CN102336229B - Throwing robot with changeable shape - Google Patents
Throwing robot with changeable shape Download PDFInfo
- Publication number
- CN102336229B CN102336229B CN 201110187395 CN201110187395A CN102336229B CN 102336229 B CN102336229 B CN 102336229B CN 201110187395 CN201110187395 CN 201110187395 CN 201110187395 A CN201110187395 A CN 201110187395A CN 102336229 B CN102336229 B CN 102336229B
- Authority
- CN
- China
- Prior art keywords
- mentioned
- robot
- mounting hole
- slide block
- erecting frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
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 may be the robot body, and robot will be damaged owing to lacking buffering.Simultaneously, because the microrobot size is narrow and small, cause that its camera eye height of carrying is very low, range of observation is narrow and small.
Summary of the invention
For solving the deficiencies in the 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 symmetrical shells, and above-mentioned half shell is the semi-closed structure with rotational symmetry profile, it is characterized in that, also comprise the actuating unit section, shooting head, the power control section that are arranged on above-mentioned housing department inside; Above-mentioned power control section comprises: battery and control desk; Above-mentioned two and half shells are provided with by relative rotation and open or closed lock unit, and above-mentioned shooting head is fixedly connected on the top of above-mentioned actuating unit section; Above-mentioned actuating unit section comprises: the main erecting frame, two that is arranged on central authorities be arranged on above-mentioned main erecting frame both sides and with above-mentioned main erecting frame with the slide block of the direction of slip sliding block joint that parallels, two be 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 for the motor that drives above-mentioned wheel shaft, be provided with between above-mentioned main erecting frame and the above-mentioned slide block be used to the elastic component that flicks above-mentioned main erecting frame and slide block, above-mentioned two wheel shafts are captiveed joint with two and half shells of above-mentioned housing department respectively; The axis of above-mentioned two wheel shafts is parallel to the direction of slip of above-mentioned slide block and overlaps 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 above-mentioned fixed frame, the left top cover that is rotationally connected with above-mentioned fixed 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 above-mentioned fixed 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, are respectively equipped with left-hand rotation dynamic bearing and right-hand rotation dynamic bearing in above-mentioned left mounting hole and right mounting hole; The left side of above-mentioned fixed 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 dynamic bearing, above-mentioned steering wheel is installed the left top cover outside, and the rotating shaft of steering wheel is captiveed joint with above-mentioned steering wheel, above-mentioned steering wheel comprises disk body and sleeve, above-mentioned steering wheel passes above-mentioned left-hand rotation dynamic bearing by above-mentioned sleeve and left top cover is rotationally connected, and above-mentioned steering wheel is captiveed joint with above-mentioned fixed frame formation with the above-mentioned blind hole interference fit that turns to by 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 the 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 by above-mentioned left top cover.
The throwing robot of aforesaid a kind of shape-variable is characterized in that, above-mentioned actuating unit section 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 two guide rod mounting holes that axis is parallel, and above-mentioned fixed 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 pass through for above-mentioned two sliding guides, 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 respectively at the two ends of above-mentioned sliding guide, 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 from different above-mentioned slide blocks.
The throwing robot of aforesaid a kind of shape-variable is characterized in that, above-mentioned actuating unit section also comprises: Timing Belt, form electrical machine belt pulley and the wheel shaft pulley that band connects by above-mentioned Timing Belt; Be equipped with on the above-mentioned slide block: form on motor mounting hole, the slide block coaxially to each other and have the first mounting hole and second mounting hole of certain interval, be provided with the first flange bearing in above-mentioned the first mounting hole, be provided with the second flange bearing in above-mentioned the second mounting hole, be provided with the wheel shaft pulley between above-mentioned the first flange bearing and the second flange bearing, above-mentioned wheel shaft passes the end stop end cap that is provided with outside above-mentioned the first flange bearing, wheel shaft pulley, the second flange bearing and the second flanged shaft successively captives joint; Said motor is fixedly connected in the said motor mounting hole, and the rotating shaft of said motor is captiveed joint with electrical machine belt pulley; Above-mentioned main erecting frame is provided with the putting hole that holds the said 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 symmetrical hemispherical Shells, 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 above-mentioned fixedly 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 be provided with a plurality of can the relative buckle that rotates chucking or loosen with the different directions of above-mentioned card button by half shell, 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, above-mentioned fixedly 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 take the center shaft of vertical direction as axis of symmetry, and the direction of slip of above-mentioned slide block is horizontal direction.
