CN106428562A - Landing buffer device used for rapid laying of laying type detecting robot in the sky - Google Patents
Landing buffer device used for rapid laying of laying type detecting robot in the sky Download PDFInfo
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- CN106428562A CN106428562A CN201611095024.5A CN201611095024A CN106428562A CN 106428562 A CN106428562 A CN 106428562A CN 201611095024 A CN201611095024 A CN 201611095024A CN 106428562 A CN106428562 A CN 106428562A
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- Prior art keywords
- laying
- landing
- robot
- formula
- sleeve
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- 229920005830 Polyurethane Foam Polymers 0.000 claims abstract description 59
- 239000011496 polyurethane foam Substances 0.000 claims abstract description 59
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 238000000926 separation method Methods 0.000 claims abstract description 5
- 230000001681 protective effect Effects 0.000 claims abstract description 4
- 230000003139 buffering effect Effects 0.000 claims description 42
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 10
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 238000011084 recovery Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 238000009527 percussion Methods 0.000 claims description 4
- 229920002635 polyurethane Polymers 0.000 claims description 4
- 239000004814 polyurethane Substances 0.000 claims description 4
- 229910000639 Spring steel Inorganic materials 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims description 3
- 210000004247 hand Anatomy 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 2
- 229910000746 Structural steel Inorganic materials 0.000 claims 1
- 238000009434 installation Methods 0.000 claims 1
- 238000003913 materials processing Methods 0.000 claims 1
- 230000035939 shock Effects 0.000 abstract description 2
- 230000002265 prevention Effects 0.000 abstract 1
- 239000000126 substance Substances 0.000 description 5
- 239000003795 chemical substances by application Substances 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000006260 foam Substances 0.000 description 3
- 239000000383 hazardous chemical Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000006185 dispersion Substances 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- JOYRKODLDBILNP-UHFFFAOYSA-N Ethyl urethane Chemical compound CCOC(N)=O JOYRKODLDBILNP-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 230000007096 poisonous effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/14—Absorbing landing shocks
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a landing buffer device used for rapid laying of a laying type detecting robot in the sky. The device comprises a parachute assembly 1, a polyurethane foam body protective sleeve 2, a flexible fixing sleeve 3, a locking mechanism 4, a trigger 5, a mistake collision prevention safety mechanism 6 and the like. The buffer device can be loaded with the micro detecting robot to together enter a specific target area by means of air throwing, after landing through deceleration in air and landing buffer, landing overload shock can be effectively resisted, and the function integrity of the loaded laying type detecting robot after landing is ensured. After landing, automatic separation of the device and the laying type detecting robot can be achieved, so that the laying type detecting robot can quickly enter the target area, obtain field information and monitor an important target. By the arrangement of a plurality of detecting robots in the sky through the landing buffer device, robot group cooperative detection in the target area can be achieved, and the detection results are transmitted to a ground receiving and control terminal through the ground or an airborne relay.
Description
Technical field
The invention belongs to roboticses and automatic field, more particularly to a kind of aerial for laying formula sniffing robot
The quick landing and buffering device that lays.
Background technology
The unknown and high-risk field such as the serious natural disaster such as earthquake, chemical contamination accident, anti-terrorism and battlefield, situation complexity,
Personnel and testing equipment are difficult to quick intervention.For above-mentioned field remote, on a large scale, quick detection demand, it is desirable to explorer
Device people's small volume, lightweight, can achieve long-range quick, many individuality, lay on a large scale.Simultaneously because regional environment is unknown, it is desirable to
Microminiature sniffing robot has stronger adaptive capacity to environment, the energy especially will with stronger anti-landing impact acceleration
Power, to ensure the integrity of microminiature sniffing robot function after landing.At present, microminiature ground sniffing robot is due to resisting to fall
(such microminiature sniffing robot highest possesses the overload-resistant energy of 9.1 meters of landing to the ability of ground overload impact both at home and abroad at present
Power).Further, as the special environment of target area is limited, after the such as earthquake disaster of target area, scene, poisonous and harmful substance expand
Dissipate scene, difficult to realize closely lay, the above-mentioned mesh with special environment need to be rapidly entered by the mode such as shedding in the air
Mark region.Domestic " a kind of anti-air dispersion overload buffering device suitable for microminiature sniffing robot "
(ZL201210232778.6) the anti-air dispersion overload buffering device volume and quality involved by is larger, is suitable for making machine at present
Device people is difficult to realize multiple in the case of shedding the unmanned plane of operation or having the airborne capacity of the type such as man-machine and load capacity limited
Body, on a large scale aerial quick laying.
