CN102267505B - Portable telescopic spherical throwing detection robot - Google Patents
Portable telescopic spherical throwing detection robot Download PDFInfo
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- CN102267505B CN102267505B CN2011101790437A CN201110179043A CN102267505B CN 102267505 B CN102267505 B CN 102267505B CN 2011101790437 A CN2011101790437 A CN 2011101790437A CN 201110179043 A CN201110179043 A CN 201110179043A CN 102267505 B CN102267505 B CN 102267505B
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- telescoping mechanism
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Abstract
The invention discloses a portable telescopic spherical throwing detection robot which comprises a stander, a left driving wheel, a right driving wheel, a telescopic system and a control system, wherein the left driving wheel and the right driving wheel are fixed at both ends of the stander respectively; the telescopic system is used for stretching and contracting the left driving wheel, the right driving wheel and a supporting tail, and is arranged on the stander; and the control system is fixedly connected with the center of the stander. The robot has a certain pretending property during folding, so that the robot cannot be perceived easily; a wheel housing of the robot has a shock absorption property, so that the robot can bear impact of several-meter free fall; and the portable telescopic spherical throwing detection robot can be applied to detection and acquisition of information in dangerous environments.
Description
Technical field
The invention belongs to the Robotics field, relate to a kind of robot system.Specifically, be a kind of in complex environment, have strong manoevreability and concealed portable extension type ball-type throwing reconnaissance robot.
Background technology
In recent ten years, Robotics fast development.Microminiature ground mobile robot as battle reconnaissance, anti-terrorism monitoring and hazardous environment search and rescue point frequently appears on the world arena in the recent period, becomes noticeable focus.The ground mobile robot Study on Technology also is in the critical stage of develop rapidly.Reconnaissance robot is as microminiature ground mobile robot's a branch; Be one type and be used to the auxiliary type robot that operating personal provides the place ahead real time information (vision, the sense of hearing, potential threat etc.) that it is detected and field such as sampling, battle reconnaissance, urban SOS, explosive and anti-terrorism chemical defence has application demand widely at space exploration, hazardous environment.
Developed countries such as the U.S., Britain and Germany have obtained prominent achievement in this type of mobile robot's development and application facet; Like the typical case's representative (http://www.reconrobotics.com/index.cfm) that is exactly this robotlike by Univ Minnesota-Twin Cities USA's development and business-like Scout robot; This robot has two drive wheels; One is supported tail, and light weight is easy to carry and the free-falling body that can resist several meters distances impacts.But the Scout robot is only handled fuselage color black, does not have and pretends performance preferably, and disguise is not high, is easy to discovered.Owing to above reason, make the application of Scout be subject to many limitations.
Based on above background and current demand, be necessary to design a kind of being easy to carry and disguised high novel reconnaissance robot.
Summary of the invention
The objective of the invention is provides a kind of simple in structure, portable, and has the portable extension type ball-type throwing reconnaissance robot that pretends performance more by force to the existing technical deficiency of reconnaissance robot.This portable extension type ball-type throwing reconnaissance robot relies on little, the in light weight and good advantage of camouflage performance of its volume; Can in the processing of military operations in urban terrain, terrorist incident and industrial accident, replace the people to get into hazardous environment; Be engaged in scouting, get rid of the danger and dangerous work such as rescue; Thereby the minimizing personal casualty improves guarantee performance and work efficiency.
A kind of portable extension type ball-type of the present invention throwing reconnaissance robot comprises frame, left driving wheel, right drive wheel, telescopic system and control system; Frame is a hollow structure, frame two ends screw thread be connected left driving wheel and right drive wheel; The middle part of frame is equipped with telescopic system and control system.
Wherein, left driving wheel is identical with right drive wheel structure, comprises driving the flexible Connection Block of hub, drive wheel motor Connection Block, damping disc, drive motor and drive wheel.Driving hub is the globosity that the one injection moulding processes, and boring also is equipped with drive motor Connection Block and damping disc, and the flexible Connection Block of drive wheel is housed on the damping disc; Drive that hub external circumferential position is provided with horizontal vertical staggered textured projection and be provided with the bulbous protrusion that is uniformly distributed with at spherical surface.
Described telescopic system comprises telescopic drive, drive wheel telescoping mechanism and supports the tail telescoping mechanism.Wherein, telescopic drive is fixed on the frame; The drive wheel telescoping mechanism is fixed on the drive wheel telescoping mechanism Connection Block in the frame; Supporting the tail telescoping mechanism is fixed on the support tail telescoping mechanism Connection Block in the frame.Telescopic system provides power by telescopic drive, and two-way transmission after the bevel gear set switching-over, one tunnel transmission give the drive wheel telescoping mechanism to realize the fore and aft motion of drive wheel; Another road transmission is given and is supported the tail telescoping mechanism to realize supporting the fore and aft motion of tail.
Said control system is installed on the frame; Comprise control system housing, shooting headstock, camera fixed housing, wireless vision camera, main control board, left driving wheel motor-driven plate, right drive wheel motor-driven plate, telescopic system motor-driven plate and power supply; Mainly be used for monitoring and controlling the deployed condition that folds of telescopic system, and the motion that drives left driving wheel motor, right drive wheel motor and telescopic system motor.
Robot of the present invention has when implementation and operation and launches and fold two states: during expansion robot both can be on relatively flat ground flexible motion fast running and executing the task; Also can in the rugged environment of complicacy, cross the meadow grit, cross typical obstacle such as step, accomplish assigned work; Robot is only reserved left driving wheel 2 and right drive wheel 3 in the external world when folding, and remainder all shrinks in inside, and entire machine people is spherical in shape, has camouflage, and difficult quilt is discovered.
