CN106005095B - A kind of military robot with obstacle crossing function - Google Patents
A kind of military robot with obstacle crossing function Download PDFInfo
- Publication number
- CN106005095B CN106005095B CN201610337307.XA CN201610337307A CN106005095B CN 106005095 B CN106005095 B CN 106005095B CN 201610337307 A CN201610337307 A CN 201610337307A CN 106005095 B CN106005095 B CN 106005095B
- Authority
- CN
- China
- Prior art keywords
- hinged
- bottom plate
- nozzle
- support
- transverse arm
- 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.)
- Expired - Fee Related
Links
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 8
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 7
- 239000000203 mixture Substances 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 abstract description 4
- 230000009194 climbing Effects 0.000 abstract description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/04—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track having other than ground-engaging propulsion means, e.g. having propellers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of military robot with obstacle crossing function, including wheel, driving motor, lower swing arm, spring, transverse arm, nozzle, steering engine, electric cylinders, column, stepper motor, machine gun, electric control gear, video camera, air compressor, gas tank, sound transducer, lithium battery group, bottom plate, axis pin, locating shaft, gas proportioning valve, the bottom plate is trapezoidal tablet, it is set on four angles of bottom plate there are four independent driving unit, each driving unit includes a wheel, a transverse arm, a spring, a driving motor and a lower swing arm；Robot is pushed realize to the leap of short time in the air by the present invention when encountering the barriers such as high-wall, house using the nozzle in adjustable direction, improves the obstacle climbing ability of robot.
Description
Technical field
The present invention relates to military robot technical field, more particularly to a kind of military robot with obstacle crossing function.
Background technology
As countries in the world militarization is constantly strided forward to modernization, robot also gradually comes into army, become execute investigation,
The soldier at the head of a formation of the hot missions such as anti-terrorism, operation, traditional military robot have many limitations, for example have a single function, are unable to obstacle detouring
Deng, thus be badly in need of it is a kind of can round-the-clock, the full landform robot that carries out investigations, fight.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of military robot with obstacle crossing function, high-wall, house etc. are being encountered
The leap that robot is pushed to realize in the air the short time when barrier using the nozzle in adjustable direction, improves machine
The obstacle climbing ability of people.
Technical solution used in the present invention is：A kind of military robot with obstacle crossing function, including wheel, driving electricity
Machine, lower swing arm, spring, transverse arm, nozzle, steering engine, electric cylinders, column, stepper motor, machine gun, electric control gear, video camera, air pressure
Contracting machine, gas tank, sound transducer, lithium battery group, bottom plate, axis pin, locating shaft, gas proportioning valve, it is characterised in that：The bottom plate
For trapezoidal tablet, set on four angles of bottom plate there are four independent driving unit, each driving unit includes wheel, one
A transverse arm, a spring, a driving motor and a lower swing arm；
The transverse arm is made of the first hinged-support, the second hinged-support, third hinged-support, shaft, transverse arm frame, wherein shaft
It is arranged in transverse arm frame right end and straight down, second hinged-support setting is hinged in transverse arm frame left end, described first
Seat setting keeps left position in transverse arm frame lower part, and the third hinged-support is arranged on the right side of shaft；
The lower swing arm right part is hinged on the first hinged-support；The lower swing arm left part connects driving motor；
The wheel is fixed on the motor shaft of driving motor, and the spring one end is hinged on lower swing arm top and keeps left position, separately
One end is hinged on the second hinged-support；
The axis pin is fixed on bottom plate vertically, and cylinder body one end of the electric cylinders is hinged on axis pin, the electricity
The telescopic rod end of cylinder is hinged on third hinged-support；
The nozzle quantity is 3, and in bottom plate front center position, other two is arranged in bottom plate for one of setting
Two side position of rear portion, nozzle are fixedly connected with locating shaft, and locating shaft is rotatably installed on bottom plate, the output shaft of the steering engine with
Locating shaft is fixedly connected, and the shell of steering engine is fixed on bottom plate, and the air compressor is connected with gas tank, the high pressure in gas tank
Gas connects nozzle after gas proportioning valve, and the direction of nozzle is by servos control, and the uninterrupted of jet nozzle is by gas Proportional Valve-controlled
System；
The column is vertically arranged in bottom plate both sides, and the stepper motor is vertically arranged in column top, described
The motor axis connection of machine gun and stepper motor, machine gun can be controlled by electric signal and be opened fire.
