CN102336229A - Throwing robot with changeable shape - Google Patents
Throwing robot with changeable shape Download PDFInfo
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- CN102336229A CN102336229A CN2011101873957A CN201110187395A CN102336229A CN 102336229 A CN102336229 A CN 102336229A CN 2011101873957 A CN2011101873957 A CN 2011101873957A CN 201110187395 A CN201110187395 A CN 201110187395A CN 102336229 A CN102336229 A CN 102336229A
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Abstract
The invention discloses a throwing robot with a changeable shape, comprising a housing part, wherein the housing part comprises two symmetrical semi-housings, and the semi-housings respectively have a semi-hermetic structure with an axisymmetric shape. The throwing robot is characterized by further comprising an actuating mechanism part, a camera part and a power control part arranged in the housing part; and the two semi-housings are respectively provided with a locking part which is relatively rotated to be opened or closed, and the camera part is fixedly connected above an actuating connection part. The throwing robot has the beneficial effects that a plurality of important inner structures are protected in an inner part by the housing part of the robot, so that the housing part of the robot is always firstly contacted with the ground regardless of falling angles, therefore, the inner structures of the robot can not be damaged; the shape of the robot is changed to the structure of a two-wheel vehicle after the robot falls on the ground, so that the robot is flexible in motion capacity; and the pitching angle of the camera is adjusted by a steering engine, so that the sight line rang of the camera carried by the robot is improved, and the scouting space of the robot is enlarged.
Description
Technical field
The present invention relates to a kind of robot, but be specifically related to a kind of miniature throwing, deformable robot.
Background technology
The general employing of present existing throwing robot guarantees that the way that running gear and ground at first contact as buffering reduces the impulsive force of robot when falling, thereby guarantees that robot can not damaged by impulsive force.But the basic structure of existing throwing robot can only guarantee that the running gear of robot could at first contact with ground when falling ground and be smooth ground; When ground was rugged and rough, at first kiss the earth still possibly be the robot body, and robot will be damaged owing to lacking buffering.Simultaneously, because the microrobot size is narrow and small, the camera eye height that causes it to carry is very low, range of observation is narrow and small.
Summary of the invention
For solving the deficiency of prior art, can protect the throwing robot of a kind of shape-variable of the wider shape-variable of robot interior structure and range of observation when the object of the present invention is to provide a kind of landing.
To achieve these goals, the present invention adopts following technical scheme:
A kind of throwing robot of shape-variable; Comprise housing department, above-mentioned housing department comprises two and half shells of symmetry, and above-mentioned half shell is the semi-closed structure with rotational symmetry profile; It is characterized in that, also comprise the above-mentioned housing department in-to-in actuating unit portion that is arranged on, shooting head, power control portion; Above-mentioned power control portion comprises: battery and control desk; Above-mentioned two and half shells are provided with that green phase is opened rotation or closed lock unit, and above-mentioned shooting head is fixedly connected on the top of above-mentioned actuating unit portion; Above-mentioned actuating unit portion comprises: the motor that is used to drive above-mentioned wheel shaft that the main erecting frame, two that is arranged on central authorities is arranged on above-mentioned main erecting frame both sides and is electrically connected with wheel shaft, more than one and above-mentioned battery and control desk that above-mentioned two slide blocks are rotationally connected respectively with the slide block of the direction of slip sliding block joint that parallels, two with above-mentioned main erecting frame; Be provided with the elastic component that is used to flick above-mentioned main erecting frame and slide block between above-mentioned main erecting frame and the above-mentioned slide block, above-mentioned two wheel shafts are captiveed joint with two and half shells of above-mentioned housing department respectively; The parallel axes of above-mentioned two wheel shafts overlaps in the direction of slip of above-mentioned slide block and with the axis of symmetry of above-mentioned two and half shells; Above-mentioned battery and control desk are installed in the above-mentioned main erecting frame.
