CN111496811A - Drum-type reconnaissance device - Google Patents
Drum-type reconnaissance device Download PDFInfo
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- CN111496811A CN111496811A CN202010356253.8A CN202010356253A CN111496811A CN 111496811 A CN111496811 A CN 111496811A CN 202010356253 A CN202010356253 A CN 202010356253A CN 111496811 A CN111496811 A CN 111496811A
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- gear
- self
- steering engine
- locking gear
- locking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Abstract
The invention provides a drum-type reconnaissance device which comprises drum-type wheels, a reduction gearbox, a steering engine and a binocular camera, wherein the reduction gearbox is arranged on the front end of the drum-type wheels; the drum-type wheel is integral and comprises a left wheel and a right wheel. The invention has novel structure and lower cost, can realize that each person is provided with one device, has small and exquisite appearance, is convenient for carrying the device and has good timeliness.
Description
Technical Field
The invention belongs to the technical field of reconnaissance devices, and particularly relates to a drum-type reconnaissance device.
Background
The prior reconnaissance device mainly has the following defects: autonomous movement is generally not possible; the traditional wheeled scout vehicle type is difficult to pass through complex terrain; the traditional reconnaissance vehicle type is always exposed outside, so that the parts are easily damaged; the traditional reconnaissance device cannot perform omnibearing reconnaissance and has dead angles; the traditional reconnaissance device is large in size and inconvenient to carry.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a drum type reconnaissance device to solve the defects of the traditional reconnaissance vehicle type.
The invention provides a drum-type reconnaissance device, which comprises:
the drum-type wheel comprises a left wheel and a right wheel.
The left wheel comprises a left cylinder type shell, a left roller and a plurality of first self-locking gear screws; the first self-locking gear screw comprises a gear part and a thread part; a first self-locking gear and a first self-locking gear cover plate are arranged at one end of the left barrel type shell, first external teeth, a first fixed concave ring and first internal teeth are arranged on the first self-locking gear, and a first self-locking gear screw rod through hole and a first fixed convex ring are arranged on the first self-locking gear cover plate; the first fixed convex ring is arranged inside the first fixed concave ring, a gear part of the first self-locking gear screw penetrates through a first self-locking gear screw through hole to be meshed with the first external teeth, and a thread part of the first self-locking gear screw is in threaded connection with the first self-locking gear screw through hole; the one end and the left gyro wheel of left side section of thick bamboo shell are connected, the other end and the transparency portion of left side section of thick bamboo shell are connected, the outside end of left side gyro wheel is equipped with a plurality of left side auxiliary roller wheels, the medial extremity of left side gyro wheel is equipped with left toothed disc, be equipped with gear wheel and pinion on the left toothed disc, left side auxiliary roller wheel passes through the gear connection of linkage gear and left toothed disc.
The right wheel comprises a right cylinder type shell, a right roller and a plurality of second self-locking gear screws; the second self-locking gear screw comprises a gear part and a thread part; a second self-locking gear and a second self-locking gear cover plate are arranged at one end of the left barrel type shell, second external teeth, a second fixed concave ring and second internal teeth are arranged on the second self-locking gear, and a second self-locking gear screw rod through hole and a second fixed convex ring are arranged on the second self-locking gear cover plate; the second fixed convex ring is arranged in the second fixed concave ring, a gear part of the second self-locking gear screw penetrates through a second self-locking gear screw through hole to be meshed with the second outer teeth, and a thread part of the second self-locking gear screw is in threaded connection with the second self-locking gear screw through hole; the one end and the right gyro wheel of right side cylinder shell are connected, the other end and the transparence portion of right side cylinder shell are connected, the outside end of right side gyro wheel is equipped with a plurality of right side auxiliary roller, the medial extremity of right side gyro wheel is equipped with right toothed disc, be equipped with gear wheel and pinion on the right toothed disc, right side auxiliary roller passes through the gear connection of linkage gear and right toothed disc.
The reduction gearbox comprises a left reduction gearbox and a right reduction gearbox; the left reduction box and the right reduction box are connected through an optical axis; and two ends of the optical axis respectively penetrate through the left reduction gearbox and the right reduction gearbox, the middle hole of the left gear disc and the middle hole of the right gear disc in sequence and are connected with the left roller and the right roller.