Further, the lithium battery group provides electric power for electric control gear, and the electric control gear passes through conducting wire respectively
With driving motor, steering engine, electric cylinders, stepper motor, the control section of machine gun, video camera, air compressor, sound transducer, gas
Proportioning valve is connected.
Further, wireless telecommunications system built in the electric control gear, can be with extraneous real-time communication.
Since present invention employs above-mentioned technical proposal, the present invention has the following advantages：
1. the present invention is pushed to robot using the nozzle in adjustable direction when encountering the barriers such as high-wall, house
In the air, the leap for realizing the short time improves the obstacle climbing ability of robot.
2. the present invention uses four-wheel direct drive structure, complicated landform is adapted to.
3. the present invention is equipped with much information collecting device, including video camera, sound transducer etc., and can pass through channel radio
Field data is sent to the external world by news equipment in time.
4. the present invention, which carries, can carry out important goal live strike with the machine gun of remote control.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the front view of the present invention.
Fig. 3 is the nozzle scheme of installation of the present invention.
Fig. 4 is the cross arm structure schematic diagram of the present invention.
Drawing reference numeral：1- wheels；2- driving motors；3- lower swing arms；4- springs；5- transverse arms；6- nozzles；7- steering engines；8- electricity
Cylinder；9- columns；10- stepper motors；11- machine guns；12- electric control gears；13- video cameras；14- air compressors；15- gas tanks；16-
Sound transducer；17- lithium battery groups；18- bottom plates；19- axis pins；20- locating shafts；The first hinged-supports of 501-；502- second is hinged
Seat；503- third hinged-supports；504- shafts；505- transverse arm framves.
Specific implementation mode
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of military robot with obstacle crossing function, including wheel 1, driving motor
2, lower swing arm 3, spring 4, transverse arm 5, nozzle 6, steering engine 7, electric cylinders 8, column 9, stepper motor 10, machine gun 11, electric control gear 12, take the photograph
Camera 13, air compressor 14, gas tank 15, sound transducer 16, lithium battery group 17, bottom plate 18, axis pin 19, locating shaft 20, gas
Proportioning valve, it is characterised in that：The bottom plate 18 is trapezoidal tablet, is set on four angles of bottom plate 18 there are four independent driving
Unit, each driving unit include the 4, driving motors 2 of the spring of transverse arm 5, one of wheel 1, one and a lower swing arm
3；
The transverse arm 5 is by the first hinged-support 501, the second hinged-support 502, third hinged-support 503, shaft 504, transverse arm frame
505 compositions, wherein shaft 504 are arranged in 505 right end of transverse arm frame and straight down, and second hinged-support 502 setting exists
505 left end of transverse arm frame, first hinged-support 501 setting keep left position in 505 lower part of transverse arm frame, the third hinged-support
503 settings are on 504 right side of shaft；
3 right part of lower swing arm is hinged on the first hinged-support 501；3 left part of the lower swing arm connection driving
Motor 2；The wheel 1 is fixed on the motor shaft of driving motor 2, and described 4 one end of spring is hinged on 3 top of lower swing arm and leans on
Left position is set, and the other end is hinged on the second hinged-support 502；
The axis pin 19 is fixed on vertically on bottom plate 18, and cylinder body one end of the electric cylinders 8 is hinged on axis pin 19, institute
The telescopic rod end for the electric cylinders 8 stated is hinged on third hinged-support 503；
6 quantity of nozzle is 3, and one of setting exists in 18 front center position of bottom plate, other two setting
18 rear portion of bottom plate, two side position, nozzle 6 are fixedly connected with locating shaft 20, and locating shaft 20 is rotatably installed on bottom plate 18, described
The output shaft of steering engine 7 is fixedly connected with locating shaft 20, and the shell of steering engine 7 is fixed on bottom plate 18, the air compressor 14
It is connected with gas tank 15, the high pressure gas in gas tank 15 connects nozzle 6 after gas proportioning valve, and the direction of nozzle 6 is controlled by steering engine 7,
The uninterrupted of 6 jet of nozzle is by gas proportional valve control；
The column 9 is vertically arranged in 18 both sides of bottom plate, and the stepper motor 10 is vertically arranged in 9 top of column,
The motor axis connection of the machine gun 11 and stepper motor 10, machine gun 11 can be controlled by electric signal and be opened fire.