The throwing robot of aforesaid a kind of shape-variable; It is characterized in that; Above-mentioned shooting head comprises: fixed frame, be arranged on the camera that is electrically connected with control desk with above-mentioned battery in the said fixing frame, the left top cover that is rotationally connected with the said fixing frame and right top cover, with above-mentioned left top cover or right top cover in one captive joint and drive the steering wheel that the said fixing frame rotates up and down, above-mentioned steering wheel is electrically connected with above-mentioned battery and control desk.
The throwing robot of aforesaid a kind of shape-variable is characterized in that, above-mentioned shooting head also comprises: steering wheel; Above-mentioned left top cover and right top cover are respectively equipped with left mounting hole and right mounting hole, in above-mentioned left mounting hole and right mounting hole, are respectively equipped with left-hand rotation dynamic bearing and right-hand rotation dynamic bearing; The left side of said fixing frame is provided with and turns to blind hole; The right side is provided with the rotating shaft that fixed frame cooperates with above-mentioned right-hand rotation moving axis; Above-mentioned steering wheel is installed the left top cover outside, and the rotating shaft of steering wheel captives joint with above-mentioned steering wheel, and above-mentioned steering wheel comprises disk body and sleeve; Above-mentioned steering wheel passes above-mentioned left-hand rotation dynamic bearing through above-mentioned sleeve and left top cover is rotationally connected, and above-mentioned steering wheel is captiveed joint with said fixing frame formation with the above-mentioned blind hole interference fit that turns to through above-mentioned disk body.
The throwing robot of aforesaid a kind of shape-variable is characterized in that, the outside of above-mentioned steering wheel is provided with the steering wheel over cap of protection steering wheel; The above-mentioned right top cover outside is provided with receiver that is electrically connected with above-mentioned battery and control desk and the receiver protection of protecting above-mentioned receiver lid, and above-mentioned shooting head is captiveed joint with above-mentioned main erecting frame with right top cover through above-mentioned left top cover.
The throwing robot of aforesaid a kind of shape-variable is characterized in that, above-mentioned actuating unit portion also comprises: two sliding guides; The outside on the above-mentioned sliding guide slidely connects the spring and the fixed cover with stop surface as above-mentioned elastic component, and above-mentioned stop surface blocks a wherein end of above-mentioned spring; Above-mentioned main erecting frame is provided with the guide rod mounting hole of two parallel axes, and the said fixing cover is fixedly mounted in the above-mentioned guide rod mounting hole; Above-mentioned slide block is provided with two slide block mounting holes that supply above-mentioned two sliding guides to pass through; Be provided with the linear bearing of the above-mentioned sliding guide of socket in the above-mentioned slide block mounting hole; Above-mentioned slide block mounting hole is stretched out at the two ends of above-mentioned sliding guide respectively; And the two ends that above-mentioned sliding guide stretches out above-mentioned slide block mounting hole are fixedly connected with stop component, and the both sides that the spring of above-mentioned two sliding guides is separately positioned on main erecting frame contact with different above-mentioned slide blocks.
The throwing robot of aforesaid a kind of shape-variable is characterized in that, above-mentioned actuating unit portion also comprises: synchronously band, form band bonded assembly electrical machine belt pulley and wheel shaft pulley through above-mentioned synchronous band; Be equipped with on the above-mentioned slide block: the motor mounting hole, by different structure on the slide block form coaxially to each other and have first mounting hole and second mounting hole of certain interval; Be provided with first flange bearing in above-mentioned first mounting hole; Be provided with second flange bearing in above-mentioned second mounting hole; Be provided with the wheel shaft pulley between above-mentioned first flange bearing and second flange bearing, above-mentioned wheel shaft passes the end stop end cap that is provided with outside above-mentioned first flange bearing, wheel shaft pulley, second flange bearing and second flanged shaft successively captives joint; Above-mentioned motor is fixedly connected in the above-mentioned motor mounting hole, and the rotating shaft of above-mentioned motor is captiveed joint with electrical machine belt pulley; Above-mentioned main erecting frame is provided with the putting hole that holds above-mentioned motor body.