The steering engine comprises a large steering engine and a small steering engine; the small steering engine and the large steering engine are connected through a linkage gear; during self-locking action, the two ends of the large steering engine are respectively connected with the first inner teeth and the second inner teeth through linkage gears, and during stretching action, the two ends of the large steering engine are respectively connected with the pinion of the left gear disc and the pinion of the right gear disc through the linkage gears.
The camera is arranged in the drum-type wheel, is electrically connected with the power supply and is arranged right behind the transparent part.
Preferably, the transparent part comprises a left transparent part and a right transparent part, and the left transparent part and the right transparent part are connected through an intermediate connector.
Preferably, the camera is a binocular camera and is respectively arranged right behind the left transparent part and the right transparent part.
Preferably, the number of the left auxiliary rollers and the number of the right auxiliary rollers are six; the number of the first self-locking gear screw rods and the number of the second self-locking gear screw rods are six.
Preferably, two side ends of the large steering engine are provided with large steering engine brackets, and the upper end of each large steering engine bracket is provided with a gear; the small steering engine is connected with the gear of the large steering engine support through a linkage gear.
Preferably, a left transmission shaft and a right transmission shaft which are connected with the linkage gear are respectively arranged on two sides of the large steering engine.
Preferably, a supporting connecting plate is arranged inside the drum-type wheel; the supporting and connecting plate comprises a motor mounting position, a camera platform, a large steering engine support mounting position, a small steering engine platform, a reduction gearbox fixing hole, a reduction gearbox positioning hole and a reduction gearbox positioning edge.
Preferably, a battery support plate is arranged inside the drum-type wheel; the battery support plate comprises a battery support platform, wherein the battery support platform is provided with four positioning mounting holes and a power line through hole, and the battery support plate is installed on the support connecting plate through the four positioning mounting holes by using copper columns.
Preferably, the reduction gearbox comprises a reduction gearbox shell, an output transmission shaft and a motor driving shaft input end; one end of the output transmission shaft is connected with the left roller or the right roller, and the other end of the output transmission shaft is connected with the driving motor sequentially through the gear and the input end of the motor driving shaft.
Preferably, the copper columns are hexagonal male and female copper columns; the male end fixes the reduction gearbox through the reduction gearbox fixing hole, and the female end installs the battery support plate to the support connection plate through the positioning installation hole of the battery support plate.
Compared with the prior art, the invention has the beneficial effects that:
(1) the vehicle body is a drum-type integral rolling vehicle type, has good terrain passing capacity and self-protection capacity, can effectively adapt to various complex and severe terrains and environments, has omnibearing and no dead angle and can be automatically detected, and has a certain application and development prospect.
(2) The vehicle body is a drum-type integral rolling vehicle, and parts are all arranged in the vehicle body, so that the vehicle body can be well protected, and the protection performance is greatly improved.
(3) The invention has novel structure and lower cost, can realize that each person is provided with one device, has small and exquisite appearance, is convenient for carrying the device and has good timeliness.
Drawings
FIG. 1 is a block diagram of an embodiment of the present invention.
Fig. 2 is a front view of the internal structure of the embodiment of the present invention.
Fig. 3 is a rear view of the internal structure of the embodiment of the present invention.
Fig. 4-6 are block diagrams of cartridge housings according to embodiments of the present invention.
FIG. 7 is a diagram of a self-locking gear cover plate according to an embodiment of the present invention.
Fig. 8 is a view showing the structure of a self-locking gear according to an embodiment of the present invention.
Fig. 9 is a view of a self-locking geared screw structure according to an embodiment of the present invention.
Fig. 10 to 12 are structural views of the roller according to the embodiment of the present invention.
Fig. 13 is a structure view of a gear plate of the embodiment of the present invention.
Fig. 14 is a structural view of a support connection plate according to an embodiment of the present invention.
FIG. 15 is a block diagram of a large steering engine mount according to an embodiment of the present invention.
Fig. 16 is a structural view of a battery holder plate according to an embodiment of the present invention.