Content of the invention
The purpose of the present invention is the defect for above-mentioned prior art, there is provided a kind of for laying formula sniffing robot sky
In the quick landing and buffering device that lays, landing and buffering device loads laying formula sniffing robot in the way of shedding laying in the air
Intervention special objective region, slows down and after landing and buffering lands through empty mistake, can be effective against landing overload impact, it is ensured that institute
The integrity of laying formula sniffing robot function after landing of loading.After landing, apparatus of the present invention can realize device with cloth
If being automatically separated for formula sniffing robot, enables laying formula sniffing robot to rapidly enter target area and carry out field data
Obtain and important goal is monitored.Multiple sniffing robots, achievable target area inner machine are laid in the air by apparatus of the present invention
The mission bit streams such as people's multi-agent synergy detection image, sound, Hazardous Chemical Substances wave spectrum, by aerial relaying send back ground receiver and
Control terminal.
The present invention is adopted the technical scheme that to achieve these goals：
A kind of for laying the landing and buffering device that formula sniffing robot is quickly laid in the air, including：
Landing umbrella assembly, is carried out after loading laying formula sniffing robot is quickly laid through Aircraft Air for described device
Overall Air slowdown；
Polyurethane foam protects sleeve, for wrapping up laying formula sniffing robot, is rushed on robotic contact ground
The function of overload-resistant buffering is played when hitting effect；
Flexible fastening sleeve, for fixing and discharging polyurethane foam protection sleeve and lay formula sniffing robot；
Retaining mechanism, for locking and release to flexible fastening sleeve；
Trigger, for the unblock of the retaining mechanism；
Mis-collision preventing insurance institution, for avoiding the buffer unit for being mounted with laying formula sniffing robot from laying in the air
During trigger be subject to external force, including throwing in the friction force etc. in cabin, cause retaining mechanism to unlock, robot is in aeroplane cloth
If during surprisingly eject.
Preferably, landing umbrella assembly is connected to the flexible fastening and puts, and is institute by the air drag of parachute umbrella cover
State buffer unit to be slowed down.The umbrella cover area of the landing umbrella assembly can be according to the buffer unit and the robot for being loaded
Quality and lay height selected.
Preferably, the polyurethane foam protection sleeve is made using lightweight, elastomeric polyurethane foamed material,
Including symmetrical two parts, symmetrical two parts are constituted to robot cylindrical shape inclusion enclave.The polyurethane foam protective case
Cylinder is directly coated in laying formula sniffing robot external fuselage, plays when robotic contact ground is subject to percussion overload-resistant
The function of buffering.The polyurethane foam protection sleeve inner is embedded with four groups of compression springs, protects in the polyurethane foam
When pretective sleeve pipe and laying formula sniffing robot fuselage are not acted on by flexible fastening sleeve elastic fastening, can be by polyurethane foam
Protection symmetrical two parts of sleeve are flicked from the man-machine body of machine, realize polyurethane foam protection sleeve and robot point
From, it is to avoid the protection sleeve is to robot motion and the impact of detection.
Preferably, the flexible fastening sleeve is made using spring steel material, with preferable elasticity and machinability.Institute
Flexible fastening sleeve naturalness is stated for expanded form, after fixing polyurethane foam protection sleeve and laying formula sniffing robot
For elastic compression state, then locking is fixed by retaining mechanism.When retaining mechanism in the flexible fastening sleeve port is opened,
By internal polyurethane foam protection sleeve and formula sniffing robot bullet is laid using the active force of self-recovery deformation
Go out, realize flexible fastening sleeve and separate with polyurethane foam protection sleeve and laying formula sniffing robot.
Preferably, the retaining mechanism, structure steel material is processed into, with preferable rigidity, can be to the elasticity
The port of fixes sleeve is locked so that the flexible fastening sleeve to polyurethane foam protection sleeve and lays formula detection
Robot is supported and fixes.
