CN102267503A - Small combined robot formed by monomer throwing robots - Google Patents
Small combined robot formed by monomer throwing robots Download PDFInfo
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- CN102267503A CN102267503A CN 201110117274 CN201110117274A CN102267503A CN 102267503 A CN102267503 A CN 102267503A CN 201110117274 CN201110117274 CN 201110117274 CN 201110117274 A CN201110117274 A CN 201110117274A CN 102267503 A CN102267503 A CN 102267503A
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Abstract
The invention discloses a small combined robot formed by monomer throwing robots. The small combined robot comprises front wheel components (1), a vehicle body component (2), rear wheel components (3) and tracks (4), wherein the front wheel components (1), the rear wheel components (3) and the vehicle body component (2) are arranged quickly and fixedly in corresponding square slots of an upper shell module (201) and a lower shell module (205) through a clamping mechanism (206); and the tracks (4) are connected with the front wheel components (1) and the rear wheel components (3) through teeth so as to form a compact and complete throwing whole. A four-wheel small mobile robot combined by monomer two-wheel throwing robots in a certain manner can flexibly adapt to various working conditions, is convenient to carry and install, has certain obstacle cross capability and good seismic resistance performance and can detect a narrow space after being thrown into the narrow space. The small combined robot has the characteristics of unit functional and modular design, and convenience in change and can be quickly assembled.
Description
Technical field
The present invention relates to a kind of robot architecture.More particularly say, be meant a kind of compound type throwing small scale robot by monomer throwing robot fast assembling-disassembling.
Background technology
In recent ten years, the Robotics fast development is used to scout and the ground robot in national security field such as operation, because its special purpose has been subjected to extensive concern and research.The part ground mobile robot has higher manoevreability under various complex environments, can replace the mankind to enter some dangerous and unknown environment, is applicable to national defence and a plurality of fields such as civilian, and also can brings into play great role in struggle against terror.
But the throwing robot can be by modes such as throwing, dispense near target, has motor-driven, distinct advantages flexibly and efficiently.Militarily, can be used for battle reconnaissance, target indication with tracking, directly to opposing enforcement precision strike etc.; At public safety field, can be used for security monitoring, explosion-proof, anti-terrorism, antidetonation rescue etc., have extremely application prospects.
Based on above background and requirement, but be necessary to design a kind of energy flexible Application in various varying environments and the convenient throwing robot of disposing.
Summary of the invention
The purpose of this invention is to provide a kind of small-sized assembly robot who forms by monomer throwing robot Rapid Combination, the alternative people of this small-sized assembly robot enters hazardous environment or small space and realizes operations such as investigation supervisions, and the raising safety of operators also reduces the working strength of operating personal.In the flat closely flat space, directly throwing monomer throwing robot is realized the expection operation; The small-sized assembly robot that two monomer throwing robot Fast Installation can be combined in complicated unknown spaces such as rugged ground improves monomer throwing robot obstacle performance greatly under the effect of crawler belt, be implemented in the expection operation under the harsh environment more.
Thereby core concept of the present invention is the effective overlap joint that makes full use of monomer throwing robot realizes small-sized assembly robot's comprehensive function.The advantage of monomer throwing robot is can be rapidly near target, good concealment, and be easy to carry.But its shortcoming is also clearly, is subjected to the restriction of itself structure, the carrying capacity of monomer throwing robot and initiatively obstacle climbing ability is limited, and this has also influenced its adaptation to the ground, continuation of the journey operation, integrated sensing and some other comparatively complicated operational capability.Given this, the present invention proposes to adopt two complete and separate monomer throwing robot modules effectively to overlap, and demonstrates fully the unique advantage of throwing robot and evades its born shortcoming, and then form a kind of combined throwing robot of fast demountable.According to the thought of this modular combination, can form the various assembly robots that unique function is arranged.