Fig. 17 to 19 are structural views of a reduction gear box according to an embodiment of the present invention.
Fig. 20 is a structure diagram of a steering engine according to an embodiment of the present invention.
Fig. 21 is a structural view of an intermediate connector according to an embodiment of the present invention.
FIG. 22 is a schematic diagram of the stretching operation of the embodiment of the present invention.
FIG. 23 is a schematic view of a self-locking action according to an embodiment of the present invention.
In the figure, 100, left wheel; 101. a left tubular housing; 102. a left roller; 1021. a first connection hole; 1022. a first shaft through hole; 103. a first self-locking gear screw; 104. a first self-locking gear; 1041. a first external tooth; 1042. a first stationary female ring; 1043. a first internal tooth; 105. a first self-locking gear cover plate; 1051. a first self-locking gear screw through hole; 1052. a first fixed convex ring; 1053. a first fixing hole; 106. a left transparent portion; 107. a left auxiliary roller; 108. a left gear plate; 1081. a first bull gear; 1082. a first pinion gear; 109. a left connecting shaft;
200. a right wheel; 201. a right barrel housing; 202. a right roller; 2021. a second connection hole; 2022. a second shaft through hole; 203. a second self-locking gear screw; 204. a second self-locking gear; 2041. a second external tooth; 2042. a second stationary female ring; 2043. a second internal tooth; 205. a second self-locking gear cover plate; 2051. a second self-locking gear screw through hole; 2052. a second fixed convex ring; 2053. a second fixing hole; 206. a right transparent portion; 207. a right auxiliary roller; 208. a right gear wheel disc; 2081. a second bull gear; 2082. a second pinion gear; 209. a right connecting shaft;
300. a reduction gearbox; 301. an optical axis; 302. a gearbox housing; 303. an output transmission shaft; 304. an optical axis through hole; 3041. a gear I; 3042. a gear II; 3043. a gear III; 305. an input end of a motor driving shaft;
400. a steering engine; 401. a large steering engine; 4011. a large steering engine bracket; 4012. a left drive shaft; 4013. a right drive shaft; 402. a small steering engine; 500. a binocular camera; 600. a linkage gear; 700. an intermediate connector; 701. a DC gear motor;
800. supporting the connecting plate; 801. a motor mounting position; 802. a camera platform; 803. a large steering engine bracket mounting position; 804. a small steering engine platform; 805. a reduction gearbox platform; 806. a reduction gearbox fixing hole; 807. a gearbox positioning hole; 808. a gearbox positioning edge;
900. a battery support plate; 901. a battery support platform; 902. positioning the mounting hole; 903. a power line port; 904. hexagonal male and female copper columns.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
Fig. 1-23 illustrate one embodiment of the present invention.
Referring to fig. 1 to 23, the device of the present embodiment includes a drum-type wheel, a reduction gearbox 300, a steering engine 400, and a binocular camera 500;
the drum-type wheel is integral and comprises a left wheel 100 and a right wheel 200;
the left wheel 100 comprises a left cylinder type shell 101, a left roller 102 and six first self-locking gear screws 103; the first self-locking gear screw 103 includes a gear portion and a threaded portion; one end of the left cylinder type shell 101 is provided with a first self-locking gear 104 and a first self-locking gear cover plate 105 at two sides of the first self-locking gear 104; a first external tooth 1041, a first fixed concave ring 1042 and a first internal tooth 1043 are sequentially arranged on the first self-locking gear 104 from the outer periphery to the inner periphery; two first self-locking gear cover plates 105 are arranged on the left barrel-type shell 101, and six first self-locking gear screw rod through holes 1051 which are uniformly distributed and a first fixed convex ring 1052 which protrudes along the transverse direction are arranged on the first self-locking gear cover plates 105 from the outer periphery to the inner periphery; two opposite first fixing convex rings 1052 are respectively arranged in the first fixing concave rings 1042 at two side parts of the first self-locking gear 104 so as to fix the first self-locking gear 104 through two first self-locking gear cover plates 105; the gear part of the first self-locking gear screw 103 penetrates through the first self-locking gear screw through hole 1051 on the outer side to be meshed with the first outer tooth 1041 and penetrates out of the first self-locking gear screw through hole 1051 on the inner side, and the thread part of the first self-locking gear screw 103 is in threaded connection with the first self-locking gear screw through hole 1051 on the outer side; the left cylinder type casing 101 is also provided with six first fixing holes 1053, the left roller 102 is provided with six first connecting holes 1021 corresponding to the first fixing holes 1053, one end of the left cylinder type casing 101 is connected with the left roller 102 through the first fixing holes 1053, the first connecting holes 1021 and the fixing piece, and the other end is connected with the left transparent part 106; six left auxiliary rollers 107 are arranged at the outer side end of the left roller 102, a left gear disc 108 is arranged at the inner side end of the left roller, and a first large gear 1081 at the outer periphery and a first small gear 1082 at the inner periphery are arranged on the left gear disc 108; the left roller 102 is provided with six first shaft through holes 1022, the left auxiliary roller 107 penetrates through the first shaft through holes 1022 through the driving shaft to be connected with the linkage gear 600, and the linkage gear 600 is meshed with the first large gear 1081 of the left gear plate 108.