Preferably, the trigger and retaining mechanism are connected firmly, and directly active force are delivered to locking machine after trigger stress
On structure, the displacement movement to the buffer unit axle center can be carried out after the trigger stress, when displacement reaches the displacement of design
During amount, retaining mechanism is unlocked, and is separated with trigger, and the flexible fastening sleeve can utilize the active force of self-recovery deformation to incite somebody to action
Internal polyurethane foam protection sleeve and laying formula sniffing robot are ejected, and realize flexible fastening sleeve and polyurethane foam
Body protection sleeve and the separation of laying formula sniffing robot.
Preferably, the mis-collision preventing insurance institution, the taper seat of one end is installed on the peace of the flexible fastening sleeve port
Gap cooperation is formed in turn hole, and the other end is flexible coupling in the umbrella rope of the landing umbrella assembly by flexible strand, is inflated in parachute
When umbrella rope is pulled out, while the mis-collision preventing insurance institution is extracted out in the peace turn hole of the flexible fastening sleeve port, keep away
Exempt from robot surprisingly to eject during aircraft laying, while making trigger and retaining mechanism normal work.
Preferably, the laying formula sniffing robot is the microminiature sniffing robot of two-wheeled, four-wheel or many wheels.
Preferably, the aerial laying to laying formula sniffing robot realized by buffer unit of the present invention not only by aircraft
Landing and buffering, it is also possible to thrown by handss, trigger mechanism launches the laying that realizes to laying formula sniffing robot, and it is slow to realize landing
Punching, it is ensured that the integrity of robot function.
The excellent effect of the present invention is：
1) present invention can achieve detection machine for laying the landing and buffering device that formula sniffing robot is quickly laid in the air
People is in multiple intervention patterns of target area：Can be thrown by handss, trigger mechanism transmitting is realized to laying formula sniffing robot
Lay, realize landing and buffering, it is ensured that the integrity of robot function；Unmanned plane can also be passed through or have the man-machine side for shedding in the air
Formula, long-range, rapid deployment to target area, breach the limited shortcoming of microminiature sniffing robot working range.
2) compared to existing technology, the present invention is used for laying the landing and buffering device tool that formula sniffing robot is quickly laid in the air
The features such as having small volume, lightweight, buffer capacity strong, sheds the unmanned plane of operation or has man-machine etc. being suitable for doing robot at present
In the case that the airborne capacity of type and load capacity are limited, can remotely, quick, many individual, large area be deployed to target area, dash forward
Microminiature sniffing robot is broken and has laid that scope is little, the low shortcoming of layout density.
3) compared to existing technology, of the present invention for laying the landing and buffering dress that formula sniffing robot is quickly laid in the air
Put, use mainly for the machinery under shock environment, designed using level 2 buffering, first entirety is carried out by the umbrella assembly that lands
Slow down, then protect sleeve to absorb the impact energy on ground by the polyurethane foam of the light high elasticity outside described device
Amount, simple and compact for structure, buffer capacity is strong, reliability height, is especially suitable for shedding operation use in the air.
Therefore, the present invention intervenes special objective region to shed mode in the air, after level 2 buffering lands, can be effective
The anti-landing overload impact in ground, it is ensured that the integrity of the laying formula sniffing robot function after landing of being loaded.After landing, this
Bright device can be realized device and lay being automatically separated for formula sniffing robot, so that laying formula sniffing robot is rapidly entered
Target area is obtained and important goal supervision with field data is carried out.Multiple laying formulas are laid by apparatus of the present invention and detect machine
People, achievable target area inner machine people multi-agent synergy detection.
Description of the drawings
Fig. 1 is of the present invention a kind of for laying the landing and buffering device that formula sniffing robot is quickly laid in the air
The axonometric chart of assembly；
Fig. 2 is of the present invention a kind of for laying the landing and buffering device that formula sniffing robot is quickly laid in the air
Device axonometric chart detached with robot during landing；
Fig. 3 is of the present invention a kind of for laying the landing and buffering device work that formula sniffing robot is quickly laid in the air
Ideograph.
Wherein each reference implication is as follows：
1. land umbrella assembly；2. polyurethane foam protects sleeve；3. flexible fastening sleeve；4. retaining mechanism；5. trigger
Device；6. mis-collision preventing insurance institution；7. formula sniffing robot is laid
Specific embodiment
The invention will be further described with case is embodied as below in conjunction with the accompanying drawings, but not as the limit to the present invention
Fixed.
