CN103869826B - A kind of gravity datum holding device that can arbitrarily shed - Google Patents
A kind of gravity datum holding device that can arbitrarily shed Download PDFInfo
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- CN103869826B CN103869826B CN201410104710.9A CN201410104710A CN103869826B CN 103869826 B CN103869826 B CN 103869826B CN 201410104710 A CN201410104710 A CN 201410104710A CN 103869826 B CN103869826 B CN 103869826B
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Abstract
The present invention relates to a kind of gravity datum holding device that can arbitrarily shed, belong to automatic control technology field.Solving at present can not the technical matters of automatic calibration gravity datum for the investigation device in the fields such as city anti-terrorism.The gravity datum holding device that can arbitrarily shed, comprises discus shape scattering mechanism that an inside is hollow and is positioned at the gravity datum holding device of scattering mechanism inside; Described gravity datum holding device comprises gimbal, is arranged on the gyrorotor of gimbal inside and self-locking device for ejecting; The top center of described scattering mechanism is provided with opening, and gimbal is positioned at below opening and the bottom of gimbal and top are equipped with filled and process; The surface of described gyrorotor is installed with acquisition sensor array.Present invention achieves after one is arbitrarily shed in circumstances not known and still can land safely, and direction, automatic discrimination the earth's core, the device of automatic spring investigation device and automatic calibration gravity datum.
Description
Technical field
The present invention relates to a kind of gravity datum holding device that can arbitrarily shed, belong to automatic control technology field.
Background technology
At present for Urban Search and Rescue, anti-terrorism, sensitive area personnel being had to great life threat such as explosion-proof, carry out the information investigation under dangerous situation, network monitor, battlefield environmental situation investigation perception has vital effect.
In prior art, relevant investigation device is being shed to above-mentioned hazardous location, because ground environment is complicated and changeable, after dispensing investigation device at random, the convex cunning on ground or vibrations when landing, can make investigation device occur tilting even to reverse, and causes investigation device normally cannot enter duty.
Therefore in the urgent need to a kind of can arbitrarily shed and the device of gravity datum can be kept, set up various sensor assembly on the apparatus and form miniature investigation device, this device can be dispensed in a large number by all kinds of mode that dispenses in important area, realize the function that battlefield environmental situation investigates perception in real time.
The present invention puts forward in this context.
Summary of the invention
The present invention is that solve at present can not the technical matters of automatic calibration gravity datum for the investigation device in the fields such as city anti-terrorism, provides a kind of gravity datum holding device that can arbitrarily shed.
The present invention realizes by the following technical solutions: a kind of gravity datum holding device that can arbitrarily shed, and comprises discus shape scattering mechanism and gravity datum holding device body that an inside is hollow; Described gravity datum holding device body comprises gimbal, is arranged on the spherical gyrorotor of gimbal inside and self-locking device for ejecting; The top center of described scattering mechanism is provided with opening, and gimbal is positioned at below scattering mechanism opening and the bottom of gimbal and top are equipped with filled and process; Described gimbal comprises and intersecting and the inner ring of the two center superposition and outer shroud; Described gyrorotor is rotated by the bearing pin that the centre of sphere is coaxial and is located between inner ring; The position that described outer shroud and inner ring intersect is rotationally connected by bearing pin; Described self-locking device for ejecting comprise several that be rotationally connected with gimbal outer shroud detect support, corresponding each detection support some groups of extension springs and for the electromagnetic switch spacing to gimbal; The outer shroud of electromagnetic switch to gimbal is spacing; Described scattering mechanism upper surface of outer cover is provided with radial some and the same number of chute of detection support extending into scattering mechanism inside around opening; On two sidewalls of chute, edge and chute move towards identical direction and all have slide rail, described detection support is by moving towards parallel support bar with chute and affixed sliding bar vertical with support bar one end forms, the other end of described support bar be rotationally connected with gimbal outer shroud, sliding bar is slidably arranged in the slide rail of chute, and the extension spring of described often group comprises two extension springs and lays respectively at the both sides of the inner chute of scattering mechanism; One end of each extension spring is fixed on the inwall at the close wherein pit of the stomach of scattering mechanism, and the other end of extension spring is fixed on the end of sliding bar; The maximum outside diameter of described gimbal is less than the open top bore of scattering mechanism; The surface of described gyrorotor is installed with the acquisition sensor array for investigating, and gyrorotor inside is provided with gravity sensor; Described scattering mechanism inside is provided with a microprocessor; The signal input/output end of microprocessor is all connected with the signal input/output terminal of acquisition sensor array and gravity sensor; Scattering mechanism inside is also provided with the rechargeable battery of powering for acquisition sensor array, gravity sensor, microprocessor and electromagnetic switch current supply circuit; The signal output part of described microprocessor is serially connected in the current supply circuit of electromagnetic switch.