The right wheel 200 comprises a right cylinder type shell 201, a right roller 202 and six second self-locking gear screws 203; the second self-locking gear screw 203 comprises a gear part and a thread part; one end of the left cylinder type shell 201 is provided with a second self-locking gear 204 and a second self-locking gear cover plate 205 at two sides of the second self-locking gear 204, and a second outer tooth 2041, a second fixed concave ring 2042 and a second inner tooth 2043 are sequentially arranged on the second self-locking gear 204 from the outer periphery to the inner periphery; two second self-locking gear cover plates 205 are arranged on the right barrel-type shell 201, and six second self-locking gear screw through holes 2051 which are uniformly distributed and a second fixed convex ring 2052 which protrudes along the transverse direction are arranged on the second self-locking gear cover plates 205 from the outer periphery to the inner periphery; two opposite second fixed convex rings 2052 are respectively arranged in the second fixed concave rings 2042 at two side parts of the second self-locking gear 204, so that the second self-locking gear 204 is fixed by two second self-locking gear cover plates 205; the gear part of the second self-locking gear screw 203 penetrates through the second self-locking gear screw through hole 2051 on the outer side to be meshed with the second outer tooth 2041 and penetrates out of the second self-locking gear screw through hole 2051 on the inner side, and the thread part of the second self-locking gear screw 203 is in threaded connection with the second self-locking gear screw through hole 2051 on the outer side; six second fixing holes 2053 are further formed in the right barrel type shell 201, six second connecting holes 2021 corresponding to the second fixing holes 2053 are formed in the right roller 202, one end of the right barrel type shell 201 is connected with the right roller 202 through the second fixing holes 2053, the second connecting holes 2021 and a fixing piece, and the other end of the right barrel type shell is connected with the right transparent part 206; six right auxiliary rollers 207 are arranged at the outer side end of the right roller 202, a right gear disc 208 is arranged at the inner side end, and a second large gear 2081 and a second small gear 2082 are arranged on the right gear disc 208; six second shaft through holes 2022 are formed in the right roller 202, the right auxiliary roller 207 penetrates through the second shaft through holes 2022 through the driving shaft to be connected with the linkage gear 600, and the linkage gear 600 is meshed with the second large gear 2081 of the right gear disc 208; the left transparent part 106 and the right transparent part 206 are connected through the middle connector 700, the end parts of the left transparent part 106 and the right transparent part 206 are respectively inserted into the slots arranged on the middle connector 700, so that wheels on two sides can rotate relatively but cannot move relatively, the transparent part and the middle connector 700 are the same as the external dimensions of the two drum-type wheels, the integrity of the appearance of the vehicle body is ensured, and a certain waterproof level can be achieved according to the manufacturing and assembling process of the part of structure. The transparent part can be fixed by waterproof glue, and the waterproof device is simple to install and convenient to maintain and can play a certain waterproof effect.