The throwing robot of aforesaid a kind of shape-variable is characterized in that, above-mentioned actuating unit section 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 damaged; After landing, robot is deformed into two-wheeler structure, guarantees that robot has flexibly locomitivity; Regulate in addition the elevation-depression angle of camera by 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 section a preferred embodiment face structural representation;
Fig. 3 is the shooting head of throwing robot of a kind of shape-variable of the present invention and a preferred embodiment structural representation of main erecting frame;
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 the preferred version of the main erecting frame of throwing robot of a kind of shape-variable of the present invention and sliding guide;
Fig. 8 is main erecting frame, battery installing rack mounting structure scheme drawing;
Fig. 9 is battery installing rack, 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 the slide block of throwing robot of a kind of shape-variable of the present invention and the blast structural representation of the isostructural preferred version of plain bearing;
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, the left top cover 4 of camera, 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, Timing Belt 20, 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;
The specific embodiment
Below in conjunction with the drawings and specific embodiments 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 section, shooting head, power control section; Wherein actuating unit section, shooting head, power control section, 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 section.
As shown in fig. 1, wherein housing parts is two and half shells 23,25, they should be symmetrical, advance for they can be rotated under the driving of wheel shaft 18 after opening, and two and half shells 23,25 are semi-enclosed structure of rotational symmetry profile, 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 Semi Ellipsoidal Shells etc.
Such as 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, 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 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, the right side is 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, thereby its middle sleeve is used for penetrating left-hand rotation dynamic bearing 8A and is socketed on the output shaft of steering wheel 5, disk body with turn to blind hole 1001 interference fit to consist of to captive joint, so, the left top cover 4 of fixed frame 10 and both sides, right top cover 11 consists of and is rotationally connected, and rotates when the output shaft rotation of steering wheel 7 can drive fixed frame 10.Camera 9 is arranged in the fixed frame 10, can adopt as preferred camera 9 and be with reeded interference fit 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 with left top cover 4 in the outside of steering wheel 7.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.
Such as Fig. 8, shown in Figure 9: battery installing rack 28 is fixed on the main erecting frame 1 with bonding way, and battery 30 is inserted battery installing rack inside, and control desk 29 is fixed on the battery installing rack upper surface with bonding way.
With reference to Fig. 1, Fig. 2, Fig. 7, Figure 10, as a kind of preferred version, actuating unit section 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, Timing Belt 20, end stop end cap 21, slide block stop end 22.The outside on the sliding guide 2 slidely connects spring 3 and has the fixed cover 203,204 of stop surface.
Wherein, as shown in Figure 7, main erecting frame 1 is provided with two guide rod mounting holes 101,102 that axis is parallel, 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 pass through for sliding guide 2.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 respectively at the two ends of sliding guide 2, as 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 sliding guide 2 stretches out the both sides slide block 13 opposite with both direction that spring 3 that slide block mounting hole 1303,1304 two ends be fixedly connected with 22, two sliding guides 2 of stop component is separately positioned on main erecting frame 1 and contacts.
Such as 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 the first mounting hole 1301 and second mounting hole 1302 of certain interval, 1301 are provided with the first flange bearing 14A in the first mounting hole, be provided with the second flange bearing 14B in the 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 is 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 be connected shaft pulley 19 and form band by Timing Belt 20 and connect.
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, by rotary electric machine belt wheel 17, thereby rotate by Timing Belt 20 driven wheel shaft pulley 19, 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 whole robot ambulation.
In order to make robot integral body as a sealing in throwing, extremely shown in Figure 16 such as Fig. 1, Figure 13, be provided with fixedly blind hole 2306,2505 at half shell 23,25 shell wall center, as shown in figure 12, at the external side end of wheel shaft 18, namely 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 are with bolts.When wheel shaft 18 rotated, half shell 23,25 also can rotate.As preferably, fixedly blind hole 2306,2505 is 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, another circumferencial direction at opening be provided with a plurality of can with the different directions relative buckles 26 that rotate chucking or loosen of above-mentioned card wheel 24 by half shell.Then the people can rotate suitable angle by half shell 23,25 that both hands compress both sides like this, make card wheel 24 and buckle 26 chuckings, make two and half shells 23,25 form the integral body of a sealing, be convenient to throw or reclaim, when after robot lands, needing to launch, as shown in Figure 1 and 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 and buckle 26 are one to one, and their number is 4; They can be bolted on half shell 23,25.