The throwing robot of aforesaid a kind of shape-variable; It is characterized in that above-mentioned housing department integral body is a spherical shell, above-mentioned two and half shells are two hemispherical Shells of symmetry; Shell wall center at half shell is provided with fixedly blind hole, and the external side end of above-mentioned wheel shaft is provided with the attaching parts of captiveing joint with the said fixing blind hole; The circumferencial direction at opening is fixedly connected with a plurality of card buttons in above-mentioned two and half shells; Another circumferencial direction at opening is provided with a plurality of buckles that can rotate chucking relatively or loosen with the different directions of above-mentioned card button through half shell, and above-mentioned closed block comprises above-mentioned card button and buckle.
The throwing robot of aforesaid a kind of shape-variable is characterized in that, above-mentioned main erecting frame middle part captive joint is useful on the battery case that holds above-mentioned battery, and above-mentioned control desk is fixed on the top of above-mentioned battery case.
The throwing robot of aforesaid a kind of shape-variable is characterized in that said fixing blind hole and attaching parts are regular hexagon; Above-mentioned card button and buckle are one to one, and their number is 4.
The throwing robot of aforesaid a kind of shape-variable is characterized in that, above-mentioned main erecting frame is the axially symmetric structure of axis of symmetry for the center shaft with vertical side, and the direction of slip of above-mentioned slide block is a horizontal direction.
The throwing robot of aforesaid a kind of shape-variable is characterized in that, above-mentioned actuating unit forms axially symmetric structure except other parts of above-mentioned main erecting frame about the axis of symmetry of above-mentioned main erecting frame.
Usefulness of the present invention is: the housing department of robot all protects important inner structure in inside, no matter with which kind of angle lands, and at first kiss the earth all is the housing department of robot, thereby has protected the robot interior structure not to be damaged; After landing, robot is deformed into two-wheeler structure, guarantees that robot has locomitivity flexibly; Regulate the pitch angle degree of camera in addition through steering wheel, improved the range of visibility of the camera that robot carries, thereby enlarged the scouting space of robot.
Description of drawings
Fig. 1 is the integral structure scheme drawing of a preferred embodiment of the throwing robot of a kind of shape-variable of the present invention;
Fig. 2 be a kind of shape-variable of the present invention the throwing robot actuating unit portion a preferred embodiment face structural representation;
Fig. 3 is shooting head and a preferred embodiment structural representation of main erecting frame of the throwing robot of a kind of shape-variable of the present invention;
Fig. 4 is the preferred structure scheme drawing at left top cover place of the throwing robot of a kind of shape-variable of the present invention;
Fig. 5 is the preferred structure scheme drawing at fixed frame place of the throwing robot of a kind of shape-variable of the present invention;
Fig. 6 is that the right top cover place of the throwing robot of a kind of shape-variable of the present invention gets the preferred structure scheme drawing;
Fig. 7 is the blast structural representation of preferred version of main erecting frame and sliding guide of the throwing robot of a kind of shape-variable of the present invention;
Fig. 8 is main erecting frame, battery erecting frame mounting structure scheme drawing;
Fig. 9 is battery erecting frame, battery, control desk assembling blast structural representation figure;
Figure 10 is the blast structural representation of preferred version of main erecting frame, sliding guide and slide block of the throwing robot of a kind of shape-variable of the present invention;
Figure 11 is slide block and the blast structural representation of the isostructural preferred version of plain bearing of the throwing robot of a kind of shape-variable of the present invention;
Figure 12 is the blast structural representation of preferred version at slide block place of the throwing robot of a kind of shape-variable of the present invention;
Figure 13 is the scheme drawing of connection structure of wheel shaft of the throwing robot of a kind of shape-variable of the present invention;
Figure 14 is the structural representation of one of them half shell in the preferred version of throwing robot of a kind of shape-variable of the present invention;
Figure 15 is the structural representation of another half shell wherein in the preferred version of throwing robot of a kind of shape-variable of the present invention;
Figure 16 is the structural representation of the wheel shaft of the throwing robot of a kind of shape-variable of the present invention preferred version of captiveing joint with half shell.