As shown in figure 1, including parachute group for laying the landing and buffering device that formula sniffing robot is quickly laid in the air
Part 1, polyurethane foam protection sleeve 2, flexible fastening sleeve 3, retaining mechanism 4, trigger 5 and mis-collision preventing insurance institution 6
Deng.
As Figure 1-3, lay 7 fuselage of formula sniffing robot to be wrapped in polyurethane foam protection sleeve 2, connecing
Tread surface is subject to play the function of overload-resistant buffering during percussion.The polyurethane foam protection sleeve 2 adopts lightweight, height
The polyurethane foamed material of elasticity is made, and including symmetrical two parts, symmetrical two parts are constituted to robot cylindrical shape parcel
Body.Four groups of compression springs are embedded with inside the polyurethane foam protection sleeve 2, can be in the polyurethane foam protective case
When cylinder 2 and 7 fuselage of laying formula sniffing robot are not acted on by 3 elastic fastening of flexible fastening sleeve, can be by polyurethane foam
The symmetrical two parts of foam body protection sleeve are flicked from the man-machine body of machine, are realized the sleeve and are separated with robot, it is to avoid be described
Sleeve is to robot motion and the impact of detection.
The flexible fastening sleeve 3 is located at the outside that the polyurethane foam protects sleeve 2, poly- for fixing and release
Urethane foams and laying formula sniffing robot.The flexible fastening sleeve 3 is made using spring steel material, with preferable
Elasticity and machinability.3 naturalness of flexible fastening sleeve is expanded form, fixing polyurethane foam protection sleeve 2
And be elastic compression state after laying formula sniffing robot 7, then in port, locking is fixed by retaining mechanism 4.Lock in port
When tight mechanism 4 opens, and lay internal polyurethane foam protection sleeve 2 using the active force of self-recovery deformation
Formula sniffing robot 7 is ejected, and realizes flexible fastening sleeve 3 with polyurethane foam protection sleeve 2 and laying formula sniffing robot 7
Separation.
The retaining mechanism 4, structure steel material is processed into, with preferable rigidity, can be to the elastic fixing sleeve
The port of cylinder 3 is locked so that the flexible fastening sleeve 3 is protected sleeve 2 and lays formula explorer to polyurethane foam
Device people 7 is supported and fixes.Trigger 5 and retaining mechanism 4 are connected firmly, and directly active force are delivered to lock after 5 stress of trigger
In tight mechanism 4, the displacement movement to the buffer unit axle center can be carried out after 5 stress of the trigger, when displacement reaches design
Displacement when, 4 mechanical release of retaining mechanism, separate with trigger 5.Subsequently, flexible fastening sleeve 3 can utilize self-recovery
Internal polyurethane foam protection sleeve 2 and laying formula sniffing robot 7 are ejected by the active force of deformation, realize elasticity solid
Determining sleeve 3 protects sleeve 2 and laying formula sniffing robot 7 to separate with polyurethane foam.
In order to avoid be mounted with the buffer unit of laying formula sniffing robot 7 in the air in the procedures of establishment trigger receive
To external force, including the friction force in cabin etc. is thrown in, cause retaining mechanism 4, robot is surprisingly ejected during aircraft laying,
Invention increases mis-collision preventing insurance institution 6.It is described that the gap of described 6 one end of mis-collision preventing insurance institution coordinates mounting surface to be installed on
In the peace turn hole of 3 port of flexible fastening sleeve, the other end is flexible coupling in the umbrella rope of the landing umbrella assembly 1 by flexible strand,
When umbrella rope is pulled out by the inflation of parachute umbrella cover, while by the mis-collision preventing insurance institution 6 in the flexible fastening sleeve port 3
Extract out in peace turn hole, so as to avoid laying formula sniffing robot 7 from surprisingly ejecting during aircraft laying.
The landing umbrella assembly 1 is used for described device and quickly lays through Aircraft Air after laying formula sniffing robot is loaded
After carry out overall Air slowdown.Landing umbrella assembly 1 is connected on the flexible fastening sleeve 3, by the air drag of umbrella cover is
Described device is slowed down, and the umbrella cover area of the landing umbrella assembly can be carried out according to the quality of described device and the height that lays
Select.