A kind of small-sized assembly robot who is formed by monomer throwing robot Rapid Combination of the present invention comprises front component, vehicle body component, wheel assembly and crawler belt.Described front component and wheel assembly all are made up of monomer throwing robot and preceding end fastener or back end fastener; Vehicle body component mainly is made up of upper shell, lower house, master control board module, side sensor assembly and power module; Front component and wheel assembly are realized fast quick-detach by upper shell, the lower house of tight mechanism of clip and vehicle body component.
Described small-sized assembly robot's concrete structure includes front component, vehicle body component, wheel assembly and crawler belt, described front component is identical with the structure of wheel assembly, described front component comprises monomer throwing robot module, preceding end fastener and distance measuring sensor, in the hollow shaft of electric machine built-in between two rubber wheels of monomer throwing robot module's drive part, monomer throwing robotic surface mounted antennas is realized the radio communication with extraneous control end, the rubber wheel of monomer throwing robot module foreign steamer wheel hub suit band profile of tooth, rubber wheel is connected cooperation with crawler belt; Before the inside face of end fastener concentric and be close to installation with the external cylindrical surface of monomer throwing robot module's intermediate hollow axle, the upper surface and the lower surface of preceding end fastener design four square grooves symmetrically, the buckle of clamping body is installed in the bottom surface of square groove, to realize being connected of front component and vehicle body component; In the sensor square groove before distance measuring sensor is installed on the end fastener; The sensor cylinder groove of the front surface of preceding end fastener is installed proximity transducer, vision sensor or touch sensor;
Described vehicle body component comprises upper shell module, side sensor assembly, master control board module, battery module, lower house module and clamping body, lower house module and upper shell module form an osed top intracavity space, be provided with side sensor assembly, master control board module and battery module in the intracavity space, described battery module is connected with the master control board module with bus mode with the side sensor assembly;
Described upper shell module comprises master control board Cang Gai, battery compartment lid and upper shell, and the lower surface of master control board Cang Gai and side are covered bottom surface and the side applying of groove B respectively with the master control board storehouse on upper shell surface; The lower surface of battery compartment lid and side are covered bottom surface and the side applying of groove C respectively with the battery compartment on upper shell surface; The lower surface of the upper surface of upper shell module and lower house module is four square groove A of symmetric design respectively;
Described clamping body comprises buckle, guide rod, draw-bar seat and pull bar, and wherein buckle is installed on the bottom surface of the preceding end fastener and the square groove of back end fastener; Draw-bar seat is installed among counterparty's connected in star A of upper shell and lower house; One end of guide rod is stuck in the draw-in groove of buckle, and the other end and pull bar are connected through the hinge; Pull bar and draw-bar seat also are connected through the hinge;
Described crawler belt and monomer throwing robot module's rubber wheel forms the engagement assembling.
The invention has the advantages that:
(1) small-sized assembly robot's compact conformation provided by the invention, common relatively throwing robot size is little, and light weight makes things convenient for the individual soldier to carry.Between the built-in monomer throwing robot of actuating device fast effectively combination be a spotlight of the present invention, so but when carrying the modularization fractionation carry and when needs use plug and play.
(2) each functional unit block design, assembling are changed conveniently fast, have improved the fault-tolerant ability of robot total system greatly.Described functional unit block mainly comprises monomer throwing robot module, master control board module, battery module, housing module and side sensor assembly etc.Each functional module adopts closure designs, connects by the corresponding interface between the module.
(3) there be shockproof resisting to fall ability, be convenient to quick deployment.The combination of the monomer throwing robot wheel hub that rubber belt track and rubber are attached can realize dual damping, improves its shockproof anti-ability of falling.
(4) have stronger obstacle detouring and investigation ability.Monomer throwing robot module is by two built-in motor-driven, and by the small-sized assembly robot of four-wheel of monomer throwing robot module combination by 4 motor-driven, the power abundance is added the effect of crawler belt, has improved its obstacle climbing ability.Can assemble function devices such as vision sensor, laser range sensor, infrared pickoff, the field condition of sniffing robot both sides on the side sensor assembly on the vehicle body component module.