Further, the lithium battery group 17 is that electric control gear 12 provides electric power, and the electric control gear 12 leads to respectively
Cross conducting wire and driving motor 2, steering engine 7, electric cylinders 8, stepper motor 10, the control section of machine gun 11, video camera 13, air compressor
14, sound transducer 16, gas proportioning valve are connected.
Further, wireless telecommunications system built in the electric control gear 12, can be with extraneous real-time communication.
Operation principle of the present invention：The present invention drives the rotation of wheel 1 to walk on smooth road surface by driving motor 2,
High pressure gas is sprayed by gas proportional valve control nozzle 6 when encountering the barriers such as wire netting, trench, high-wall, pushes robot to sky
In, the leap of short time is realized with across obstacle, and high pressure gas is generated by air compressor 14, and the gas of generation is stored in gas
In tank 15；Robot carries video camera 13 and can observe scene, and information is transmitted to the external world by communication apparatus, by
Outer bound pair robot carries out command and control.
Claims (3)
1. a kind of military robot with obstacle crossing function, including wheel（1）, driving motor（2）, lower swing arm（3）, spring（4）、
Transverse arm（5）, nozzle（6）, steering engine（7）, electric cylinders（8）, column（9）, stepper motor（10）, machine gun（11）, electric control gear（12）, take the photograph
Camera（13）, air compressor（14）, gas tank（15）, sound transducer（16）, lithium battery group（17）, bottom plate（18）, axis pin
（19）, locating shaft（20）, gas proportioning valve, it is characterised in that：The bottom plate（18）For trapezoidal tablet, in bottom plate（18）Four
It is set on angle there are four independent driving unit, each driving unit includes a wheel（1）, a transverse arm（5）, a spring
（4）, a driving motor（2）With a lower swing arm（3）；
The transverse arm（5）By the first hinged-support（501）, the second hinged-support（502）, third hinged-support（503）, shaft（504）、
Transverse arm frame（505）Composition, wherein shaft（504）It is arranged in transverse arm frame（505）Right end and straight down, described second is hinged
Seat（502）It is arranged in transverse arm frame（505）Left end, first hinged-support（501）It is arranged in transverse arm frame（505）Left position is leaned in lower part
It sets, the third hinged-support（503）It is arranged in shaft（504）Right side；
The lower swing arm（3）Right part is hinged on the first hinged-support（501）On；The lower swing arm（3）Left part connection is driven
Dynamic motor（2）；The wheel（1）It is fixed on driving motor（2）Motor shaft on, the spring（4）One end is hinged on down
Swing arm（3）Top keeps left position, and the other end is hinged on the second hinged-support（502）On；
The axis pin（19）It is fixed on bottom plate vertically（18）On, the electric cylinders（8）Cylinder body one end be hinged on axis pin（19）
On, the electric cylinders（8）Telescopic rod end be hinged on third hinged-support（503）On；
The nozzle（6）Quantity is 3, one of to be arranged in bottom plate（18）Front center position, other two setting exist
Bottom plate（18）Two side position of rear portion, nozzle（6）With locating shaft（20）It is fixedly connected, locating shaft（20）It is rotatably installed in bottom plate（18）
On, the steering engine（7）Output shaft and locating shaft（20）It is fixedly connected, steering engine（7）Shell be fixed on bottom plate（18）On, institute
The air compressor stated（14）With gas tank（15）It is connected, gas tank（15）In high pressure gas connect nozzle after gas proportioning valve（6）,
Nozzle（6）Direction by steering engine（7）Control, nozzle（6）The uninterrupted of jet is by gas proportional valve control；
The column（9）It is vertically arranged in bottom plate（18）Both sides, the stepper motor（10）It is vertically arranged in column（9）Top
End, the machine gun（11）With stepper motor（10）Motor axis connection, machine gun（11）It can be controlled and be opened fire by electric signal.