The implication of Reference numeral among the figure:
Main erecting frame 1, sliding guide 2, spring 3, camera left side top cover 4, steering wheel 5, steering wheel over cap 6, steering wheel 7; Left-hand rotation dynamic bearing 8A, right-hand rotation dynamic bearing 8B, camera 9, fixed frame 10, the right top cover 11 of camera, receiver protection lid 12, slide block 13; The first flange bearing 14A, the second flange bearing 14B, plain bearing 15A, 15B, motor 16, electrical machine belt pulley 17, wheel shaft 18; Wheel shaft pulley 19 is with 20 synchronously, end stop end cap 21, slide block stop end 22, left shell 23, card wheel 24; Right shell 25, buckle 26, receiver 27, battery case 28, control desk 29, battery 30;
Left side mounting hole 408, right mounting hole 1106 turns to blind hole 1001, rotating shaft 1002; Fixed cover 203,204, guide rod mounting hole 101,102, slide block mounting hole 1303,1304, motor mounting hole 1305; First mounting hole, 1301, the second mounting holes, 1302, the first flange bearing 14A; The second flange bearing 14B, fixedly blind hole 2306,2505, connecting element 1803.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is done concrete introduction.
With reference to Fig. 1, shown in Figure 2, the throwing robot of a kind of shape-variable of the present invention mainly comprises three parts: housing department, actuating unit portion, shooting head, power control portion; Wherein actuating unit portion, shooting head, power control portion, all be arranged on the inside of housing department, good for the visual field that makes camera 9, the shooting head is fixed on the top of actuating unit portion.
As shown in fig. 1, wherein housing parts is two and half shells 23,25, and they should be symmetrical; Advance for they can be rotated under the driving of wheel shaft 18 after opening, two and half shells 23,25 are semi-enclosed structure of rotational symmetry profile, and its axis of symmetry is horizontally disposed with; And with the dead in line of wheel shaft 18, as preferred version, two and half shells 23,25 are hemispherical Shell; In addition, can also be semielliptical shell etc.
Like Fig. 2, Fig. 3, Fig. 4, shown in Figure 5, as a kind of preferred version, the shooting head comprises: fixed frame 10, camera 9, left top cover 4, right top cover 11, steering wheel 5, steering wheel 7.Wherein, left top cover 4 is provided with left mounting hole 408, and right top cover 11 is provided with right mounting hole 1106; Be respectively equipped with left-hand rotation dynamic bearing 8A and right-hand rotation dynamic bearing 8B in left side mounting hole 408 and the right mounting hole 1106, the left side of fixed frame 10 is provided with and turns to blind hole 1001, right side to be provided with the rotating shaft 1002 that is socketed among the right-hand rotation dynamic bearing 8B; Steering wheel 5 is installed in the outside of left top cover 11; Its output shaft with pass left-hand rotation dynamic bearing 8A and captive joint with steering wheel 7, steering wheel 7 is divided into disk body and sleeve, is socketed on the output shaft of steering wheel 5 thereby its middle sleeve is used for penetrating left-hand rotation dynamic bearing 8A; Disk body with turn to blind hole 1001 interference fit to constitute to captive joint; So, fixed frame 10 constitutes with the left top cover 4 of both sides, right top cover 11 and is rotationally connected, and can drive fixed frame 10 and rotates when the output shaft of steering wheel 7 rotates.Camera 9 is arranged in the fixed frame 10, and as preferably, camera 9 can adopt the interference fit that has groove to captive joint with fixed frame 10.
For fixing and protection steering wheel 7, be provided with the steering wheel over cap 6 of captiveing joint in the outside of steering wheel 7 with left top cover 4.Be fixedly connected with receiver protection lid 12 in the outside of right top cover 11, receiver protection lid 12 protection receivers 27.The effect of receiver 27 is, obtains communication contact with the external world.
Like Fig. 8, shown in Figure 9: battery erecting frame 28 is fixed on the main erecting frame 1 with bonding way, and it is inner that battery 30 is inserted the battery erecting frame, and control desk 29 is fixed on battery erecting frame upper surface with bonding way.