Description of drawings
Fig. 1 small-sized assembly robot's that to be the present invention combined by monomer throwing robot fast assembling-disassembling scheme drawing;
Fig. 2 small-sized assembly robot's that to be the present invention combined by monomer throwing robot modular combination scheme drawing;
Fig. 3 small-sized assembly robot's that to be the present invention combined by monomer throwing robot integral structure figure;
Fig. 4 small-sized assembly robot's that to be the present invention combined by monomer throwing robot front end assemblies scheme drawing;
Fig. 5 small-sized assembly robot's that to be the present invention combined by monomer throwing robot aft-end assembly scheme drawing;
Fig. 6 small-sized assembly robot's that to be the present invention combined by monomer throwing robot vehicle body component structural representation;
Fig. 7 a small-sized assembly robot's that to be the present invention combined by monomer throwing robot upper shell module outer surface structure scheme drawing;
Fig. 7 b small-sized assembly robot's that to be the present invention combined by monomer throwing robot upper shell inside modules structural representation;
Fig. 8 small-sized assembly robot's that to be the present invention combined by monomer throwing robot lower house inside modules structural representation;
Fig. 9 small-sized assembly robot's that to be the present invention combined by monomer throwing robot side sensor assembly scheme drawing;
The small-sized assembly robot's that Figure 10 the present invention is combined by monomer throwing robot master control board module diagram;
The small-sized assembly robot's that Figure 11 the present invention is combined by monomer throwing robot power module scheme drawing;
The discrete topology figure of the small-sized assembly robot's that Figure 12 a the present invention is combined by monomer throwing robot clamping body;
Figure 12 b is a structural representation after the combination of each parts among Figure 12 a;
The small-sized assembly robot's that Figure 13 the present invention is combined by monomer throwing robot crawler belt scheme drawing;
Among the figure:
| 1. |
2. |
3. |
| 4. |
101. monomer |
101a. |
| 101b. |
101c. |
102. preceding |
| 102a. |
102b. sensor |
102c. |
| 102d. |
103. |
201. |
| 201a. master control board Cang Gai | 201b. |
201c. |
| 202. |
202a. |
202b. |
| 203. master |
204. |
205. |
| 206. |
206a. |
206b. guide |
| 206c. draw- |
206d. pull |
301. |
| 401a. |
401b. right-hand track chiain |
The specific embodiment
The present invention is described in further detail with enforcement below in conjunction with accompanying drawing, but not as a limitation of the invention.
The present invention is a kind of small-sized assembly robot who is formed by monomer throwing robot Rapid Combination, as shown in Figure 1, earlier two monomer throwing robot A0 are connected the two ends of car body B0, then two crawler belt C0 are enclosed within respectively on the rubber wheel A1 of corresponding two monomer throwing robot A0, just have been assembled into a small-sized assembly robot D0 fast.Each above-mentioned small-sized assembly robot D0 is carried out captive joint in turn, just formed a plurality of small-sized assembly robot's fabricate block as shown in Figure 2, such fabricate block goes for complicated more detection and monitoring environment, helps the overall operation of fabricate block and monitoring information accurately is provided.The passable screw connection of captive joint between the described small-sized assembly robot, clasp joint or with captive joint modes such as chucking is connected.
As shown in Figure 3, provided by the invention have the small-sized assembly robot's that monomer throwing robot combines concrete structure to include front component 1, vehicle body component 2, wheel assembly 3 and crawler belt 4.