Robot of the present invention has adopted the lean structure in design, alleviated weight; The driving hub of left driving wheel and right drive wheel adopts the damping design of the rubber shock-absorbing dish that is connected, and the free-falling body that can bear several meters impacts; The contraction of left driving wheel and right drive wheel can well wear camouflage robot, and difficult quilt is discovered; Less size design is easy to carry and disposes; The robot function is more complete, and control is simple, both can be applicable to the paramilitary operational detection, also can be used as urban SOS and explosive anti-terrorism, has broad application background and market outlook.
The invention has the advantages that:
1, robot of the present invention is only accomplished the motion that drive wheel is flexible and the support tail stretches both direction with a motor-driven through simple mechanical drive optimization, and easy to operate, control is simple;
2, robot of the present invention drives hub and adopts integrated injection molded damping disc shock mitigation system, can absorb certain impact shock energy, and the free-falling body that bears several meters impacts; Drive the hub outside face and be provided with horizontal vertical staggered textured projection and the bulbous protrusion that is uniformly distributed with, promoted the climbing performance of robot;
3, robot of the present invention drives the hub profile like spherical, and robot of the present invention has Telescopic, can with about two drive hubs and be folded together and pretend, difficult quilt is discovered, and guarantees that robot accomplishes tasks such as scouting better;
4, robot of the present invention robot of the present invention adopts the lean design philosophy, and hub adopts elastomeric material, the structure optimization combination, and not only light weight but also shock-resistant, profile and quality are convenient to the staff and are carried, and can dispose at any time.
Description of drawings
Fig. 1 is the integral structure figure of robot of the present invention;
Fig. 2 is the rack construction figure of robot of the present invention;
Fig. 3 is the left driving wheel and the right drive wheel constructional drawing of robot of the present invention;
Fig. 4 is the drive wheel shell structure figure of robot of the present invention;
Fig. 5 a is the drive wheel motor Connection Block constructional drawing of robot of the present invention;
Fig. 5 b is the drive wheel motor connecting structure figure of robot of the present invention;
Fig. 6 is the damping disc constructional drawing of robot of the present invention;
Fig. 7 is the flexible Connection Block structured flowchart of the drive wheel of robot of the present invention;
Fig. 8 is the telescopic system constructional drawing of robot of the present invention;
Fig. 9 is the telescopic drive constructional drawing of robot of the present invention;
Figure 10 is the drive wheel telescoping mechanism constructional drawing of robot of the present invention;
Figure 11 is the support tail telescoping mechanism constructional drawing of robot of the present invention;
Figure 12 is the lead screw shaft constructional drawing of robot of the present invention;
Figure 13 is the telescopic system gear cluster drive mechanism figure of robot of the present invention;
Figure 14 is the telescopic drive constructional drawing of robot of the present invention;
Figure 15 a is the ROBOT CONTROL Facad structure figure of system of the present invention;
Figure 15 b is the ROBOT CONTROL structure figure of system of the present invention;
Among the figure:
The specific embodiment
To combine accompanying drawing and embodiment that the present invention is done further explain below.
The present invention is a kind of portable extension type ball-type throwing reconnaissance robot, and is as shown in Figure 1, comprises frame 1, left driving wheel 2, right drive wheel 3, telescopic system 4 and control system 5.
As shown in Figure 2, described frame 1 comprises drive motor Connection Block 101a, drive wheel telescoping mechanism Connection Block 101b and supports three parts of tail telescoping mechanism Connection Block 101c.Drive motor Connection Block 101a is connected to drive wheel telescoping mechanism Connection Block 101b two ends, supports tail telescoping mechanism Connection Block 101c and is fixed on drive motor Connection Block 101a periphery.
Drive motor Connection Block 101a is cylindric, is positioned at the two ends of frame 1, and left driving wheel 2 and right drive wheel 3 are used to be connected; The drive motor of built-in left driving wheel 2 of the cylinder through-core hole 1A of drive motor Connection Block 101a and right drive wheel 3.Drive wheel telescoping mechanism Connection Block 101b is positioned at the middle part of frame 1, is used to connect drive wheel telescoping mechanism 402; Cylindrical hole 1B on the drive wheel telescoping mechanism Connection Block 101b is used to connect the slider-crank mechanism of drive wheel telescoping mechanism.Otch 1C on the drive motor Connection Block 101a is used to place the synchronization belt transmission system of telescopic system 4.Support tail telescoping mechanism Connection Block 101c and also be positioned at frame 1 middle part, form by two parts of left and right sides structural similitude; Cylindrical hole 1D on the support tail telescoping mechanism Connection Block 101c is used to connect the lead screw transmission system of telescopic system 4; The tapped bore 1E that supports on the tail telescoping mechanism Connection Block 101c is used for fixing control system 5.
As shown in Figure 3, said left driving wheel 2 is identical with right drive wheel 3 structures, is example with left driving wheel 2, comprises left driving wheel shell 201, left driving wheel motor Connection Block 202, damping disc 203, drive motor 204 and the left driving wheel Connection Block 205 that stretches.