The first object of the present invention is " discus " shape scattering mechanism providing can arbitrarily shed, and its inside is with various circuit module, and " discus " after shedding has snubber assembly, guarantees that each parts in described inside are complete after landing and realizes each portion function.
The second object of the present invention is the gravity datum holding device providing based on " gimbal ", can after " discus " is shed and is landed direction, automatic decision the earth's core, guarantee investigate device the coordinate basis moment keep consistent with the earth's core.
The third object of the present invention be to provide one can the gravitational support device of automatic spring, after " discus " dishes out and " gimbal " finds the earth's core accurately, this device can realize automatic spring, and finely tunes pose.
The fourth object of the present invention is to provide a second gravity sensing base modules, after " discus " shape scattering mechanism lands safely and is stable, described second gravity sensing module (gravity sensor) is started working, judge direction, the earth's core, determine the ejection direction of " gimbal " gravity datum holding device, provide the instruction of self-locking pop-up module direction of motion.
Principle of work of the present invention is: after " discus " shape scattering mechanism is dished out, freely land, protect the inner each device of described device intact by shedding buffer module (filled and process), the rechargeable battery inside set powers on as corresponding system, then the gravity datum holding device body based on " gimbal " is started working, after gyrorotor determination self-equilibrating, its built-in gravity sensor work, determine the ejection direction of " gimbal ", and trigger the switch (i.e. electromagnetic switch) of self-locking device for ejecting simultaneously, release filled and process, automatic spring " gimbal ", then " gyrorotor " module carries out pose fine setting, then investigate device (acquisition sensor array) and start detection operations.The principle of work of described detector array and gravity sensor and structure are the known technology of those skilled in the art.
Before " discus " shape scattering mechanism is shed, extension spring belongs to extended state, and gimbal blocks by the electromagnetic switch be positioned on outer shroud, fixes whole gravity datum holding device.After shedding, system electrification, Microprocessor S3C44B0X electromagnetic switch disconnects, release outer shroud, and extension spring recovers stable state needs compression, drives detection support to slide along slide rail in chute, rises gravity datum holding device, realize self-locking ejection function.The sliding bar of detection support slides and arranges in the slide rail of chute two side, can along slide.
Self-locking device for ejecting starts releases scattering mechanism by gimbal, slide to scattering mechanism inner opening place is close under the drive of extension spring contractility with the vertical sliding bar end of detection frame support rails, drive gimbal to rise, gimbal breaks through filled and process and gets out scattering mechanism simultaneously; Gimbal can complete the work of automatic calibration gravity datum.
Gravity sensor for judging the direction of whole gravity datum holding device, and sends signal by microprocessor to electromagnetic switch, controls cut-offfing of electromagnetic switch; Gravity sensor is measured after whole gimbal finds direction, the earth's core accurately, just can send corresponding signal by microprocessor, control electromagnetic switch and disconnect, gimbal is ejected scattering mechanism.
Microprocessor, under the support of corresponding software keil, controls the action of acquisition sensor array, gravity sensor, gyrorotor, self-locking device for ejecting.
Described gyrorotor is existing known technology, and it is a pure physical construction, and gyrorotor rotates around inner and outer ring and ajusts oneself position under center of gravity effect, and its principle of work and the course of work are well known to the skilled person.