The reduction gearbox 300 comprises a left reduction gearbox and a right reduction gearbox, the left reduction gearbox and the right reduction gearbox are connected through an optical axis 301 with threads at two ends, the left reduction gearbox or the right reduction gearbox comprises a reduction gearbox shell 302, an output transmission shaft 303, an optical axis through hole 304 and a motor drive shaft input end 305 are arranged on the reduction gearbox shell 302, and the output transmission shaft 303 is installed on the reduction gearbox shell 302 through a double-row ball bearing; two ends of the optical axis 301 respectively penetrate through an optical axis through hole 304, an output transmission shaft 303, a middle hole of the left gear disc 108 and a middle hole of the right gear disc 208 in sequence, are connected with the left connecting shaft 109 on the left roller 102 and the right connecting shaft 209 on the right roller 202, and are fixed through end caps so as to improve the stability of the vehicle body; the left connecting shaft 109 and the right connecting shaft 209 are respectively arranged between the left roller 102 and the right roller 202 through double-row ball bearings; the output transmission shaft 303 is connected with a direct current speed reduction motor 701 through a gear assembly 304 and a motor driving shaft input end 303 to obtain driving force. The gear assembly 304 comprises a gear I3041, a gear II 3042 and a gear III 3043, a driving shaft of the direct current speed reduction motor 701 drives the gear III 3043 through the motor driving shaft input end 303, the gear III 3043 is meshed with the gear II 3042, the gear III 3043 drives the gear II 3042, the gear II 3042 is meshed with the gear I3041, the gear II 3042 drives the gear I3041, and the gear I3041 drives the output transmission shaft 303, so that the external drum type wheel is driven.
The steering engine 400 comprises a large steering engine 401 and a small steering engine 402; the small steering engine 402 is connected with the large steering engine 401 through a linkage gear 600; during self-locking action, two ends of the large steering engine 401 are respectively connected with the first inner teeth 1043 and the second inner teeth 2043 through the linkage gear 600, and during stretching action, two ends of the large steering engine 401 are respectively connected with the first pinion 1082 of the left gear disc 108 and the second pinion 2082 of the right gear disc 208 through the linkage gear 600;
the binocular camera 500 is arranged inside the roller type wheel, is electrically connected with a power supply, is respectively arranged right behind the left transparent part 106 and the right transparent part 206, and can capture images and distances; one lens of the binocular camera 500 captures depth information of a picture, i.e., distance, and the other lens captures image information in front, i.e., a common camera lens.
Further, big steering engine support 4011 is equipped with to big steering engine 401's both sides end, and big steering engine support 4011's upper end is equipped with the gear, and little steering engine 402 is connected with big steering engine support 4011's gear through linkage gear 600.
Furthermore, a left transmission shaft 4012 and a right transmission shaft 4013 connected with the linkage gear 600 are respectively arranged on two sides of the large steering engine 401.
Further, a support connection plate 800 is arranged inside the drum-type wheel; the support connecting plate 800 comprises a motor mounting position 801, a camera platform 802, a large steering engine bracket mounting position 803, a small steering engine platform 804, a reduction gearbox platform 805, a reduction gearbox fixing hole 806, a reduction gearbox positioning hole 807 and a reduction gearbox positioning edge 808. Wherein, motor installation position 801 is inboard slightly higher, can reach the reinforcing effect to whole supporting connection board 800, when the whole car was assembled promptly, can be because the binding power at automobile body both ends is too big to lead to supporting connection board 800's bending, motor installation position 801 inboard design is slightly higher, can effectively avoid the emergence of above-mentioned problem. The gearbox positioning edge 808 and the gearbox positioning hole 807 can position the gearbox, so that the gearbox is convenient to mount.
Further, a battery support plate 900 is arranged inside the drum-type wheel; the battery support plate 900 comprises a battery support platform 901, four positioning and mounting holes 902 and a power line through hole 903 are formed in the battery support platform 901, and the battery support plate 900 is mounted on the support connecting plate 800 through the four positioning and mounting holes 902 by using copper columns 904; the copper columns 904 are hexagonal male and female copper columns; the male end fixes the reduction gearbox 300 through the reduction gearbox fixing hole 806, and the female end installs the battery support plate 900 on the support connection plate 800 through the positioning installation hole 902 of the battery support plate 900. A weight may be added to the lower end of the battery support plate 900 to ensure that the internal structure is always in a stable state during movement. The power line through hole 903 facilitates the arrangement of a power line; battery support platform 901 mounts a battery.
