure 3), shock resistance mechanism right side structure and left side symmetry are so formation is to the containment vessel frame of whole scouting ball; As shown in Figure 6; in the throwing process, protect scouting ball; in the

decoupling rod

44,45 damping spring is arranged; make time spent length of spring compressed energy-absorbing when being subjected to external force; spring recovers deformation when external force does not act on constantly, and mechanism resets, and this decoupling rod can bear two directions and impact; when impulsive force time compression spring 47 energy-absorbings inwardly, when impulsive force compression spring 48 energy-absorbings from inside to outside the time.

Wherein the optional structure of another of interior shelf 60 is shown in Fig. 7,8, and interior shelf is made up of left bracing frame 46, right bracing frame 59 and middle bracing frame 53; Middle bracing frame 53 is symmetrical with right bracing frame 59 with being connected of left bracing frame 46; In the vertical direction, connecting bolt 50 on the middle bracing frame 53, cover rubber sleeve 51 on the bolt 50, rubber sleeve 51 upper supports have left bracing frame 46, use nut 52 fastening then, therewith the rubber installed of same structure be with four be distributed on the bracing frame 53, connect respectively at left and right sidesing supporting frame; In the horizontal direction, right bracing frame 46 is connected with middle bracing frame 53 usefulness bolts 47, and rubber sleeve 49 is housed on the bolt 47, and is fastening with nut 48; Left side bracing frame 59 is connected with middle bracing frame 53 usefulness bolts 56, and rubber sleeve 57 is housed on the bolt 56, is bracing frame 53 on the rubber sleeve, and is fastening with nut 58; When being subjected to external impact, rubber sleeve shrinks energy-absorbing, and when external impact was removed, rubber sleeve recovered deformation, and mechanism is restored.

Shown in Fig. 4,5, drive motors 39 drives synchronous pulley 32, and gear 32 is connected with terminal pad 46, and terminal pad adopts screw to be connected with the hollow out spherical shell, so drive motors 39 rotates, drives and scouts the ball rectilinear motion; Drive motors 43 rotates, and drives rotor 40 high speed rotating, scouts the ball backward rotation thereby drive.

Claims

1, be used for the Throwable scout ball that enclosure space is surveyed, it is characterized in that: Throwable scout ball is made up of motion, hollow out left and right sides two halves spherical shell, the shock resistance mechanism, control system and the transducer that are embedded in the hollow out spherical shell; Shock resistance mechanism left and right sides two parts are symmetrically distributed in the hollow out spherical shell of the left and right sides, the shock resistance mechanism of left part is made up of six groups of quadric chains, wherein every group shaft portion all is hinged on the circular connecting ring, this circular connecting ring adopts to be threaded with decoupling rod and tightens together, this decoupling rod is six groups of driving side links that mechanism is public simultaneously, under inner telescoping mechanism drives, public decoupling rod as the driving side link inwardly shrinks, drive six groups of link motions, the similar forked side link that six groups of connecting rods drive spherical bending outwards opens, in the hollow out spherical shell, deviate from, right half part and left-half, structure is identical, is symmetrically distributed, the nearly spherical net shell frame of six groups of linkage flare ups of the two cerebral hemispheres forms scouting the protection of ball; Motion is made up of straight-line motion mechanism and steering mechanism, straight-line motion mechanism is the motor-driven small synchronous pulley, thereby drive the big synchronous pulley that is connected with spherical shell, and then drive whole scouting ball rectilinear motion, divertical motion is to be rotated by the motor-driven rotor high-speed, make and scout ball, turn to thereby realize scouting ball along rotating with rotor switched in opposite direction.

2; Throwable scout ball according to claim 1; it is characterized in that: there is the screw mechanism of the hollow out spherical shell that can stretch out and withdraw Throwable scout ball inside; leading screw by roller bearing and endcap support on bracing frame; its both sides are respectively dextrorotation and left hand thread; and be equipped with left-handed and the right-handed nut; be separately installed with decoupling rod connecting plate and feed rod on two nuts; decoupling rod is arranged on the connecting plate; decoupling rod is the public drive rod of six groups of quadric chains; decoupling rod moves in ball; drive six groups of quadric chains and open, form shock resistance protection network whole scouting ball.

3, Throwable scout ball according to claim 1 is characterized in that: interior shelf also can adopt structure to be, interior shelf is divided into three parts, left part, middle part, right part; On the vertical direction, the middle part adopts two bolts to be connected respectively with left and right sides two parts, and compressible rubber sleeve is equipped with at the bolt middle part; On the horizontal direction, the middle part adopts a bolt to be connected respectively with left and right sides two parts, the compressible rubber sleeve of cover between two plates; Adopt this structure, make Throwable scout ball when being subjected to clashing into internal structure can about shrink energy-absorbing up and down, after bump finished, supporting structure recovered.