Further, scattering mechanism shell maximum gauge place has the horizontal groove of the rubber washer of fixing anticollision vibration damping; Described scattering mechanism upper surface of outer cover is equidistantly provided with radial four road chutes around opening.
Rubber washer can play better buffer action to whole device, ensures that whole gravity datum holding device can not cause damage because of great vibrations.Four road chute spaced sets, while guaranteeing stably to gravity datum holding device location, buffering and support, make the structural reduction of whole device, install easily manufactured.
Beneficial effect of the present invention is: realize still can landing safely after one is arbitrarily shed in circumstances not known, and direction, automatic discrimination the earth's core, the equipment of automatic spring investigation device; Described investigation device can also find the earth's core accurately automatically, automatic calibration gravity datum; Whole apparatus structure is simple, and cost is low.
Accompanying drawing explanation
Fig. 1 is one-piece construction schematic diagram of the present invention.
Fig. 2 is " discus " of the present invention shape scattering mechanism buffer protection module declaration figure.
The vertical view of Fig. 3 filled and process of the present invention.
Fig. 4 is " gimbal " of the present invention principle of work key diagram.
Fig. 5 is the duty simplified schematic diagram of gravity datum holding device of the present invention.
Fig. 6 is the total system workflow diagram of gravity datum holding device of the present invention.
The plan structure schematic diagram of Fig. 7 scattering mechanism complete section of the present invention.
Fig. 8 is the structure for amplifying schematic diagram of Fig. 7 local.
1-scattering mechanism, 2-gravity datum holding device body, 3-gyrorotor, 4-filled and process, 5-rubber washer, 6-detector array, 7-gravity sensor, 8-inner ring, 9-outer shroud, 10-chute, 11-support bar, 12-packaging film, 13-threaded hole, 14-extension spring, 15-slide rail, 16-sliding bar.
Embodiment
The gravity datum holding device that can arbitrarily shed, comprises discus shape scattering mechanism 1 and gravity datum holding device body 2 that an inside is hollow; Described gravity datum holding device body 2 comprises gimbal, is arranged on the spherical gyrorotor 3 of gimbal inside and self-locking device for ejecting; The top center of described scattering mechanism 1 is provided with opening, and gimbal is positioned at below scattering mechanism 1 opening and the bottom of gimbal and top are equipped with filled and process 4; Described gimbal comprises and intersecting and the inner ring 8 of the two center superposition and outer shroud 9; Described gyrorotor 3 is rotated by the bearing pin that the centre of sphere is coaxial and is located between inner ring 8; The position that described outer shroud 9 and inner ring 8 intersect is rotationally connected by bearing pin; Described self-locking device for ejecting comprise several that be rotationally connected with gimbal outer shroud detect support, corresponding each detection support some groups of extension springs and for the electromagnetic switch spacing to gimbal; The outer shroud of electromagnetic switch to gimbal is spacing; Described scattering mechanism 1 upper surface of outer cover is provided with radial some and the same number of chute 10 of detection support extending into scattering mechanism inside around opening; On two sidewalls of chute 10, edge and chute 10 move towards identical direction and all have slide rail 15, described detection support is by moving towards parallel support bar 11 with chute 10 and affixed sliding bar 16 vertical with support bar 11 one end forms, the other end and the gimbal outer shroud 9 of described support bar 11 are rotationally connected, sliding bar 16 is slidably arranged in the slide rail 15 of chute 10, and the extension spring of described often group comprises two extension springs 14 and lays respectively at the both sides of the inner chute 10 of scattering mechanism; One end of each extension spring 14 is fixed on the inwall at the close wherein pit of the stomach of scattering mechanism 1, and the other end of extension spring 14 is fixed on the end of sliding bar 16; The maximum outside diameter of described gimbal is less than the open top bore of scattering mechanism 1; The surface of described gyrorotor 3 is installed with the acquisition sensor array 6 for investigating, and gyrorotor 3 inside is provided with gravity sensor 7; Described scattering mechanism 1 inside is provided with a microprocessor; The signal input/output end of microprocessor is all connected with the signal input/output terminal of acquisition sensor array 6 and gravity sensor 7; Scattering mechanism 1 inside is also provided with the rechargeable battery of powering for acquisition sensor array 6, gravity sensor 7, microprocessor and electromagnetic switch current supply circuit; The signal output part of described microprocessor is serially connected in the current supply circuit of electromagnetic switch.Bearing pin is connected to inner ring 8 through the centre of sphere.