As a kind of preferred version, such as Fig. 2, Fig. 3, Fig. 7, shown in Figure 10, main erecting frame 1 is the axially symmetric structure take the center shaft of Vertical Square as axis of symmetry, and the direction of slip of two slide blocks 13 is horizontal direction, and opposite direction each other.Actuating unit section forms axially symmetric structure except other parts of main erecting frame 1 about the axis of symmetry of main erecting frame 1.
Such as Fig. 8, shown in Figure 9, power control section 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 and control desk 29 are electrically connected with steering wheel 5, pick up camera 9, receiver 27, motor 16 respectively.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.
Above-described embodiment does not limit the present invention in any form, and all employings are equal to replaces or technical scheme that the mode of equivalent transformation obtains, all drops 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 symmetrical shells, and above-mentioned half shell is the semi-closed structure with rotational symmetry profile, it is characterized in that, also comprise the actuating unit section, shooting head, the power control section that are arranged on above-mentioned housing department inside; Above-mentioned power control section comprises: battery and control desk; Above-mentioned two and half shells are provided with by relative rotation and open or closed lock unit, and above-mentioned shooting head is fixedly connected on the top of above-mentioned actuating unit section; Above-mentioned actuating unit section comprises: the main erecting frame, two that is arranged on central authorities be arranged on above-mentioned main erecting frame both sides and with above-mentioned main erecting frame with the slide block of the direction of slip sliding block joint that parallels, two be 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 for the motor that drives above-mentioned wheel shaft, be provided with between above-mentioned main erecting frame and the above-mentioned slide block be used to the elastic component that flicks above-mentioned main erecting frame and slide block, above-mentioned two wheel shafts are captiveed joint with two and half shells of above-mentioned housing department respectively; The axis of above-mentioned two wheel shafts is parallel to the direction of slip of above-mentioned slide block and overlaps 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 above-mentioned fixed frame, the left top cover that is rotationally connected with above-mentioned fixed 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 above-mentioned fixed 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, are respectively equipped with left-hand rotation dynamic bearing and right-hand rotation dynamic bearing in above-mentioned left mounting hole and right mounting hole; The left side of above-mentioned fixed 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 dynamic bearing, above-mentioned steering wheel is installed the left top cover outside, and the rotating shaft of steering wheel is captiveed joint with above-mentioned steering wheel, above-mentioned steering wheel comprises disk body and sleeve, above-mentioned steering wheel passes above-mentioned left-hand rotation dynamic bearing by above-mentioned sleeve and left top cover is rotationally connected, and above-mentioned steering wheel is captiveed joint with above-mentioned fixed frame formation with the above-mentioned blind hole interference fit that turns to by 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 the 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 by 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 section 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 two guide rod mounting holes that axis is parallel, and above-mentioned fixed 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 pass through for above-mentioned two sliding guides, 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 respectively at the two ends of above-mentioned sliding guide, 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 from 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 section also comprises: Timing Belt, form electrical machine belt pulley and the wheel shaft pulley that band connects by above-mentioned Timing Belt; Be equipped with on the above-mentioned slide block: form on motor mounting hole, the slide block coaxially to each other and have the first mounting hole and second mounting hole of certain interval, be provided with the first flange bearing in above-mentioned the first mounting hole, be provided with the second flange bearing in above-mentioned the second mounting hole, be provided with the wheel shaft pulley between above-mentioned the first flange bearing and the second flange bearing, above-mentioned wheel shaft passes the end stop end cap that is provided with outside above-mentioned the first flange bearing, wheel shaft pulley, the second flange bearing and the second flange bearing successively captives joint; Said motor is fixedly connected in the said motor mounting hole, and the rotating shaft of said motor is captiveed joint with electrical machine belt pulley; Above-mentioned main erecting frame is provided with the putting hole that holds the said 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 symmetrical hemispherical Shells, 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 above-mentioned fixedly 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 be provided with a plurality of can the relative buckle that rotates chucking or loosen with the different directions of above-mentioned card button by half shell, above-mentioned lock unit 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, above-mentioned fixedly 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 claim 1 to the throwing robot of the described a kind of shape-variable of 9 any one, it is characterized in that above-mentioned main erecting frame is the axially symmetric structure take the center shaft of vertical direction as axis of symmetry, the direction of slip of above-mentioned slide block is horizontal direction.