With reference to Fig. 1, Fig. 2, Fig. 7, Figure 10, as a kind of preferred version, actuating unit portion comprises: main erecting frame 1, two sliding guides 2, the spring 3 that are parallel to each other; The slide block 13 that both direction is opposite, motor 16, electrical machine belt pulley 17; Wheel shaft 18, wheel shaft pulley 19 is with 20 synchronously; End stop end cap 21, slide block stop end 22.The outside on the sliding guide 2 slidely connects spring 3 and the fixed cover 203,204 with stop surface.
Wherein, as shown in Figure 7, main erecting frame 1 is provided with the guide rod mounting hole 101,102 of two parallel axes, and fixed cover 203,204 is fixedly mounted on guide rod mounting hole interior 101,102; Slide block 13 is provided with two the slide block mounting holes 1303,1304 that supply sliding guide 2 to pass through.As shown in Figure 9; Be provided with plain bearing 15A, the 15B of socket sliding guide 2 in the slide block mounting hole 1303,1304; Slide block mounting hole 1303,1304 is stretched out at the two ends of sliding guide 2 respectively; As shown in Fig. 2 and Fig. 8, all stretch out from slide block mounting hole 1303,1304 at sliding guide 2 two ends; And the both sides slide block 13 opposite with both direction that the spring 3 that the two ends that sliding guide 2 stretches out slide block mounting hole 1303,1304 are fixedly connected with 22, two sliding guides 2 of stop component is separately positioned on main erecting frame 1 contacts.
Like Fig. 7, Figure 10, Figure 12, shown in Figure 13; Slide block 13 is provided with: motor mounting hole 1305, by different structure on the slide block 13 form coaxially to each other and have first mounting hole 1301 and second mounting hole 1302 of certain interval; 1301 are provided with the first flange bearing 14A in first mounting hole; Be provided with the second flange bearing 14B in second mounting hole 1302; Be provided with wheel shaft pulley 19 between the first flange bearing 14A and the second flange bearing 14B; Wheel shaft 18 passes the first flange bearing 14A successively, wheel shaft pulley 19, the second flange bearing 14B are captiveed joint with the end stop end cap 21 that the second flange bearing 14B outside is provided with, and can adopt as preferred this captive joint to be threaded; Motor 16 is fixedly connected in the motor mounting hole 1305, and the rotating shaft of motor 16 is captiveed joint with electrical machine belt pulley 17; Main erecting frame 1 is provided with the putting hole 109,110 that holds motor 16 bodies.Electrical machine belt pulley 17 is connected through being with 20 formation bands synchronously with wheel shaft pulley 19.
So, under the effect that does not have external force, under the effect of spring 3; Slide block 13 skids off laterally, when motor 16 rotates, through rotary electric machine belt wheel 17; Thereby through being with 20 driven wheel shaft pulley 19 to rotate synchronously; Thereby wheel shaft 18 is also rotated, and half shell of captive joint (comprising left half shell 23 and right half shell 25) also rotates with it, thereby drives the entire machine person walks.
For can make robot in throwing as a sealed whole body, to shown in Figure 16, be provided with fixedly blind hole 2306,2505 like Fig. 1, Figure 13 at the shell wall center of half shell 23,25; Shown in figure 12, at the external side end of wheel shaft 18, just the end away from slide block 13 is provided with connecting element 1803; As shown in Figure 16; This connecting element 1803 is used for cooperating with fixing blind hole 2306,2505 and forms a fixed connection, and as a kind of preferred version, they adopt bolted connection.When wheel shaft 18 rotated, half shell 23,25 also can rotate.As preferably, fixedly blind hole 2306,2505 is a regular hexagon, and connecting element 1803 is corresponding regular hexagon.