2. a kind of military robot with obstacle crossing function according to claim 1, it is characterised in that：The lithium battery
Group（17）For electric control gear（12）Electric power, the electric control gear are provided（12）Pass through conducting wire and driving motor respectively（2）, steering engine
（7）, electric cylinders（8）, stepper motor（10）, machine gun（11）Control section, video camera（13）, air compressor（14）, sound pass
Sensor（16）, gas proportioning valve is connected.
3. a kind of military robot with obstacle crossing function according to claim 1, it is characterised in that：The automatically controlled dress
It sets（12）Built-in wireless telecommunications system, can be with extraneous real-time communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610337307.XA CN106005095B (en) | 2016-05-21 | 2016-05-21 | A kind of military robot with obstacle crossing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610337307.XA CN106005095B (en) | 2016-05-21 | 2016-05-21 | A kind of military robot with obstacle crossing function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106005095A CN106005095A (en) | 2016-10-12 |
| CN106005095B true CN106005095B (en) | 2018-07-24 |
Family
ID=57096115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610337307.XA Expired - Fee Related CN106005095B (en) | 2016-05-21 | 2016-05-21 | A kind of military robot with obstacle crossing function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106005095B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108742358A (en) * | 2018-08-14 | 2018-11-06 | 安徽爱依特科技有限公司 | A kind of market cleaning sanitation robot |
| CN111261012B (en) * | 2020-01-19 | 2022-01-28 | 佛山科学技术学院 | Pneumatic teaching trolley |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2270126C1 (en) * | 2004-08-12 | 2006-02-20 | Виктор Николаевич Треножкин | Vehicle |
| JP2006326739A (en) * | 2005-05-25 | 2006-12-07 | Chiba Inst Of Technology | Leg wheel separation type robot |
| CN201089161Y (en) * | 2007-09-12 | 2008-07-23 | 山东超越数控电子有限公司 | Semi-automatic moving robot soldier having stereoscopic vision |
| CN105035204A (en) * | 2015-08-11 | 2015-11-11 | 哈尔滨工业大学 | Wheel-leg combined type intelligent mobile robot |
| CN205203189U (en) * | 2015-12-14 | 2016-05-04 | 中国人民解放军装甲兵工程学院 | Unmanned 4 wheel driven platform of swing arm formula |
| CN105547046A (en) * | 2015-12-30 | 2016-05-04 | 南京理工大学 | Video-based quick and accurate aiming method of sniping robot |
-
2016
- 2016-05-21 CN CN201610337307.XA patent/CN106005095B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2270126C1 (en) * | 2004-08-12 | 2006-02-20 | Виктор Николаевич Треножкин | Vehicle |
| JP2006326739A (en) * | 2005-05-25 | 2006-12-07 | Chiba Inst Of Technology | Leg wheel separation type robot |
| CN201089161Y (en) * | 2007-09-12 | 2008-07-23 | 山东超越数控电子有限公司 | Semi-automatic moving robot soldier having stereoscopic vision |
| CN105035204A (en) * | 2015-08-11 | 2015-11-11 | 哈尔滨工业大学 | Wheel-leg combined type intelligent mobile robot |
| CN205203189U (en) * | 2015-12-14 | 2016-05-04 | 中国人民解放军装甲兵工程学院 | Unmanned 4 wheel driven platform of swing arm formula |
| CN105547046A (en) * | 2015-12-30 | 2016-05-04 | 南京理工大学 | Video-based quick and accurate aiming method of sniping robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106005095A (en) | 2016-10-12 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180620 Address after: 264001 South Street, Zhifu District, Yantai, Shandong Province, No. 267 Applicant after: YANTAI JUNXING SPECIAL EQUIPMENT CO.,LTD. Address before: No. 211, Yao Lou village, Linxi County, Xingtai, Hebei Applicant before: Xu Hongjun |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A military robot with obstacle crossing function Effective date of registration: 20211203 Granted publication date: 20180724 Pledgee: Industrial and Commercial Bank of China Limited Yantai West Street sub branch Pledgor: YANTAI JUNXING SPECIAL EQUIPMENT CO.,LTD. Registration number: Y2021980013894 |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180724 |