Fig. 2 is of the present invention a kind of quickly to lay the falling of landing and buffering device in the air for laying formula sniffing robot
Device axonometric chart detached with robot during ground, Fig. 3 is that one kind of the present invention is quick in the air for laying formula sniffing robot
The landing and buffering device working mode figure of laying.As shown in Figures 2 and 3, the present invention is aerial with aircraft such as helicopter, unmanned planes
The mode that sheds intervenes special objective region and carries out aerial quick on a large scale laying.Described device loads monomer and lays formula explorer
Device people 7 is connected to landing umbrella assembly 1 in the elastic fixing sleeve 3 and opens, subsequently drop by carrying out in the air after quick laying on a large scale
Fall umbrella canopy, the pull-out of umbrella rope, and canopy is inflated, and parachute is steady with the buffer unit for carrying laying formula sniffing robot 7
Fixed landing.It is flexible coupling in the stretching in umbrella rope of mis-collision preventing insurance institution 6 of the landing 1 umbrella rope of umbrella assembly by flexible strand
Process, from the peace turn hole of the flexible fastening sleeve port 3 extract out, so as to avoid laying formula sniffing robot 7 in aircraft
Surprisingly eject in the procedures of establishment.After parachute slows down, the buffer unit contacts the moment on ground, the buffer unit
Trigger 5 contact ground suffer reaction, start compress retaining mechanism 4, retaining mechanism 4 be under pressure after occur position
Move, the solution of the flexible fastening sleeve 3 of the retaining mechanism 4 pairs is realized in displacement after exceeding 4 maximum displacement value of retaining mechanism
Lock.When retaining mechanism 4 in 3 port of flexible fastening sleeve is opened, flexible fastening sleeve 3 can utilize self-recovery deformation
Active force by internal polyurethane foam protection sleeve 2 and lay formula sniffing robot 7 and eject, realize flexible fastening sleeve
3 protect sleeve 2 and laying formula sniffing robot 7 to separate with polyurethane foam.Polyurethane foam protection sleeve 2 and laying
After formula sniffing robot 7 is ejected, suffered by parachute, quality of loads declines suddenly, and dynamic balance is broken, and produces suddenly upwards
Aerostatic buoyancy is acted on, and parachute then outwards can descend slowly and lightly with flexible fastening sleeve 3 upwards, so as to avoid after parachute landing
To laying the impact that formula sniffing robot 7 is ejected.Polyurethane foam protection sleeve 2 and laying formula sniffing robot 7 are ejected
Afterwards, sleeve 2 is protected to be rushed on contact ground using the polyurethane foam that lightweight, elastomeric polyurethane foamed material are made
The function of overload-resistant buffering is played when hitting effect to laying formula sniffing robot 7.Further, since the polyurethane foam protection
Sleeve 2 and 7 fuselage of laying formula sniffing robot are no longer acted on by 3 elastic fastening of flexible fastening sleeve, the polyurethane foam
Polyurethane foam is protected the symmetrical two parts of sleeve 2 from laying by four groups of compression springs being embedded with inside foam body protection sleeve 2
7 fuselage of formula sniffing robot is flicked, and is realized polyurethane foam protection sleeve 2 and is separated with the formula of laying sniffing robot 7,
Avoid 2 pairs, polyurethane foam protection sleeve that the impact that formula sniffing robot 7 moves and detects is laid, subsequently lay formula spy
Survey robot 7 and eject and start to detect target area.After shedding laying, aircraft continues to spiral in robot movable area, load
When control station is relayed with the air communication of ground robot.Multiple sniffing robots are laid in the air by apparatus of the present invention, can be real
The mission bit streams such as existing target area inner machine people's multi-agent synergy detection image, sound, Hazardous Chemical Substances wave spectrum, are relayed by aerial
Send back ground receiver and control terminal.
Alternatively, the polyurethane foam protection sleeve 2 can be made up of symmetrical two parts, also can be by other numbers
Part constitutes.In addition, the polyurethane foam protection sleeve 2 in above example can also select other elastomeric materials.For
The profile of the landing and buffering device that laying formula sniffing robot is quickly laid in the air is also not necessarily limited to the shape shown in accompanying drawing, also may be used
With from other spheroids or polyhedron.