The globosity that said left driving wheel shell 201 processes for the one injection moulding, as shown in Figure 4, comprise rubber shell 201a, body frame 201b, textured projection 201c, bulbous protrusion 201d and rubber rib 201e.During moulding, for realizing integrated better injection moulding, special afterbody with body frame 201b is designed to the ring-type tooth-shape structure; According to the contour structures of left driving wheel motor Connection Block 202, the pyramidal structure that the Front-end Design of body frame 201b is become indent is to make things convenient for the realization of drive wheel telescoping mechanism; Through hole 2B on the body frame 201b is used for connecting three moving leaders of left driving wheel motor Connection Block 202, and fixed through tapped bore 2A.Left driving wheel shell 201 borings also are provided with the rubber rib 201e that is uniformly distributed with at inner surface; The external circumferential position is provided with horizontal vertical staggered textured projection 201c and is provided with the bulbous protrusion 201d that is uniformly distributed with at spherical surface, has stronger earth-grasping force and grade climbing performance to guarantee robot.The tapped bore 2C that is uniformly distributed with on the left driving wheel shell 201 damping disc 203 that is used to be connected.
Shown in Fig. 5 a, said left driving wheel motor Connection Block 202 comprises permanent seat 202a, drive motor seat 202b, bearing 202c, axial retention sheet 202d, bearing locating bush 202e, three moving leader 202f and drive wheel tetrafluoro cover 202g.Wherein, permanent seat 202a is designed to the pyramidal structure of indent, and interior recess is provided with stepped shaft with installing drive motor cabinet 202b, bearing 202c and bearing locating bush 202e.The concentric installing drive motor cabinet of bearing 202c inner ring 202b, the outer ring is installed bearing locating bush 202e with one heart; Bearing locating bush 202e is connected with drive motor Connection Block 101a on the frame 1 through waist type groove 2D.Permanent seat 202a is circumferentially with three through holes that are uniformly distributed with to connect drive wheel tetrafluoro cover 202g.Three moving leader 202f are cylindric and are parallel to each other, and 360 ° be uniformly distributed with, and on the threaded one end stationary housing skeleton 201b, the other end passes drive wheel tetrafluoro cover 202g and goes up and the corresponding hole of moving leader 202f, captives joint with damping disc 203 at last.Drive wheel tetrafluoro cover 202g connects three moving leader 202f, drive wheel tetrafluoro cover 202g lubricate.After so connecting, drive wheel motor Connection Block 202 forms moving sets with permanent seat 202a, but slide relative.The structure of said drive motor seat 202b designs according to 204 of drive motor, be used to the to be connected drive motor Connection Block 101a of frame 1 part of the counterbore 2F on it, and tapped bore 2E is used for fixing drive motor 204.Axial retention sheet 202d is close to the end face of permanent seat 202a, and counterbore 2G is corresponding with the tapped bore 2H on the permanent seat 202a to prevent axially jumping of drive motor 204.
Shown in Fig. 5 b, said drive motor 204 can obtain the position and the speed of drive motor 204 for being integrated with the motor of coder through coder and through data handing.Be loaded in the drive motor 204 among the cylindrical hole 1A of frame 1; Be fastened on the drive motor seat 202b through screw; Be connected for bearing between drive motor seat 202b and the permanent seat 202a; The motor projecting shaft of drive motor 204 passes drive motor seat 202b, is inserted among the permanent seat 202a, and fixes through the tapped bore 2I on the permanent seat 202a and 2J and permanent seat 202a.During drive motor 204 work, the rotation through motor shaft can drive permanent seat 202a and rotate, and rotates thereby drive left driving wheel 2.
As shown in Figure 6, described damping disc 203 comprises rubber disk body 203a, damping skeleton 203b and hub Connection Block 203c for through injection molded integrated part.For being injection molded into integrated part more firmly, special edge designs camber shape with damping skeleton 203b and hub Connection Block 203c.Cylindrical hole 2K on the damping skeleton 203b links to each other with three moving leader 202f on the left driving wheel motor Connection Block 202, to realize the flexible of left driving wheel 2.One group of tapped bore 2L on the damping skeleton 203b is used for the flexible Connection Block 205 of fixed left driving wheel.Tapped bore 2M on the hub Connection Block 203c is used to connect left driving wheel shell 201, and its size is corresponding with tapped bore 2C.For ease of assembling, the spy places rubber rib 201e left driving wheel shell 201 on along circumferentially cutting one group of otch 2N with vacating space with rubber disk body 203a.Damping disc 203 is connected with left driving wheel shell 201, has strengthened anti-seismic performance of the present invention.
As shown in Figure 7, the flexible Connection Block 205 of described left driving wheel comprises ball axial retention seat 205a, ball pipe bracket 205b, shrinks permanent seat 205c, tetrafluoro bearing shell 205d and ball body 205e.The flexible Connection Block 205 of left driving wheel is the bearing of biserial ball-type, to bear bigger diametral load and beidirectional axial force.Wherein, the inboard of the side of ball pipe bracket 205b and ball axial retention seat 205a forms a row ball trajectory, the ball body 205e of interior dress suitable quantity; The opposite side of ball pipe bracket 205b and the inner arc groove of permanent seat 205c form another row ball trajectory, the ball body 205e of interior dress suitable quantity.Ball pipe bracket 205b is installed in ball axial retention seat 205a and shrinks between the permanent seat 205c, and the tapped bore 2Q on it is used to connect the damping skeleton 203b on the damping disc 203, and corresponding with tapped bore 2L.Fixed through being connected of counterbore 2P and tapped bore 2Y with contraction permanent seat 205c with ball axial retention seat 205a.Tetrafluoro bearing shell 205d forms moving sets with frame 1 concentric installation, realizes tetrafluoro bearing shell 205d and shrinks the fixing of permanent seat 205c with being connected of tapped bore 2X through counterbore 2Z.Cylindrical hole 2R on the contraction permanent seat 205c links to each other to realize the contraction of left driving wheel 2 with the slider-crank mechanism in the pinch system 4.