Scattering mechanism 1 shell maximum gauge place has the horizontal groove of the rubber washer 5 of fixing anticollision vibration damping; Described scattering mechanism 1 upper surface of outer cover is equidistantly provided with radial four road chutes 10 around opening.Rubber washer 5 is fixed in horizontal groove, around whole scattering mechanism 1, plays buffer protection function.
Described upper and lower filled and process 4 is by equal-sized three part compositions, and filled and process 4 projection is in the horizontal plane rounded and every part is corresponding central angle is 120 degree.
The top being positioned at the filled and process 4 on gimbal top is also coated with packaging film 12, (generally adopt polystyrene, can play the effect of protection interior arrangement).
Described microprocessor model is C8051F020, and acquisition sensor array 6 adopts infrared array sensor, and model is LHI968, and gravity sensor 7 selects ADXL345 sensor.
Below in conjunction with the drawings and specific embodiments, introduction detailed is further done to the present invention.
(1) gravity datum holding device one-piece construction figure.
As shown in Figure 1, the present invention forms primarily of two parts, i.e. " discus " shape scattering mechanism 1 part and gravity datum holding device body 2 part based on " gimbal ".
Described two parts are by detecting support by pinned connection, detection support is except the ejection adopting extension spring 14 to match with electromagnetic switch to control gimbal, detection support can also use the miniature electromotive handspike of Electric Machine Control, realizes the automatic spring function of circuit upon power-up of the system.
(2) " discus " shape scattering mechanism buffer protection module declaration figure.
As Fig. 2 be as described in the sectional view of " discus " shape scattering mechanism 1, scattering mechanism 1 is inlayed fastening by two wimet aluminum enclosure cemented carbide aluminum housings and is formed, and fixed by threaded hole 13, shape is similar to pie or two plates snap together." discus " buffer protection module comprises three parts: damping of shocks module, shed buffer module, gimbal module.After " discus " shape device is dished out, the buffer module of shedding that rubber washer 5 is formed protects described device inner each functions of modules after landing intact.Damping of shocks module is by special material film 12(polystyrene) and filled and process 4 form, effect one of be protection " gimbal " safe landing.After landing; (power is provided by rechargeable battery system electrification; and it is inner to be embedded in " discus "); complete after automatically finding the work such as the earth's core accurately; filled and process 4 and special material film 12 automatic spring is broken through under the elastic force effect that gimbal shrinks in extension spring; wherein filled and process 4 is made up of the polyfoam that three pieces are mutually 120 ° (as shown in Figure 3), thus ensures that gimbal filled and process 4 when ejecting can scatter voluntarily, does not affect again it and eject motion while protection gimbal.
(3) gimbal principle key diagram.
Fig. 4 is " gimbal " structural representation, and by inner ring 8, " gyrorotor ", (on rotor, endless belt is acquisition sensor array 6, outer shroud 9, is embedded in inner gravity sensing sensor 7 and forms.Acquisition sensor array 6 in the X-axis direction by one by the pin shaft joint of its centre of sphere in inner ring, inner ring 8 and outer shroud 9 pass through the pin shaft joint of its centre of sphere on Z axis (vertical paper inwards) direction with one, whole gimbal device carries out pin shaft joint with " discus " shape scattering mechanism 1 by detection support by four bearing pins symmetrical in the x, y direction by outer shroud 9.System shed and safety land after, under unknown ground environment, " gimbal " based on " gyroscope " principle ensures under terrestrial attraction, change adjustment by inner and outer ring attitude in Different Ground environment makes " gyrorotor " with gravity datum adjust pose, ensures acquisition sensor array measurement benchmark mounted thereto consistent with the earth's core (namely remaining and plane-parallel).