The principle of the embodiment is as follows: taking the left wheel 100 as an example, the left auxiliary roller 107 is connected to the linkage gear 600 through the driving shaft, and then the linkage gear 600 is engaged with the first large gear 1081 in the left gear plate 108, so that the left auxiliary roller 107 is in motion connection with the left gear plate 108.
Self-locking action, thereby at first remove big steering wheel support 4011 through little steering wheel 402 and drive the linkage gear 600 at left transmission shaft 4012 end and leave left gear plate 108, then mesh with first internal tooth 1043, through the conveying of power, make first auto-lock gear 104 rotate, drive first auto-lock gear screw 103 rather than first external tooth 1041 meshing, first auto-lock gear screw 103 is rotary motion in first auto-lock gear screw through-hole 1051 this moment, because it is threaded connection again, can turn into linear motion with the rotary motion of first auto-lock gear screw 103, can block left gear plate 108 with first auto-lock gear screw 103 rotatory play and accomplish the auto-lock. The self-locking action and the self-locking releasing action are realized through the structure and the connection mode.
And in the stretching action, the self-locking state is firstly released, then the large steering engine 401 drives the left transmission shaft 4012, and further drives the linkage gear 600 at the tail end of the transmission shaft, so that the left gear disc 108 is driven to move, and finally the left auxiliary roller 107 is driven to rotate and stretch out. When the stretching is completed, the self-locking action is immediately carried out.
The retracting auxiliary roller has the same transmission mode as the extending action, and the releasing self-locking action has the same transmission mode as the self-locking action, but the movement direction is opposite. In normal operation, the linkage gear 600 at the end of the left transmission shaft 4012 should be located in the middle of the left gear disc 108 and the self-locking internal gear, and the internal structure in the normal operation state is not affected.
In this embodiment, supplementary gyro wheel mounted position is convex sunken, makes things convenient for supplementary rolling gear to rotate, and supplementary gyro wheel can help this embodiment through the topography of the muddy highway section of skidding, height unevenness, step form etc..
The embodiment can be used for the situation that the whole vehicle is upright during the movement, namely, the side of one wheel is grounded. For the situation, it can be determined that the wheels contacting the ground do not move, the structure with the interior always kept stable rotates, the force breaking through the singular point can be calculated according to the quality of the final vehicle body assembly, and the rotation of the internal structure can provide enough centrifugal force to push the vehicle body at the moment under a certain specific motor rotating speed through a motor rotating speed and torque formula and a centripetal acceleration formula, so that the vehicle body can work normally.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures made by using the contents of the present specification and the drawings can be directly or indirectly applied to other related technical fields, and are within the scope of the present invention.