As shown in Figure 8, described telescopic system 4 comprises telescopic drive 401, drive wheel telescoping mechanism 402 and supports tail telescoping mechanism 403.Wherein, telescopic drive 401 is fixed on the frame 1; Drive wheel telescoping mechanism 402 is fixed on the drive wheel telescoping mechanism Connection Block 101b in the frame 1; On the support tail telescoping mechanism Connection Block 101c that support tail telescoping mechanism 403 is fixed in the frame 1.Telescopic system 4 provides power by telescopic drive 401, and two-way transmission after the bevel gear set switching-over, one tunnel transmission give drive wheel telescoping mechanism 402 to realize the fore and aft motion of drive wheel; Another road transmission is given and is supported tail telescoping mechanism 403 to realize supporting the fore and aft motion of tail.
As shown in Figure 9, said telescopic drive 401 comprises that telescopic drive motor 401a, telescopic drive motor cabinet 401b, motor prolong an axle 401c, drive finishing bevel gear cuter 401d and fixing snap ring 401e.Wherein, telescopic drive motor 401a is connected through tapped bore 4B and telescopic drive motor cabinet 401b; Telescopic drive motor 401a is arranged in the cylinder through-core hole 1A of drive motor Connection Block 101a, and telescopic drive motor cabinet 401b is connected through counterbore 4A and frame 1; The projecting shaft of telescopic drive motor 401a passes telescopic drive motor cabinet 401b, prolongs axle 401c through circumferential tapped bore and motor and is connected; Drive finishing bevel gear cuter 401d and motor and prolong axle 401c is concentric and install, realize driving the circumferentially fixing of finishing bevel gear cuter 401d, through the fixing axial restraint of snap ring 401e realization driving finishing bevel gear cuter 401d through circumferential tapped bore.Drive the flexible finishing bevel gear cuter 402a standard engagement of drive wheel on finishing bevel gear cuter 401d and the drive wheel telescoping mechanism 402, give drive wheel telescoping mechanism 402 transmission of power.
Shown in figure 10; Said drive wheel telescoping mechanism 402 is installed on the drive wheel contracting mechanism Connection Block 101b in the frame 1, comprises drive wheel stretch finishing bevel gear cuter 402a, not exclusively finishing bevel gear cuter 402b, bearing cap shim 402c, bearing 402d, bevel gear shaft 402e, crank 402f, left rocking bar 402g, right rocking bar 402h and slide block 402i.Drive wheel telescoping mechanism 402 adopts slider-crank mechanism to realize the flexible of left driving wheel 2 and right drive wheel 3; Slider-crank mechanism comprises crank 402f, left rocking bar 402g, right rocking bar 402h and slide block 402i, and wherein crank 402f is cemented in the end of bevel gear shaft 402e; The bearing pin that being connected of crank 402f and left rocking bar 402g, right rocking bar 402h adopts the overcoat bearing is to realize mutual rotation; Slide block 402i is through the tapped bore 4C flexible Connection Block 205 of left driving wheel that is connected, and its size is corresponding with cylindrical hole 2R on the contraction permanent seat 205c.Bearing cap shim 402c is connected to prevent that bearing 402d from endwisely slipping with the concentric installation of bevel gear shaft 402e and with drive wheel contracting mechanism Connection Block 101b.Not exclusively finishing bevel gear cuter 402b with support support tail cone gear 403a engagement in the tail telescoping mechanism 403 realizing the transmission of power, and incomplete finishing bevel gear cuter 402b, except the number of teeth was the flexible bevel pinion 402b of drive wheel half the, all the other gear parameters were all identical.
Shown in figure 11, described support tail telescoping mechanism 403 comprise support tail cone gear 403a, support tail transmission shaft 403b, transmission shaft finishing bevel gear cuter end bearing seat 403c, transmission shaft belt wheel end bearing seat 403d, small pulley 403e, big belt wheel 403f, synchronous cog belt 403g, synchronously be with screened housing 403h, lead screw shaft 403i, lead screw shaft two supports 403j, feed screw nut 403k, feed screw nut slide 403l, support cauda body 403m, lamellar body bearing pin 403n and support castor 403p.Wherein, support tail cone gear 403a and not exclusively finishing bevel gear cuter 402b engagement.Support concentric installation of drive motor Connection Block 101a on tail transmission shaft 403b and the frame 1, be fixed in the frame 1 through tapped bore 4D on the transmission shaft finishing bevel gear cuter end bearing seat 403c and transmission shaft belt wheel end bearing seat 403d and (be arranged in the cylinder through-core hole 1A of drive motor Connection Block 101a).