As shown in schematic diagram 5, the situation in the earth's core found accurately by the discus gimbal in inclination (with horizontal plane angle θ) situation that lands, and realizes first time gravity and finds accurately.
After this, gravity sensor 7(second gravity sensing device) start working, determine direction, the earth's core, judge the ejection direction (contrary with the earth's core) of " gimbal " and start self-locking pop-up module, release " gimbal " unit, after ejecting, detector array 6 carries out pose fine setting (principle of work finds process accurately with reference to first time gravity) again, so far completes a kind of gravity datum that can arbitrarily shed and keeps, start total system work.Described device workflow as shown in Figure 6.
Fig. 7 is the full cross sectional plan view of whole device, can find out extension spring 14, detects the annexation of support and gyrorotor 3 in figure, when gimbal is positioned at scattering mechanism inside, is tightly held by gimbal, extension spring 14 tensioning because electromagnetic switch starts; After electromagnetic switch disconnects, extension spring 14 is shunk, and drives gimbal to move upward, and one end that detection support 11 is connected with gimbal moves upward, the other end slides along chute 10 to open centre, and gimbal just rises and breaks through the outside that filled and process 4 arrives scattering mechanism.The partial enlarged drawing that Fig. 8 is extension spring 14, detection support is connected with gyrorotor 3, can find out the outer shroud 9 of gimbal and the connection state detecting support and extension spring 14.Hinged mode can be adopted to be connected between detection support and the outer shroud 9 of gimbal, to realize rotating.
Claims (10)
1. the gravity datum holding device can arbitrarily shed, is characterized in that, comprises discus shape scattering mechanism (1) and gravity datum holding device body (2) that an inside is hollow; Described gravity datum holding device body (2) comprises gimbal, is arranged on the spherical gyrorotor (3) of gimbal inside and self-locking device for ejecting; The top center of described scattering mechanism (1) is provided with opening, and gimbal is positioned at below scattering mechanism (1) opening and the bottom of gimbal and top are equipped with filled and process (4); Described gimbal comprises and intersecting and the inner ring of the two center superposition (8) and outer shroud (9); Described gyrorotor (3) is rotated by the bearing pin that the centre of sphere is coaxial and is located between inner ring (8); The position that described outer shroud (9) and inner ring (8) intersect is rotationally connected by bearing pin; Described self-locking device for ejecting comprise several that be rotationally connected with gimbal outer shroud detect support, corresponding each detection support some groups of extension springs and for the electromagnetic switch spacing to gimbal; The outer shroud of electromagnetic switch to gimbal is spacing; Described scattering mechanism (1) upper surface of outer cover is provided with radial some and the detection the same number of chute of support (10) extending into scattering mechanism inside around opening; On two sidewalls of chute (10), edge and chute (10) move towards identical direction and all have slide rail (15), described detection support is by moving towards parallel support bar (11) with chute (10) and affixed sliding bar (16) vertical with support bar (11) one end forms, the other end and the gimbal outer shroud (9) of described support bar (11) are rotationally connected, sliding bar (16) is slidably arranged in the slide rail of chute (10), and the extension spring of described often group comprises two extension springs (14) and lays respectively at the both sides of the inner chute (10) of scattering mechanism; One end of each extension spring (14) is fixed on the inwall at the close wherein pit of the stomach of scattering mechanism (1), and the other end of extension spring (14) is fixed on the end of sliding bar (16); The maximum outside diameter of described gimbal is less than the open top bore of scattering mechanism (1); The surface of described gyrorotor (3) is installed with the acquisition sensor array (6) for investigating, and gyrorotor (3) inside is provided with gravity sensor (7); Described scattering mechanism (1) inside is provided with a microprocessor; The signal input/output end of microprocessor is all connected with the signal input/output terminal of acquisition sensor array (6) and gravity sensor (7); Scattering mechanism (1) inside is also provided with the rechargeable battery of powering for acquisition sensor array (6), gravity sensor (7), microprocessor and electromagnetic switch current supply circuit; The signal output part of described microprocessor is serially connected in the current supply circuit of electromagnetic switch.