In addition, circumferencial direction at opening is fixedly connected with a plurality of cards wheels 24 in two and half shells 23,25, and another circumferencial direction at opening is provided with a plurality of buckles 26 that can rotate chucking relatively or loosen with above-mentioned card wheel 24 different directions through half shell.The people can rotate suitable angle then through half shell 23,25 that both hands compress both sides like this, makes card wheel 24 and buckle 26 chuckings, makes two and half shells 23,25 form a leak free integral body; Be convenient to throw or reclaim, when after robot lands, needing to launch, like Fig. 1, shown in Figure 2; Motor 16 rotates; The slide block 13 of both sides is flicked under spring 3 effects, thereby two and half shells 23,25 are opened, begin to carry out work.
As a kind of preferred version, card wheel 24 is one to one with buckle 26, and their number is 4; They can be through being bolted on half shell 23,25.
As a kind of preferred version, like Fig. 2, Fig. 3, Fig. 7, shown in Figure 10, main erecting frame 1 is the axially symmetric structure of axis of symmetry for the center shaft with vertical side, and the direction of slip of two slide blocks 13 is a horizontal direction, and in the opposite direction each other.Actuating unit portion forms axially symmetric structure except other parts of main erecting frame 1 about the axis of symmetry of main erecting frame 1.
Like Fig. 8, shown in Figure 9; Power control portion comprises: battery 30 and control desk 29; Above-mentioned in order to make battery 30 and control desk 29 be fixed on main erecting frame 1; Be fixedly connected with battery case 28 at the middle part of main erecting frame 1, battery 30 just is placed on the inside of battery case 28, and control desk 29 is fixed on the top of battery case 28.Battery 30 is electrically connected with steering wheel 5, pick up camera 9, receiver 27, motor 16 respectively with control desk 29.Wherein battery is responsible for providing power supply, and control desk is responsible for controlling each several part work, is rechargeable battery as preferred battery 30.
The foregoing description does not limit the present invention in any form, and all employings are equal to the technical scheme that mode obtained of replacement or equivalent transformation, all drop in protection scope of the present invention.
Claims (11)
1. the throwing robot of a shape-variable; Comprise housing department, above-mentioned housing department comprises two and half shells of symmetry, and above-mentioned half shell is the semi-closed structure with rotational symmetry profile; It is characterized in that, also comprise the above-mentioned housing department in-to-in actuating unit portion that is arranged on, shooting head, power control portion; Above-mentioned power control portion comprises: battery and control desk; Above-mentioned two and half shells are provided with that green phase is opened rotation or closed lock unit, and above-mentioned shooting head is fixedly connected on the top of above-mentioned actuating unit portion; Above-mentioned actuating unit portion comprises: the motor that is used to drive above-mentioned wheel shaft that the main erecting frame, two that is arranged on central authorities is arranged on above-mentioned main erecting frame both sides and is electrically connected with wheel shaft, more than one and above-mentioned battery and control desk that above-mentioned two slide blocks are rotationally connected respectively with the slide block of the direction of slip sliding block joint that parallels, two with above-mentioned main erecting frame; Be provided with the elastic component that is used to flick above-mentioned main erecting frame and slide block between above-mentioned main erecting frame and the above-mentioned slide block, above-mentioned two wheel shafts are captiveed joint with two and half shells of above-mentioned housing department respectively; The parallel axes of above-mentioned two wheel shafts overlaps in the direction of slip of above-mentioned slide block and with the axis of symmetry of above-mentioned two and half shells; Above-mentioned battery and control desk are installed in the above-mentioned main erecting frame.
2. the throwing robot of a kind of shape-variable according to claim 1; It is characterized in that; Above-mentioned shooting head comprises: fixed frame, be arranged on the camera that is electrically connected with control desk with above-mentioned battery in the said fixing frame, the left top cover that is rotationally connected with the said fixing frame and right top cover, with above-mentioned left top cover or right top cover in one captive joint and drive the steering wheel that the said fixing frame rotates up and down, above-mentioned steering wheel is electrically connected with above-mentioned battery and control desk.