Shown in figure 12, lead screw shaft 403i, lead screw shaft two supports 403j, feed screw nut 403k and feed screw nut slide 403l constitute the lead screw transmission system, convert gyroscopic movement to required linear telescopic motion.Lead screw shaft 403i is fixed on the support tail telescoping mechanism Connection Block 101c on the frame 1 through lead screw shaft two supports 403j; Feed screw nut 403k and lead screw shaft 403i form screw mechanism with the form of screw pair; For preventing that lead screw shaft 403i is by recording the deflection deformation that excessively causes; Ad hoc have feed screw nut slide 403l to shrink with the straight line of auxiliary feed screw nut 403k; Form moving sets between feed screw nut 403k and feed screw nut slide 403l, and feed screw nut slide 403l is consolidated on the support tail telescoping mechanism Connection Block 101c on the frame 1 through bolt hole 4E.Stretch out symmetrically and shrink for reaching two feed screw nut 403k, special 4F with lead screw shaft 403i partly is designed to minus thread and right-hand screw thread respectively with 4G.
Shown in figure 11, support cauda body 403m, lamellar body bearing pin 403n and support castor 403p formation support tail.Support tail and be formed by connecting through lamellar body bearing pin 403n several pieces support cauda bodies 403m, the terminal connection again supported castor 403p to support the walking of robot.Three bearing pin through holes are arranged with installation lamellar body bearing pin 403n on the every support cauda body 403m, and the intermediate pin shaft through-hole is positioned at the middle of supporting cauda body 403m.When the support tail was flexible, each supported cauda body 403m and rotates around corresponding lamellar body bearing pin 403n.If supporting the length of cauda body 403m is l
1, quantity is n, the threaded portion length of lead screw shaft 403i is l
2, the length of robot was l when left driving wheel 2 was stretched out with right drive wheel 3 fully
3, then satisfy l
1≤l
2, l
3≈ nl
1
Shown in figure 13 is the concrete transmission of telescopic system 4 middle gear groups.Do not move interference in order to ensure supporting tail telescoping mechanism 403 with drive wheel telescoping mechanism 402; The spy utilizes the engagement of incomplete finishing bevel gear cuter 402b and non-mesh regional that drive wheel telescoping mechanism 402 and the motion of supporting tail telescoping mechanism 403 are staggered to a certain extent; Concrete operations are following: when left driving wheel 2 is stretched out with the relative frame 1 of right drive wheel 3 beginnings; Two half-round symmetrical on left side rocking bar 402g and the right rocking bar 402h are in crank 402f; And not exclusively finishing bevel gear cuter 402b does not mesh with support tail cone gear 403a; After incomplete finishing bevel gear cuter 402b has rotated 1/4 circle, just begin to get into engagement with support tail cone gear 403a, support the lead screw shaft 403i setting in motion in the tail telescoping mechanism 403 this moment, and two feed screw nut 403k are along feed screw nut slide 403l move toward one another; When incomplete finishing bevel gear cuter 402b rotated for 1/2 when circle, support tail and left driving wheel 2, right drive wheel 3 relative frames 1 are stretched out fully and telescopic drive motor 401a stops operating; In like manner; During contraction, telescopic drive motor 401a counter-rotating, not exclusively finishing bevel gear cuter 402b gets into engagement and has rotated 1/4 circle back jump out of mesh with support tail cone gear 403a; Support tail and shrink fully this moment; When incomplete finishing bevel gear cuter 402b had rotated 1/2 circle, left driving wheel 2 shrinks fully with right drive wheel 3 and telescopic drive motor 401a stops operating, and was shown in figure 14 when shrinking fully.If supporting the reduction ratio of the synchronous strap drive in the tail telescoping mechanism 403 is n
1, the threaded portion length of lead screw shaft 403i is l
2, helical pitch is p, then for to reach the demand that telescopic system 4 does not interfere, must satisfy 4l
2=n
1P.
Said control system 5 comprises control system housing 501, shooting headstock 502, camera fixed housing 503, wireless vision camera 504, main control board 505, left driving wheel motor-driven plate 506, right drive wheel motor-driven plate 507, telescopic system motor-driven plate 508 and power supply 509, shown in Figure 15 a and Figure 15 b; Wherein, Control system housing 501 is the cylindrical housings of boring, and main control board 505, left driving wheel motor-driven plate 506, left driving wheel motor-driven plate 507, telescopic system motor-driven plate 508 and power supply 509 are arranged on control system housing 501 inside.Have through hole 5C on the control system housing 501 with the support tail telescoping mechanism Connection Block 101c of fixed control system 5 in frame 1.Shooting headstock 502 is fixed on the support tail telescoping mechanism Connection Block 101c in the frame 1 through mounting hole 5A, and its upper surface is installed camera fixed housing 503, and wireless vision camera 504 is built in the camera fixed housing 503.Wireless vision camera 504 is mainly used in the advance real-time vision graphicinformation in the place ahead and give main control board 505 with information transfer through the camera antenna 5F on it of transferring robot, and main control board 505 is received and sent messages through master control antenna 5E; Left driving wheel motor-driven plate 506 and right drive wheel motor-driven plate 507 are used for the motion of controlling and driving turbin generator and the position and the velocity information of drive wheel fed back to main control board 505; The information of opening that folds that motion and the monitoring left driving wheel 2 that telescopic system motor-driven plate 508 is used for controlling the telescopic system motor and right drive wheel 3 fold open status information and support tail, and give main control board 505 with message feedback.Power supply 509 connects camera power end 5G through cable hole 5H and gives wireless vision camera 504 power supplies; Driving power is provided for main control board 505 and left driving wheel motor-driven plate 506, left driving wheel motor-driven plate 507, telescopic system motor-driven plate 508 through trough 5B and 5I.