As shown in Figure 4, described front component 1 comprises monomer throwing robot module 101, preceding end fastener 102 and distance measuring sensor 103.Monomer throwing robot module 101 is complete and unit modules independently, monomer throwing robot D0 just, in the hollow shaft of the electric machine built-in of drive part between two rubber wheel 101a, can realize multiple motions such as straight line, curve by the independent drive control of two rubber wheels as required.Realize radio communication with extraneous control end by being installed in antenna 101c on the monomer throwing robotic surface.The rubber wheel 101a of monomer throwing robot module 101 foreign steamer wheel hub suit band profiles of tooth, the cooperation that is connected of convenient and crawler belt 4, the while has also been improved its damping performance; Before the inside face of cylindrical groove 102c of end fastener 102 concentric and be close to installation with the external cylindrical surface of monomer throwing robot module 101 intermediate hollow axle 101b.The upper surface and the lower surface of preceding end fastener 102 design four square groove 102d symmetrically, and the buckle 206a (as Fig. 6 and shown in Figure 12) of clamping body 206 is installed in the bottom surface of square groove 102d, to realize being connected of front component 1 and vehicle body component 2; The length of square groove 102d is corresponding with the tight mechanism of clip 206 sizes.In the sensor square groove 102b before distance measuring sensor 103 is installed on the end fastener 102, in small-sized assembly robot advances process, can constantly measure the distance of body and the place ahead obstacle, thereby realize that better keeping away of small-sized assembly robot hinders or the obstacle detouring function.The sensor cylinder groove 102a of the front surface of preceding end fastener 102 can install proximity transducer, vision sensor or the touch sensor of the some corresponding information with perception the place ahead surrounding environment.
Same with front component 2, wheel assembly 3 comprises monomer throwing robot module 101 and back end fastener 301, back end fastener 301 is identical with preceding end fastener 102 structures, as shown in Figure 5, back end fastener 301 is provided with sensor cylinder groove and sensor square groove, and have above the back end fastener 301 and vehicle body component 2 bonded assembly square grooves, hollow shaft 101b snug fit back end fastener inside face and vehicle body component 2 is installed, and tightens by clamping body 206.
As shown in Figure 6, vehicle body component 2 comprises upper shell module 201, side sensor assembly 202, master control board module 203, battery module 204, lower house module 205 and clamping body 206.The various piece modular design can be combined into an integral body quickly and easily, realizes the operation function of expection.
Shown in Fig. 7 a is the structural representation of upper shell module 201, comprises master control board storehouse lid 201a, battery compartment lid 201b and upper shell 201c.When assembling, the lower surface of master control board storehouse lid 201a and side are covered bottom surface and the side applying of groove B respectively with the master control board storehouse on upper shell 201c surface.In addition, for increasing the dissipating area of master control board module 203, the upper surface of master control board storehouse lid 201a has designed a series of small-sized concavo-convex alternate radiating groove.The same with the assembling of master control board storehouse lid 201a, the lower surface of battery compartment lid 201b and side are covered bottom surface and the side applying of groove C respectively with the battery compartment on upper shell 201c surface.Four square groove A of upper shell 201c upper surface symmetric design, the draw-bar seat 206c (draw-bar seat 206c as shown in figure 12) of clamping body 206 is installed in the bottom surface of square groove A; The length of square groove A is corresponding with the tight mechanism of clip 206 sizes.For reaching the fixing requirement of compact conformation and each module safety, the special cavity structure that upper shell 201c is designed to contain sensor assembly chamber, side D, battery module chamber E and master control board cavity block F, shown in Fig. 7 b, lower house module 205 forms an osed top intracavity space with upper shell module 201.D, the E of middle chamber part, F be embedded side sensor assembly 202, battery module 204 and master control board module 203 respectively.Between battery module chamber E and the master control board cavity block F thin wall barrier G is set and separates, disturb with erasure signal.Be the location of guaranteeing master control board module 203, power module 204 and sensor assembly 202 and fixing, lower house 205 also is designed to the projection structure alternate with groove, corresponding with the structure of upper shell 201, as shown in Figure 8, the lower surface of lower house module 205 also is provided with corresponding four square groove A with upper shell 201c.