2. a kind of gravity datum holding device that can arbitrarily shed as claimed in claim 1, it is characterized in that, scattering mechanism (1) shell maximum gauge place has the horizontal groove of the rubber washer (5) of fixing anticollision vibration damping; Described scattering mechanism (1) upper surface of outer cover is equidistantly provided with radial four road chutes (10) around opening.
3. a kind of gravity datum holding device that can arbitrarily shed as claimed in claim 1 or 2, it is characterized in that, the described bottom of gimbal and the filled and process (4) at top of being positioned at is by equal-sized three parts compositions, and filled and process (4) projection is in the horizontal plane rounded and every part is corresponding central angle is 120 degree.
4. a kind of gravity datum holding device that can arbitrarily shed as claimed in claim 1 or 2, it is characterized in that, the top being positioned at the filled and process (4) at gimbal top is also coated with packaging film (12).
5. a kind of gravity datum holding device that can arbitrarily shed as claimed in claim 3, it is characterized in that, the top being positioned at the filled and process (4) at gimbal top is also coated with packaging film (12).
6. a kind of gravity datum holding device that can arbitrarily shed as claimed in claim 1 or 2, it is characterized in that, described scattering mechanism (1) is fastened up and down by two wimet aluminum enclosure and is interfixed and forms.
7. a kind of gravity datum holding device that can arbitrarily shed as claimed in claim 3, it is characterized in that, described scattering mechanism (1) is fastened up and down by two wimet aluminum enclosure and is interfixed and forms.
8. a kind of gravity datum holding device that can arbitrarily shed as claimed in claim 4, it is characterized in that, described scattering mechanism (1) is fastened up and down by two wimet aluminum enclosure and is interfixed and forms.
9. a kind of gravity datum holding device that can arbitrarily shed as claimed in claim 1 or 2, it is characterized in that, described microprocessor model is C8051F020, and acquisition sensor array (6) adopts infrared array sensor, model is LHI968, and gravity sensor (7) selects ADXL345 sensor.
10. a kind of gravity datum holding device that can arbitrarily shed as claimed in claim 3, it is characterized in that, described microprocessor model is C8051F020, and acquisition sensor array (6) adopts infrared array sensor, model is LHI968, and gravity sensor (7) selects ADXL345 sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410104710.9A CN103869826B (en) | 2014-03-20 | 2014-03-20 | A kind of gravity datum holding device that can arbitrarily shed |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410104710.9A CN103869826B (en) | 2014-03-20 | 2014-03-20 | A kind of gravity datum holding device that can arbitrarily shed |
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| CN103869826A CN103869826A (en) | 2014-06-18 |
| CN103869826B true CN103869826B (en) | 2016-04-20 |
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| CN201410104710.9A Expired - Fee Related CN103869826B (en) | 2014-03-20 | 2014-03-20 | A kind of gravity datum holding device that can arbitrarily shed |
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| CN116952288B (en) * | 2023-09-19 | 2024-01-02 | 中国人民解放军军事科学院国防科技创新研究院 | Distribution type target detection sensor based on rock morphology |
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| JP5017589B2 (en) * | 2009-05-15 | 2012-09-05 | 防衛省技術研究本部長 | Hand throwing robot |
| CN101616255A (en) * | 2009-07-23 | 2009-12-30 | 战强 | Throwable scout ball |
| CN102336229B (en) * | 2011-07-06 | 2013-04-03 | 昆山市工业技术研究院有限责任公司 | Throwing robot with changeable shape |
| CN102307276B (en) * | 2011-08-04 | 2012-10-24 | 昆山市工业技术研究院有限责任公司 | Throwable deformable micro-robot |
| CN202499202U (en) * | 2012-05-31 | 2012-10-24 | 北京航空航天大学 | Micro throwable and deformable reconnaissance ball |
| CN102829299A (en) * | 2012-09-10 | 2012-12-19 | 武汉华中天经光电系统有限公司 | Self-adaption erecting device |
| CN203266631U (en) * | 2013-04-24 | 2013-11-06 | 湖南科技大学 | Throwing type detection robot |
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