For laying the landing and buffering device that formula sniffing robot is quickly laid in the air in the present invention, mainly in impact
Machinery under environment is used, and is designed using level 2 buffering, carries out overall deceleration by the umbrella assembly that lands first, then by described
The polyurethane foam protection sleeve 2 of the light high elasticity outside device absorbs the impact energy on ground, right so as to reach reduction
The impact acceleration of its internal laying formula sniffing robot, it is ensured that lay the integrity of formula sniffing robot function.The landing is slow
The flexible fastening sleeve 3, polyurethane foam protection sleeve 2 and laying formula can be automatically obtained after flushing device landing
7 three of sniffing robot is automatically separated, and lays formula sniffing robot 7 and rolls execution detection mission away from.
As the present invention has small volume, weight for laying the landing and buffering device that formula sniffing robot is quickly laid in the air
The features such as amount is light, buffer capacity is strong, sheds the unmanned plane of operation or has the airborne appearance of the type such as man-machine being suitable for doing robot at present
In the case that amount and load capacity are limited, can achieve long-range, quick, many individual, large area and target area is deployed to, breach micro-
Small-sized sniffing robot laying scope is little, the low shortcoming of layout density, can be by laying multiple robots in the air, and robot becomes
Automatic deployment, adjust automatically layout between member, collaboration detection.After shedding laying, aircraft continues to spiral in robot movable area, load
When control station and the communications backbone of ground machine group.High-power Wi-Fi emitter is equipped with, can extensively and constantly maintain radio zone
Domain network, allows ground machine crowd collect image, sound, Hazardous Chemical Substances spectral information, by terrestrial repetition and aerial relaying
Send back ground receiver and control terminal.
Embodiment described above, simply one kind of the present invention more preferably specific embodiment, those skilled in the art
The usual variations and alternatives that member is carried out in the range of technical solution of the present invention all should be comprising within the scope of the present invention.
Claims (9)
1. a kind of for laying the landing and buffering device that formula sniffing robot is quickly laid in the air, including：
Landing umbrella assembly 1, which is used for described device is carried out after loading laying formula sniffing robot 7 is quickly laid through Aircraft Air
Overall Air slowdown；
Polyurethane foam protects sleeve 2, and which is used for wrapping up laying formula sniffing robot 7, in the laying formula sniffing robot 7
Contact ground is subject to play the function of overload-resistant buffering during percussion；
Flexible fastening sleeve 3, which is used for fixing and discharging polyurethane foam protection sleeve 2 and laying formula detection
Robot 7；
Retaining mechanism 4, which is used for locking and release to the flexible fastening sleeve 3；
Trigger 5, which is used for the unblock of the retaining mechanism 4；
Mis-collision preventing insurance institution 6, which is used for avoiding the buffer unit for being mounted with the laying formula sniffing robot 7 in the air
Trigger 5 described in the procedures of establishment is subject to external force, including throwing in the friction force in cabin etc., leads the cause retaining mechanism
4 unblocks, robot is surprisingly ejected during aircraft laying.
2. landing and buffering device according to claim 1, it is characterised in that：The landing umbrella assembly 1 is connected to the bullet
On property fixed cover 3, slowed down for the buffer unit by the air drag of parachute umbrella cover.
The umbrella cover area of the landing umbrella assembly 1 can be high according to the quality and laying of the buffer unit and the robot for being loaded
Degree is selected.
3. landing and buffering device according to claim 1, it is characterised in that：Described polyurethane foam protection sleeve 2
Made using lightweight, elastomeric polyurethane foamed material, including symmetrical two parts, symmetrical two parts are constituted to robot
Cylindrical shape inclusion enclave.The polyurethane foam protection sleeve 2 is directly coated in outside 7 fuselage of laying formula sniffing robot
Portion, plays the function of overload-resistant buffering when robotic contact ground is subject to percussion.The polyurethane foam protective case
Four groups of compression springs being embedded with inside cylinder 2, sleeve 2 is protected in the polyurethane foam and lay 7 fuselage of formula sniffing robot not
During by the flexible fastening sleeve 3 fastening effect of elasticity, the polyurethane foam can be protected the symmetrical two parts of sleeve 2
Flick from the man-machine body of machine, realize polyurethane foam protection sleeve 2 and separate with the laying formula sniffing robot 7,
The impact for avoiding the polyurethane foam 2 pairs, sleeve of the protection laying formula sniffing robot 7 from moving and detect.