Robot of the present invention has expansion and folds two states when implementation and operation; Deployed condition is as shown in Figure 1, and robot both can go and execute the task in relatively flat ground flexible motion this moment, also can in the rugged environment of complicacy, cross the meadow grit, cross typical obstacle such as step, accomplishes assigned work; Collapse state is shown in figure 14, and this moment, robot was only reserved left driving wheel 2 and right drive wheel 3 in the external world, and remainder all shrinks in inside, and entire machine people is spherical in shape, has camouflage, and difficult quilt is discovered.
Claims (8)
1. a portable extension type ball-type throwing reconnaissance robot is characterized in that: comprise frame, left driving wheel, right drive wheel, telescopic system and control system; Frame is a hollow structure, frame two ends be connected left driving wheel and right drive wheel; The middle part of frame is equipped with telescopic system and control system;
Described frame comprises drive motor Connection Block, drive wheel telescoping mechanism Connection Block and supports tail telescoping mechanism Connection Block; The drive motor Connection Block is a hollow cylinder; Be positioned at the frame two ends; Be used to connect left driving wheel and right drive wheel, the drive motor of built-in left driving wheel of cylinder through-core hole 1A and right drive wheel in the drive motor Connection Block; Drive wheel telescoping mechanism Connection Block is between the drive motor Connection Block, and the cylindrical hole 1B on the drive wheel telescoping mechanism Connection Block is used to connect the slider-crank mechanism of drive wheel telescoping mechanism; Support tail telescoping mechanism Connection Block and be fixed on drive motor Connection Block periphery, be provided with the lead screw gear that cylindrical hole 1D is used to connect telescopic system, be provided with tapped bore 1E and be used for fixing control system; Drive motor Connection Block in the frame is provided with otch 1C, is used to place the pulley arrangement of telescopic system;
Described left driving wheel is identical with right drive wheel structure, and wherein, left driving wheel comprises left driving wheel shell, left driving wheel motor Connection Block, damping disc, drive motor and the left driving wheel Connection Block that stretches; The left driving wheel shell comprises rubber shell, body frame, textured projection, bulbous protrusion and rubber rib; The rubber shell outside is provided with textured projection, bulbous protrusion, and inside is provided with the rubber rib, and body frame is positioned at rubber shell inside, and the through hole 2B on the body frame is used for connecting three moving leaders of left driving wheel motor Connection Block, and fixed through tapped bore 2A; The tapped bore 2C that is uniformly distributed with on the left driving wheel shell is used to the damping disc that is connected;
Left driving wheel motor Connection Block comprises permanent seat, drive motor seat, bearing, axial retention sheet, bearing locating bush, three moving leaders and drive wheel tetrafluoro cover; Wherein, permanent seat is the pyramidal structure of indent, and interior recess is provided with stepped shaft with installing drive motor cabinet, bearing and bearing locating bush; The concentric installing drive motor cabinet of bearing inner ring, the outer ring is installed the bearing locating bush with one heart; Link to each other with the drive motor Connection Block of frame through waist type groove 2D on the bearing locating bush; Permanent seat be circumferentially with three through holes that are uniformly distributed with to connect drive wheel tetrafluoro cover; Three moving leaders are cylindric and are parallel to each other, and an end is fixed on the body frame, and the other end passes the drive wheel tetrafluoro and puts and the corresponding hole of moving leader, captives joint with damping disc at last; Counterbore 2F on the drive motor seat be used to the to be connected drive motor Connection Block of frame, tapped bore 2E is used for fixing drive motor; The axial retention sheet is close to the end face of permanent seat, and counterbore 2G is corresponding with the tapped bore 2H on the permanent seat;
Be loaded in the drive motor among the cylindrical hole 1A of frame; Be fastened on the drive motor seat through screw; Be connected for bearing between drive motor seat and the permanent seat; The motor projecting shaft of drive motor passes the drive motor seat, is inserted in the permanent seat, and fixes through the tapped bore 2I on the permanent seat and 2J and permanent seat;
Damping disc comprises rubber disk body, damping skeleton and hub Connection Block; Cylindrical hole 2K on the damping skeleton links to each other with three moving leaders on the left driving wheel motor Connection Block; One group of tapped bore 2L on the damping skeleton is used for the flexible Connection Block of fixed left driving wheel; Tapped bore 2M on the hub Connection Block is used to connect the left driving wheel shell, and its size is corresponding with tapped bore 2C;
The flexible Connection Block of left driving wheel comprises ball axial retention seat, ball pipe bracket, shrinks permanent seat, tetrafluoro bearing shell and ball body; Wherein, the inboard of a side of ball pipe bracket and ball axial retention seat forms a row ball trajectory, interior dress ball body; The inner arc groove of the opposite side of ball pipe bracket and permanent seat forms another row ball trajectory, interior dress ball body; The ball pipe bracket is installed in ball axial retention seat and shrinks between the permanent seat, and the tapped bore 2Q on it is used to connect the damping skeleton on the damping disc; Fixed through being connected of counterbore 2P and tapped bore 2Y with the contraction permanent seat with ball axial retention seat; Tetrafluoro bearing shell and the concentric formation moving sets of installing of frame are realized the tetrafluoro bearing shell and are shunk the fixing of permanent seat with being connected of tapped bore 2X through counterbore 2Z; Cylindrical hole 2R on the contraction permanent seat links to each other with the slider-crank mechanism in the pinch system;
Described telescopic system comprises telescopic drive, drive wheel telescoping mechanism and supports the tail telescoping mechanism; Wherein, telescopic drive is fixed on the frame, and the drive wheel telescoping mechanism is fixed on the drive wheel telescoping mechanism Connection Block in the frame; Supporting the tail telescoping mechanism is fixed on the support tail telescoping mechanism Connection Block in the frame;