Claims (10)
1. A roll-to-roll reconnaissance device, the device comprising:
the roller type wheel comprises a left wheel and a right wheel;
the left wheel comprises a left cylinder type shell, a left roller and a plurality of first self-locking gear screws; the first self-locking gear screw comprises a gear part and a thread part; a first self-locking gear and a first self-locking gear cover plate are arranged at one end of the left barrel type shell, first external teeth, a first fixed concave ring and first internal teeth are arranged on the first self-locking gear, and a first self-locking gear screw rod through hole and a first fixed convex ring are arranged on the first self-locking gear cover plate; the first fixed convex ring is arranged inside the first fixed concave ring, a gear part of the first self-locking gear screw penetrates through a first self-locking gear screw through hole to be meshed with the first external teeth, and a thread part of the first self-locking gear screw is in threaded connection with the first self-locking gear screw through hole; one end of the left cylinder type shell is connected with a left roller, the other end of the left cylinder type shell is connected with the transparent part, a plurality of left auxiliary rollers are arranged at the outer side end of the left roller, a left gear disc is arranged at the inner side end of the left roller, a large gear and a small gear are arranged on the left gear disc, and the left auxiliary rollers are connected with the large gear of the left gear disc through linkage gears;
the right wheel comprises a right cylinder type shell, a right roller and a plurality of second self-locking gear screws; the second self-locking gear screw comprises a gear part and a thread part; a second self-locking gear and a second self-locking gear cover plate are arranged at one end of the left barrel type shell, second external teeth, a second fixed concave ring and second internal teeth are arranged on the second self-locking gear, and a second self-locking gear screw rod through hole and a second fixed convex ring are arranged on the second self-locking gear cover plate; the second fixed convex ring is arranged in the second fixed concave ring, a gear part of the second self-locking gear screw penetrates through a second self-locking gear screw through hole to be meshed with the second outer teeth, and a thread part of the second self-locking gear screw is in threaded connection with the second self-locking gear screw through hole; one end of the right cylinder type shell is connected with a right idler wheel, the other end of the right cylinder type shell is connected with the transparent part, a plurality of right auxiliary idler wheels are arranged at the outer side end of the right idler wheel, a right gear disc is arranged at the inner side end of the right idler wheel, a large gear and a small gear are arranged on the right gear disc, and the right auxiliary idler wheel is connected with the large gear of the right gear disc through a linkage gear;
the reduction gearbox comprises a left reduction gearbox and a right reduction gearbox; the left reduction box and the right reduction box are connected through an optical axis; two ends of the optical axis respectively penetrate through the left reduction gearbox and the right reduction gearbox, the middle hole of the left gear disc and the middle hole of the right gear disc in sequence and are connected with the left roller and the right roller;
the steering engine comprises a large steering engine and a small steering engine; the small steering engine and the large steering engine are connected through a linkage gear; during self-locking action, two ends of the large steering engine are respectively connected with the first inner teeth and the second inner teeth through linkage gears, and during stretching action, two ends of the large steering engine are respectively connected with the pinion of the left gear disc and the pinion of the right gear disc through the linkage gears;
the camera is arranged in the drum-type wheel, is electrically connected with the power supply and is arranged right behind the transparent part.
2. The apparatus of claim 1, wherein the transparent portion comprises a left transparent portion and a right transparent portion, and the left transparent portion and the right transparent portion are connected by an intermediate connector.
3. The apparatus of claim 2, wherein the camera is a binocular camera disposed directly behind the left and right transparent portions, respectively.
4. The apparatus of claim 1 or 2, wherein the left and right auxiliary rollers are provided in six; the number of the first self-locking gear screw rods and the number of the second self-locking gear screw rods are six.
5. The device as claimed in claim 1 or 2, wherein the two side ends of the large steering engine are provided with large steering engine brackets, and the upper end of each large steering engine bracket is provided with a gear; the small steering engine is connected with the gear of the large steering engine support through a linkage gear.
6. The device as claimed in claim 1 or 2, wherein a left transmission shaft and a right transmission shaft connected with the linkage gear are respectively arranged on two sides of the large steering engine.
7. The apparatus as claimed in claim 5, wherein the drum type wheel is internally provided with a support connection plate; the supporting and connecting plate comprises a motor mounting position, a camera platform, a large steering engine support mounting position, a small steering engine platform, a reduction gearbox fixing hole, a reduction gearbox positioning hole and a reduction gearbox positioning edge.
8. The apparatus of claim 7, wherein a battery support plate is provided inside the drum type wheel; the battery support plate comprises a battery support platform, wherein the battery support platform is provided with four positioning mounting holes and a power line through hole, and the battery support plate is installed on the support connecting plate through the four positioning mounting holes by using copper columns.
9. The apparatus of claim 1 or 2, wherein the reduction gearbox comprises a gearbox housing, an output drive shaft and a motor drive shaft input; one end of the output transmission shaft is connected with the left roller or the right roller, and the other end of the output transmission shaft is connected with the driving motor sequentially through the gear and the input end of the motor driving shaft.
10. The apparatus of claim 8, wherein the copper pillars are hexagonal male and female copper pillars; the male end fixes the reduction gearbox through the reduction gearbox fixing hole, and the female end installs the battery support plate to the support connection plate through the positioning installation hole of the battery support plate.
Priority Applications (1)
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