3. the throwing robot of a kind of shape-variable according to claim 2 is characterized in that, above-mentioned shooting head also comprises: steering wheel; Above-mentioned left top cover and right top cover are respectively equipped with left mounting hole and right mounting hole, in above-mentioned left mounting hole and right mounting hole, are respectively equipped with left-hand rotation dynamic bearing and right-hand rotation dynamic bearing; The left side of said fixing frame is provided with and turns to blind hole; The right side is provided with the rotating shaft that fixed frame cooperates with above-mentioned right-hand rotation moving axis; Above-mentioned steering wheel is installed the left top cover outside, and the rotating shaft of steering wheel captives joint with above-mentioned steering wheel, and above-mentioned steering wheel comprises disk body and sleeve; Above-mentioned steering wheel passes above-mentioned left-hand rotation dynamic bearing through above-mentioned sleeve and left top cover is rotationally connected, and above-mentioned steering wheel is captiveed joint with said fixing frame formation with the above-mentioned blind hole interference fit that turns to through above-mentioned disk body.
4. the throwing robot of a kind of shape-variable according to claim 2 is characterized in that, the outside of above-mentioned steering wheel is provided with the steering wheel over cap of protection steering wheel; The above-mentioned right top cover outside is provided with receiver that is electrically connected with above-mentioned battery and control desk and the receiver protection of protecting above-mentioned receiver lid, and above-mentioned shooting head is captiveed joint with above-mentioned main erecting frame with right top cover through above-mentioned left top cover.
5. the throwing robot of a kind of shape-variable according to claim 1 is characterized in that, above-mentioned actuating unit portion also comprises: two sliding guides; The outside on the above-mentioned sliding guide slidely connects the spring and the fixed cover with stop surface as above-mentioned elastic component, and above-mentioned stop surface blocks a wherein end of above-mentioned spring; Above-mentioned main erecting frame is provided with the guide rod mounting hole of two parallel axes, and the said fixing cover is fixedly mounted in the above-mentioned guide rod mounting hole; Above-mentioned slide block is provided with two slide block mounting holes that supply above-mentioned two sliding guides to pass through; Be provided with the linear bearing of the above-mentioned sliding guide of socket in the above-mentioned slide block mounting hole; Above-mentioned slide block mounting hole is stretched out at the two ends of above-mentioned sliding guide respectively; And the two ends that above-mentioned sliding guide stretches out above-mentioned slide block mounting hole are fixedly connected with stop component, and the both sides that the spring of above-mentioned two sliding guides is separately positioned on main erecting frame contact with different above-mentioned slide blocks.
6. the throwing robot of a kind of shape-variable according to claim 1 is characterized in that, above-mentioned actuating unit portion also comprises: synchronously band, form band bonded assembly electrical machine belt pulley and wheel shaft pulley through above-mentioned synchronous band; Be equipped with on the above-mentioned slide block: the motor mounting hole, by different structure on the slide block form coaxially to each other and have first mounting hole and second mounting hole of certain interval; Be provided with first flange bearing in above-mentioned first mounting hole; Be provided with second flange bearing in above-mentioned second mounting hole; Be provided with the wheel shaft pulley between above-mentioned first flange bearing and second flange bearing, above-mentioned wheel shaft passes the end stop end cap that is provided with outside above-mentioned first flange bearing, wheel shaft pulley, second flange bearing and second flanged shaft successively captives joint; Above-mentioned motor is fixedly connected in the above-mentioned motor mounting hole, and the rotating shaft of above-mentioned motor is captiveed joint with electrical machine belt pulley; Above-mentioned main erecting frame is provided with the putting hole that holds above-mentioned motor body.
7. the throwing robot of a kind of shape-variable according to claim 1; It is characterized in that; Above-mentioned housing department integral body is a spherical shell; Above-mentioned two and half shells are two hemispherical Shells of symmetry, are provided with fixedly blind hole at the shell wall center of half shell, and the external side end of above-mentioned wheel shaft is provided with the attaching parts of captiveing joint with the said fixing blind hole; The circumferencial direction at opening is fixedly connected with a plurality of card buttons in above-mentioned two and half shells; Another circumferencial direction at opening is provided with a plurality of buckles that can rotate chucking relatively or loosen with the different directions of above-mentioned card button through half shell, and above-mentioned closed block comprises above-mentioned card button and buckle.