Telescopic drive comprises that telescopic drive motor, telescopic drive motor cabinet, motor prolong axle, drive finishing bevel gear cuter and fixing snap ring; Wherein, the telescopic drive motor is connected through tapped bore 4B and telescopic drive motor cabinet; The telescopic drive motor cabinet is connected through counterbore 4A and frame; The projecting shaft of telescopic drive motor passes the telescopic drive motor cabinet, prolongs axle through circumferential tapped bore and motor and is connected; Drive finishing bevel gear cuter and prolong concentric installations of axle, realize driving circumferentially fixing of finishing bevel gear cuter, through the fixing axial restraint of snap ring realization driving finishing bevel gear cuter through circumferential tapped bore with motor; Drive the flexible finishing bevel gear cuter standard engagement of drive wheel of finishing bevel gear cuter and drive wheel telescoping mechanism, give the drive wheel telescoping mechanism transmission of power;
The drive wheel telescoping mechanism is installed on the drive wheel contracting mechanism Connection Block in the frame, comprises drive wheel stretch finishing bevel gear cuter, not exclusively finishing bevel gear cuter, bearing cap shim, bearing, bevel gear shaft, crank, left rocking bar, right rocking bar and slide block; The drive wheel telescoping mechanism adopts slider-crank mechanism to realize the flexible of left driving wheel and right drive wheel, and slider-crank mechanism comprises crank, left rocking bar, right rocking bar and slide block; Wherein crank is cemented in the finishing bevel gear cuter the tip of the axis; Crank and left rocking bar, right rocking bar be connected the bearing pin that adopts the overcoat bearing; Slide block is through the tapped bore 4C flexible Connection Block of left driving wheel that is connected, and its size is corresponding with cylindrical hole 2R on the contraction permanent seat; Bearing cap shim is connected with the concentric installation of bevel gear shaft and with drive wheel contracting mechanism Connection Block; Incomplete finishing bevel gear cuter and the support tail cone gear mesh that supports in the tail telescoping mechanism;
Support the tail telescoping mechanism comprise support the tail cone gear, support tail transmission shaft, transmission shaft finishing bevel gear cuter end bearing, transmission shaft belt wheel end bearing, small pulley, big belt wheel, synchronous cog belt, synchronously be with screened housing, lead screw shaft, lead screw shaft two supports, feed screw nut, feed screw nut slide, support cauda body, lamellar body bearing pin and support castor; Wherein, support tail cone gear and not exclusively finishing bevel gear cuter engagement; Support concentric installation of drive motor Connection Block in tail transmission shaft and the frame, be fixed in the frame through tapped bore 4D on the transmission shaft finishing bevel gear cuter end bearing and transmission shaft belt wheel end bearing;
Small pulley, big belt wheel, synchronous cog belt and be with screened housing to constitute synchronization belt transmission system synchronously; Small pulley is installed in an end that supports tail transmission shaft, and big belt wheel is installed in an end of lead screw shaft, will support the transmission of power of tail transmission shaft through the engagement type strap drive and give lead screw shaft, and be with screened housing to be positioned at the synchronization belt transmission system periphery synchronously, is fixedly installed in frame;
Lead screw shaft, lead screw shaft two supports, feed screw nut and feed screw nut slide constitute the lead screw transmission system; Lead screw shaft is fixed on the support tail telescoping mechanism Connection Block on the frame through the lead screw shaft two supports; Feed screw nut and lead screw shaft form screw mechanism with the form of screw pair; Feed screw nut and feed screw nut slide form moving sets, and the feed screw nut slide is consolidated on the support tail telescoping mechanism Connection Block on the frame through bolt hole 4E; The 4F of lead screw shaft and 4G are respectively minus thread and right-hand screw thread;
Support cauda body, lamellar body bearing pin and support castor and constitute the support tail; Support tail and be formed by connecting through the lamellar body bearing pin several pieces support cauda bodies, the terminal connection again supported castor to support the walking of robot; Three bearing pin through holes are arranged with installation lamellar body bearing pin on the every support cauda body, and the intermediate pin shaft through-hole is positioned at the middle of supporting the cauda body;
Said control system comprises control system housing, shooting headstock, camera fixed housing, wireless vision camera, main control board, left driving wheel motor-driven plate, right drive wheel motor-driven plate, telescopic system motor-driven plate and power supply; Wherein, the control system housing is the cylindrical housings of boring, and main control board, left driving wheel motor-driven plate, left driving wheel motor-driven plate, telescopic system motor-driven plate and power supply are arranged on the control system enclosure interior; Have through hole 5C on the control system housing with the support tail telescoping mechanism Connection Block of fixed control system in frame; The shooting headstock is fixed on the support tail telescoping mechanism Connection Block in the frame through mounting hole 5A, and its upper surface is installed the camera fixed housing, and wireless vision camera is built in the camera fixed housing; Wireless vision camera is mainly used in the advance real-time vision graphicinformation in the place ahead and give main control board with information transfer through the camera antenna 5F on it of transferring robot, and main control board is received and sent messages through master control antenna 5E; Left driving wheel motor-driven plate and right drive wheel motor-driven plate are used for the motion of controlling and driving turbin generator and the position and the velocity information of drive wheel fed back to main control board; The information of opening that folds that motion and the monitoring left driving wheel that telescopic system motor-driven plate is used for controlling the telescopic system motor and right drive wheel fold open status information and support tail, and with message feedback to main control board; Power supply connects camera power end 5G through cable hole 5H and gives wireless vision camera power supply; To main control board and left driving wheel motor-driven plate, left driving wheel motor-driven plate, telescopic system motor-driven plate driving power is provided through trough 5B and 5I.