Fig. 9, Figure 10 and side sensor assembly 202, master control board module 203 and the battery module 204 of being respectively shown in Figure 11.The interface that side sensor assembly 202 (comprising side sensor 202a and 202b), battery module 204 and monomer throwing robot module 101 pass through self links to each other with master control board module 203 with bus mode, thereby realizes the communication between the module.Master control board module 203 in-to-in sensor processing unit can be handled all the sensors information of returning in real time, finish the perception to the work-site environment.
Figure 12 a is depicted as clamping body 206, comprises buckle 206a, guide rod 206b, draw-bar seat 206c and pull bar 206d.Wherein buckle 206a is installed on the bottom surface of the preceding end fastener 102 and the square groove 102d of back end fastener 301; Draw-bar seat 206c is installed among counterparty's connected in star A of upper shell 201 and lower house 205; The end of guide rod 206b is stuck in the draw-in groove of buckle 206a, and the other end and pull bar 206d are connected through the hinge; Pull bar 206d and draw-bar seat 206c also are connected through the hinge, and the structure after the connection is shown in Figure 12 b.Utilize the clamping body 206 among the present invention, can realize easily that the robot single-piece assembles fast.
Figure 13 shows that the crawler belt 4 of robot, comprise left crawler belt 401a and right-hand track chiain 401b.Crawler belt 4 forms the engagement assembling by the profile of tooth of inner ring and monomer throwing robot module 101 rubber wheel 101a profile of tooth.Crawler belt 4 can the hoisting machine people be crossed the gully, cross parapet and gradeability, has also kept robot single-piece stationarity simultaneously, has strengthened motion in the field.
Claims (4)
1. small-sized assembly robot who combines by monomer throwing robot, it is characterized in that: by two monomer throwing robots being connected the two ends of vehicle body component, and two crawler belts are enclosed within respectively on the rubber wheel of corresponding two monomer throwing robots and form, concrete structure is as follows:
Described small-sized assembly robot's concrete structure includes front component, vehicle body component, wheel assembly and crawler belt, described front component is identical with the structure of wheel assembly, described front component comprises monomer throwing robot module, preceding end fastener and distance measuring sensor, in the hollow shaft of electric machine built-in between two rubber wheels of monomer throwing robot module's drive part, monomer throwing robotic surface mounted antennas is realized the radio communication with extraneous control end, the rubber wheel of monomer throwing robot module foreign steamer wheel hub suit band profile of tooth, rubber wheel is connected cooperation with crawler belt; Before the inside face of end fastener concentric and be close to installation with the external cylindrical surface of monomer throwing robot module's intermediate hollow axle, the upper surface and the lower surface of preceding end fastener design four square grooves symmetrically, the buckle of clamping body is installed in the bottom surface of square groove, to realize being connected of front component and vehicle body component; In the sensor square groove before distance measuring sensor is installed on the end fastener; The sensor cylinder groove of the front surface of preceding end fastener is installed proximity transducer, vision sensor or touch sensor;
Described vehicle body component comprises upper shell module, side sensor assembly, master control board module, battery module, lower house module and clamping body, lower house module and upper shell module form an osed top intracavity space, be provided with side sensor assembly, master control board module and battery module in the intracavity space, described battery module is connected with the master control board module with bus mode with the side sensor assembly;
Described upper shell module comprises master control board Cang Gai, battery compartment lid and upper shell, and the lower surface of master control board Cang Gai and side are covered bottom surface and the side applying of groove B respectively with the master control board storehouse on upper shell surface; The lower surface of battery compartment lid and side are covered bottom surface and the side applying of groove C respectively with the battery compartment on upper shell surface; The lower surface of the upper surface of upper shell module and lower house module is four square groove A of symmetric design respectively;
Described clamping body comprises buckle, guide rod, draw-bar seat and pull bar, and wherein buckle is installed on the bottom surface of the preceding end fastener and the square groove of back end fastener; Draw-bar seat is installed among counterparty's connected in star A of upper shell and lower house; One end of guide rod is stuck in the draw-in groove of buckle, and the other end and pull bar are connected through the hinge; Pull bar and draw-bar seat also are connected through the hinge;
Described crawler belt and monomer throwing robot module's rubber wheel forms the engagement assembling.