8. the throwing robot of a kind of shape-variable according to claim 7 is characterized in that, said fixing blind hole and attaching parts are regular hexagon; Above-mentioned card button and buckle are one to one, and their number is 4.
9. the throwing robot of a kind of shape-variable according to claim 1 is characterized in that, above-mentioned main erecting frame middle part captive joint is useful on the battery case that holds above-mentioned battery, and above-mentioned control desk is fixed on the top of above-mentioned battery case.
10. according to the throwing robot of any described a kind of shape-variable of claim 1 to 9, it is characterized in that above-mentioned main erecting frame is the axially symmetric structure of axis of symmetry for the center shaft with vertical side, the direction of slip of above-mentioned slide block is a horizontal direction.
11. the throwing robot of a kind of shape-variable according to claim 10 is characterized in that, above-mentioned actuating unit forms axially symmetric structure except other parts of above-mentioned main erecting frame about the axis of symmetry of above-mentioned main erecting frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110187395 CN102336229B (en) | 2011-07-06 | 2011-07-06 | Throwing robot with changeable shape |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110187395 CN102336229B (en) | 2011-07-06 | 2011-07-06 | Throwing robot with changeable shape |
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| CN102336229A true CN102336229A (en) | 2012-02-01 |
| CN102336229B CN102336229B (en) | 2013-04-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201110187395 Expired - Fee Related CN102336229B (en) | 2011-07-06 | 2011-07-06 | Throwing robot with changeable shape |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102658556A (en) * | 2012-05-15 | 2012-09-12 | 北京理工大学 | Micro-robot launching protection device |
| CN103869826A (en) * | 2014-03-20 | 2014-06-18 | 中北大学 | Gravity datum retaining device capable of being thrown out at will |
| CN104228998A (en) * | 2014-07-04 | 2014-12-24 | 北京航空航天大学 | Throwable scout robot |
| EP2875911A1 (en) * | 2013-11-25 | 2015-05-27 | Przemyslowy Instytut Automatyki i Pomiarow PIAP | Wheeled mobile robot having a battery replaceable through opening in the wheels |
| CN107972781A (en) * | 2017-11-14 | 2018-05-01 | 宜昌创源中新光电科技有限公司 | Trolley and control method are scouted based on double-wheel self-balancing is wirelessly transferred |
| CN110336936A (en) * | 2019-07-26 | 2019-10-15 | 小雨信通（北京）科技有限公司 | Criminal investigation photographic equipment |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102658556A (en) * | 2012-05-15 | 2012-09-12 | 北京理工大学 | Micro-robot launching protection device |
| CN102658556B (en) * | 2012-05-15 | 2014-10-15 | 北京理工大学 | Micro-robot launching protection device |
| EP2875911A1 (en) * | 2013-11-25 | 2015-05-27 | Przemyslowy Instytut Automatyki i Pomiarow PIAP | Wheeled mobile robot having a battery replaceable through opening in the wheels |
| CN103869826A (en) * | 2014-03-20 | 2014-06-18 | 中北大学 | Gravity datum retaining device capable of being thrown out at will |
| CN104228998A (en) * | 2014-07-04 | 2014-12-24 | 北京航空航天大学 | Throwable scout robot |
| CN107972781A (en) * | 2017-11-14 | 2018-05-01 | 宜昌创源中新光电科技有限公司 | Trolley and control method are scouted based on double-wheel self-balancing is wirelessly transferred |
| CN110336936A (en) * | 2019-07-26 | 2019-10-15 | 小雨信通（北京）科技有限公司 | Criminal investigation photographic equipment |
| CN110336936B (en) * | 2019-07-26 | 2020-11-27 | 小雨信通（北京）科技有限公司 | Photographic equipment for criminal investigation |
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| CN102336229B (en) | 2013-04-03 |
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