2. according to the said a kind of portable extension type ball-type throwing reconnaissance robot of claim 1, it is characterized in that: described left driving wheel shell is one injection moulding processing with the right hub that drives.
3. according to the said a kind of portable extension type ball-type throwing reconnaissance robot of claim 1, it is characterized in that: described damping disc is one injection moulding processing.
4. according to the said a kind of portable extension type ball-type throwing reconnaissance robot of claim 1; It is characterized in that: described telescopic system provides a propulsion source by telescopic drive; Two-way transmission after the bevel gear set switching-over, one tunnel transmission give the drive wheel telescoping mechanism to realize the fore and aft motion of drive wheel; Another road transmission is given and is supported the tail telescoping mechanism to realize supporting the fore and aft motion of tail.
5. according to the said a kind of portable extension type ball-type throwing reconnaissance robot of claim 4, it is characterized in that: adopt the engagement of incomplete finishing bevel gear cuter and non-mesh regional that drive wheel telescoping mechanism and the motion of supporting the tail telescoping mechanism are staggered to a certain extent in the described bevel gear set.
6. according to the said a kind of portable extension type ball-type throwing reconnaissance robot of claim 4, it is characterized in that: the reduction ratio of the synchronous strap drive in the described support tail telescoping mechanism is n
1, the threaded portion length of lead screw shaft is l
2, helical pitch is p, then satisfies 4l
2=n
1P.
7. according to the said a kind of portable extension type ball-type throwing reconnaissance robot of claim 1, it is characterized in that: the left rocking bar of described drive wheel telescoping mechanism and right rocking bar are circular-arc.
8. according to the said a kind of portable extension type ball-type throwing reconnaissance robot of claim 1, it is characterized in that: described support tail supports the cauda body by several pieces and is formed by connecting through the lamellar body bearing pin, and establishing the length that supports the cauda body is l
1, quantity is n, the threaded portion length of lead screw shaft is l
2, the length of robot was l when left driving wheel and right drive wheel were stretched out fully
3, l then
1≤l
2, l
3≈ nl
1
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101790437A CN102267505B (en) | 2011-06-29 | 2011-06-29 | Portable telescopic spherical throwing detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101790437A CN102267505B (en) | 2011-06-29 | 2011-06-29 | Portable telescopic spherical throwing detection robot |
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| Publication Number | Publication Date |
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| CN102267505A CN102267505A (en) | 2011-12-07 |
| CN102267505B true CN102267505B (en) | 2012-11-07 |
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| CN2011101790437A Expired - Fee Related CN102267505B (en) | 2011-06-29 | 2011-06-29 | Portable telescopic spherical throwing detection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103434581B (en) * | 2013-08-08 | 2015-10-14 | 大连理工大学 | A kind of Sole mechanism of robot |
| CN104002886A (en) * | 2014-05-22 | 2014-08-27 | 战强 | Shape-shifting spherical detection robot |
| CN104149867B (en) * | 2014-08-19 | 2017-01-11 | 东南大学 | Miniature robot capable of being thrown |
| CN105197122A (en) * | 2015-10-16 | 2015-12-30 | 北京机械设备研究所 | Throwable reconnaissance robot |
| CN106772659B (en) * | 2016-12-21 | 2019-05-03 | 中国航天科工集团第四研究院指挥自动化技术研发与应用中心 | One kind can releasing type optical reconnaissance device as the occasion requires |
| CN107972781B (en) * | 2017-11-14 | 2023-06-02 | 宜昌创源中新光电科技有限公司 | Two-wheel self-balancing reconnaissance trolley based on wireless transmission and control method |
| CN109250004A (en) * | 2018-10-29 | 2019-01-22 | 逻腾（杭州）科技有限公司 | A kind of panoramic information acquisition rolling robot |
| CN115674212A (en) * | 2021-07-27 | 2023-02-03 | 歌尔科技有限公司 | Turning wheel device, driving wheel and robot |
| CN115026855A (en) * | 2022-08-15 | 2022-09-09 | 南京航空航天大学 | Throwing robot with omnidirectional impact resistance |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0454838A (en) * | 1990-06-22 | 1992-02-21 | Toyo Koki Kk | Traveling generator for vehicle |
| JP3661894B2 (en) * | 1996-03-19 | 2005-06-22 | ソニー株式会社 | Sphere moving device |
| CN100532181C (en) * | 2007-11-30 | 2009-08-26 | 中国人民解放军国防科学技术大学 | Multiple sporting state spherical robot |
| CN101314222B (en) * | 2008-05-12 | 2010-06-09 | 北京邮电大学 | Spherical robot having visual sensation and arms on both sides |
| CN101559794B (en) * | 2009-06-02 | 2011-08-03 | 北京邮电大学 | Crawler type spherical robot |
| CN102050167B (en) * | 2010-09-10 | 2012-05-16 | 北京航空航天大学 | Portable two-wheeled two-leg combined transformable robot |
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2011
- 2011-06-29 CN CN2011101790437A patent/CN102267505B/en not_active Expired - Fee Related
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| CN102267505A (en) | 2011-12-07 |
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