2. a kind of small-sized assembly robot who is combined by monomer throwing robot according to claim 1 is characterized in that: the upper surface at described master control board Cang Gai is provided with concavo-convex alternate radiating groove.
3. a kind of small-sized assembly robot who combines by monomer throwing robot according to claim 1, it is characterized in that: in described upper shell inside modules is cavity structure, be provided with sensor assembly chamber, side D, battery module chamber E and master control board cavity block F in the cavity, respectively embedded side sensor assembly, battery module and master control board module; Between battery module chamber E and the master control board cavity block F thin wall barrier G being set separates.
4. a kind of small-sized assembly robot's who is combined by monomer throwing robot according to claim 1 fabricate block is characterized in that: will be fixedly connected to form in turn between the small-sized assembly robot of each described in the claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101172745A CN102267503B (en) | 2011-05-06 | 2011-05-06 | Small combined robot formed by monomer throwing robots |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101172745A CN102267503B (en) | 2011-05-06 | 2011-05-06 | Small combined robot formed by monomer throwing robots |
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| Publication Number | Publication Date |
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| CN102267503A true CN102267503A (en) | 2011-12-07 |
| CN102267503B CN102267503B (en) | 2012-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011101172745A Expired - Fee Related CN102267503B (en) | 2011-05-06 | 2011-05-06 | Small combined robot formed by monomer throwing robots |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102862616A (en) * | 2012-09-05 | 2013-01-09 | 北京航空航天大学 | Throwing type mobile robot |
| CN104228998A (en) * | 2014-07-04 | 2014-12-24 | 北京航空航天大学 | Throwable scout robot |
| CN104477271A (en) * | 2014-12-24 | 2015-04-01 | 北京航空航天大学 | Throwing type mobile robot |
| CN106184442A (en) * | 2016-07-14 | 2016-12-07 | 上海良相智能化工程有限公司 | The comprehensive Detecting Robot of throwing type |
| CN107933717A (en) * | 2012-07-27 | 2018-04-20 | 工程服务公司 | Endless track |
| CN111232093A (en) * | 2020-01-13 | 2020-06-05 | 北京理工大学 | Wheel type robot shocks resistance |
| WO2020228028A1 (en) * | 2019-05-16 | 2020-11-19 | 深圳市大疆创新科技有限公司 | Detachable robot |
| CN114132399A (en) * | 2021-11-15 | 2022-03-04 | 沈阳新松机器人自动化股份有限公司 | Compact structure modular design's small-size track robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107933717A (en) * | 2012-07-27 | 2018-04-20 | 工程服务公司 | Endless track |
| CN102862616A (en) * | 2012-09-05 | 2013-01-09 | 北京航空航天大学 | Throwing type mobile robot |
| CN104228998A (en) * | 2014-07-04 | 2014-12-24 | 北京航空航天大学 | Throwable scout robot |
| CN104477271A (en) * | 2014-12-24 | 2015-04-01 | 北京航空航天大学 | Throwing type mobile robot |
| CN106184442A (en) * | 2016-07-14 | 2016-12-07 | 上海良相智能化工程有限公司 | The comprehensive Detecting Robot of throwing type |
| WO2020228028A1 (en) * | 2019-05-16 | 2020-11-19 | 深圳市大疆创新科技有限公司 | Detachable robot |
| CN111232093A (en) * | 2020-01-13 | 2020-06-05 | 北京理工大学 | Wheel type robot shocks resistance |
| CN111232093B (en) * | 2020-01-13 | 2021-11-19 | 北京理工大学 | Wheel type robot shocks resistance |
| CN114132399A (en) * | 2021-11-15 | 2022-03-04 | 沈阳新松机器人自动化股份有限公司 | Compact structure modular design's small-size track robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102267503B (en) | 2012-07-25 |
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Granted publication date: 20120725 Termination date: 20130506 |