4. the landing and buffering device according to claim 1 and 3, it is characterised in that：Described flexible fastening sleeve 3 adopts bullet
Spring Steel material is made, with preferable elasticity and machinability.3 naturalness of flexible fastening sleeve is expanded form, institute
State after fixing polyurethane foam protection sleeve 2 and the laying formula sniffing robot 7 as elastic compression state, then by locking
Locking is fixed by mechanism 4.When retaining mechanism 4 in described 3 port of flexible fastening sleeve is opened, described flexible fastening sleeve 3
Using the active force of self-recovery deformation, the polyurethane foam protection sleeve 2 described in inside and described laying formula are visited
Surveying robot 7 to eject, described flexible fastening sleeve 3 is realized with described polyurethane foam protection sleeve 2 and described cloth
If the separation of formula sniffing robot 7.
5. the landing and buffering device according to claim 1,3 and 4, it is characterised in that：Described retaining mechanism 4, structural steel
Materials processing is made, and with preferable rigidity, the port of the flexible fastening sleeve 3 can be locked so that the bullet
Property the polyurethane foam of fixes sleeve 3 pairs protection sleeve 2 and the laying formula sniffing robot 7 be supported and fix.
6. the landing and buffering device according to claim 1, described in 3-5, it is characterised in that：The trigger 5 and the locking machine
Structure 4 is connected firmly, and directly active force is delivered on the retaining mechanism 4, after 5 stress of the trigger after 5 stress of the trigger
The displacement movement to the buffer unit axle center can be carried out, when displacement reaches the displacement of design, the retaining mechanism 4 is solved
Lock, is separated with the trigger 5, and the flexible fastening sleeve 3 can utilize the active force of self-recovery deformation by described in inside
Polyurethane foam protection sleeve 2 and described laying formula sniffing robot 7 eject, realize the flexible fastening sleeve 3 with
The polyurethane foam protection sleeve 2 and the separation of the laying formula sniffing robot 7.
7. the landing and buffering device according to claim 1-6, it is characterised in that：Described mis-collision preventing insurance institution 6, one end
Taper seat be installed on 3 port of flexible fastening sleeve installation in the hole formed gap cooperation, the other end by flexible strand soft
The umbrella rope of the landing umbrella assembly 1 is connected to, when umbrella rope is pulled out by parachute inflation, while by the mis-collision preventing insurance institution
6 extract out in the peace turn hole of 3 port of flexible fastening sleeve, it is to avoid robot is surprisingly ejected during aircraft laying, with
When make the trigger 5 and 4 normal work of retaining mechanism.
8. the landing and buffering device according to claim 1-7, it is characterised in that：Described laying formula sniffing robot 7 is
Two-wheeled, the microminiature sniffing robot of four-wheel or many wheels.
9. the landing and buffering device according to claim 1-7, it is characterised in that：Described buffer unit not only by
The aerial laying landing and buffering to laying formula sniffing robot 7 realized by aircraft, it is also possible to thrown by handss, trigger mechanism transmitting is realized
To the laying of formula sniffing robot 7 is laid, and realize landing and buffering, it is ensured that the integrity of robot function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611095024.5A CN106428562A (en) | 2016-12-01 | 2016-12-01 | Landing buffer device used for rapid laying of laying type detecting robot in the sky |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611095024.5A CN106428562A (en) | 2016-12-01 | 2016-12-01 | Landing buffer device used for rapid laying of laying type detecting robot in the sky |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106428562A true CN106428562A (en) | 2017-02-22 |
Family
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| CN201611095024.5A Pending CN106428562A (en) | 2016-12-01 | 2016-12-01 | Landing buffer device used for rapid laying of laying type detecting robot in the sky |
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Cited By (3)
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| CN109703751A (en) * | 2019-02-22 | 2019-05-03 | 中船重工(武汉)凌久信息技术有限公司 | A kind of military survey mission instrument |
| CN111731480A (en) * | 2020-08-06 | 2020-10-02 | 江西珉轩智能科技有限公司 | Environmental monitoring system based on big data |
| CN112169214A (en) * | 2020-09-29 | 2021-01-05 | 陈鋆 | High-altitude personnel falling safety emergency device |
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| CN112169214A (en) * | 2020-09-29 | 2021-01-05 | 陈鋆 | High-altitude personnel falling safety emergency device |
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