11. the throwing robot of a kind of shape-variable according to claim 10 is characterized in that, above-mentioned actuating unit section 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102336229A CN102336229A (en) | 2012-02-01 |
| CN102336229B true CN102336229B (en) | 2013-04-03 |
Family
ID=45512257
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110187395 Active CN102336229B (en) | 2011-07-06 | 2011-07-06 | Throwing robot with changeable shape |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102336229B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102658556B (en) * | 2012-05-15 | 2014-10-15 | 北京理工大学 | Micro-robot launching protection device |
| PL222106B1 (en) * | 2013-11-25 | 2016-06-30 | Przemysłowy Inst Automatyki I Pomiarów Piap | Accumulator module |
| CN103869826B (en) * | 2014-03-20 | 2016-04-20 | 中北大学 | A kind of gravity datum holding device that can arbitrarily shed |
| CN104228998B (en) * | 2014-07-04 | 2016-04-20 | 北京航空航天大学 | One can throw type reconnaissance robot |
| 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 |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101386173A (en) * | 2008-11-10 | 2009-03-18 | 战强 | Environmental detection spherical robot |
| CN101402198A (en) * | 2008-10-20 | 2009-04-08 | 北京理工大学 | Casting type miniature robot of spring vibration reduction inflatable wheel with omnidirectional buffer capacity |
| CN101559794A (en) * | 2009-06-02 | 2009-10-21 | 北京邮电大学 | Crawler type spherical robot |
| CN202138435U (en) * | 2011-07-06 | 2012-02-08 | 昆山市工业技术研究院有限责任公司 | Transformable throwable robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3794130B2 (en) * | 1997-10-15 | 2006-07-05 | ソニー株式会社 | Spherical shell moving device |
| JP4105580B2 (en) * | 2003-04-10 | 2008-06-25 | 正豊 松田 | Ball actuator |
-
2011
- 2011-07-06 CN CN 201110187395 patent/CN102336229B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101402198A (en) * | 2008-10-20 | 2009-04-08 | 北京理工大学 | Casting type miniature robot of spring vibration reduction inflatable wheel with omnidirectional buffer capacity |
| CN101386173A (en) * | 2008-11-10 | 2009-03-18 | 战强 | Environmental detection spherical robot |
| CN101559794A (en) * | 2009-06-02 | 2009-10-21 | 北京邮电大学 | Crawler type spherical robot |
| CN202138435U (en) * | 2011-07-06 | 2012-02-08 | 昆山市工业技术研究院有限责任公司 | Transformable throwable robot |
Non-Patent Citations (2)
| Title |
|---|
| JP特开2004-306921A 2004.11.04 |
| JP特开平11-114234A 1999.04.27 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102336229A (en) | 2012-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202138435U (en) | Transformable throwable robot | |
| CN102336229B (en) | Throwing robot with changeable shape | |
| US8936290B1 (en) | Robotic hand with modular extensions | |
| CN103303449B (en) | A kind of under-water operation robot | |
| CN103056876A (en) | Variable rigidity parallel joint snake-shaped robot mechanism | |
| CN106625734A (en) | Under-actuated flexible terminal actuator aiming at special-shaped melons and fruits and simulating bird jaws | |
| CN101616255A (en) | Throwable scout ball | |
| CN103552617A (en) | Bouncing omnidirectional rolling spherical robot provided with stable platform | |
| CN105292289A (en) | Novel spherical robot capable of being carried with two different visual cameras | |
| CN206455672U (en) | A kind of urban SOS robot | |
| CN203528630U (en) | Spherical jump robot system | |
| CN105346709B (en) | A kind of multi-rotor aerocraft of deformable combination | |
| CN109483563A (en) | Robot is transported in a kind of wheeled both arms room | |
| CN107215403A (en) | Ball shape robot | |
| CN105774931A (en) | Spherical robot | |
| CN105539619A (en) | Worm-drive active multi-wheel S-shaped robot with universal joint | |
| CN102307276B (en) | Throwable deformable micro-robot | |
| CN103921860A (en) | Ellipsoidal robot | |
| CN112896352A (en) | Spherical robot | |
| CN100421882C (en) | Self-operated dynamically balancing movable robot | |
| CN206945255U (en) | A kind of device of testing mobile phone drop resistant performance | |
| CN104553648A (en) | Transformable triphibian robot | |
| CN207550511U (en) | Unmanned plane protects structure and UAV system | |
| CN110171575B (en) | Unmanned aerial vehicle with diversified protect function | |
| CN102188823B (en) | Multi-rudder cluster type electric steering gear system and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |