CN201646915U - Small ground unmanned fighting platform robot - Google Patents

Small ground unmanned fighting platform robot Download PDF

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Publication number
CN201646915U
CN201646915U CN2010201468660U CN201020146866U CN201646915U CN 201646915 U CN201646915 U CN 201646915U CN 2010201468660 U CN2010201468660 U CN 2010201468660U CN 201020146866 U CN201020146866 U CN 201020146866U CN 201646915 U CN201646915 U CN 201646915U
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CN
China
Prior art keywords
swing arm
crawler belt
platform
axle
drift angle
Prior art date
Application number
CN2010201468660U
Other languages
Chinese (zh)
Inventor
王艳春
Original Assignee
国营红林机械厂
Priority date (The priority date 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 date listed.)
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Application filed by 国营红林机械厂 filed Critical 国营红林机械厂
Priority to CN2010201468660U priority Critical patent/CN201646915U/en
Application granted granted Critical
Publication of CN201646915U publication Critical patent/CN201646915U/en

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Abstract

The utility model discloses a small ground unmanned fighting platform robot, comprising a platform bodywork in which a driving motor, a reducing mechanism and a control device are arranged; a driven belt wheel and a drive belt wheel connected by a main driving crawler are respectively arranged at the front end and the back end at the left and the right sides of the platform bodywork; a crawler tension regulating device is arranged inside the main driving crawler. The utility model is characterized in that two rotary swinging arm mechanisms each of which comprises a furling shaft, a triangular swinging arm, a swinging arm crawler driving wheel, a swinging arm crawler supporting wheel and a swinging arm crawler are arranged at both sides of the front end of the bodywork. The utility model has high structural strength and can climb stairs and the high-angle slope; the triangular swinging arms at both sides of the bodywork can be furled synchronously by both manual and electric operation; the utility model has small size, applicable to the antiterrorist and antiriot fighting environments in the fields, the outskirts and the cities.

Description

Small-scale terrestrial unmanned battle platform robot
Technical field
The utility model relates to the robot engineering technical field, is meant a kind of small-scale terrestrial unmanned battle platform robot especially.
Background technology
Ground unmanned battle platform robot is meant the robot system of the execution military mission that travels on the ground, not only can help the police to get rid of bomb, finish strategic point security personnel's task, can also replace wartime the soldier to carry out various tasks such as clearance, scouting, fire support, city operation in peacetime.
The mobile devices of ground unmanned battle platform robot can be divided into wheeled mobile devices and crawler type running device.Although wheeled mobile devices ground unmanned battle platform robot good economy performance, off-the battle field mobility is strong, but the many mountain areas, plateau of the anti-terrorism task of considering China in western part, actually do wartime, the crossing ability of Armoured Combat Vehicle, Tracked is that wheeled car is incomparable, therefore, the mobile devices of China ground unmanned battle platform robot adopt crawler type to have bigger advantage.
At present, function is equipped with more complete, the ground unmanned battle platform machine that outer shape differs from one another is per capita according to different environment and special, volume is big mostly, weight is big, inconvenient user carries, be not suitable for the bigger slope of speeling stairway and gradient, can't be in the suburb, the city is general, the environmental demand of can not satisfy in the open air, suburb and city fight against terrorism and violence being fought.
Summary of the invention
The purpose of this utility model be exactly to provide a kind of can speeling stairway and the bigger slope of gradient and in the suburb, city general-duty small-scale terrestrial unmanned battle platform robot, the needs of satisfy in the open air, tasks such as fight against terrorism and violence operation being finished in suburb and city.
For achieving the above object, the small-scale terrestrial unmanned battle platform robot that the utility model is developed, comprise the platform car body that drive motor, speed reduction gearing and control setup are installed, the rear end, both sides of platform car body is provided with imput shaft, driving pulley is installed on the imput shaft, the both sides front end of platform car body is provided with driven shaft, on the described driven shaft driven pulley is installed, link to each other by the main crawler belt that drives between driving pulley and the driven pulley, the main inboard that drives crawler belt is provided with the crawler tensioning control apparatus.Front end is provided with the rotation oscillating arm mechanisms in the both sides of platform car body, and the rotation oscillating arm mechanisms comprises that one is drawn in an axle and a diabolo swing arm.The gathering axle interts and be the rotation mated condition with it in the axle center hole of driven shaft, draws axle in and is the relative fixed state with the platform car body.The triangle swing arm has a location drift angle, attacks drift angle and a ground connection drift angle before one.The two ends of drawing axle in stretch out driven shaft outer captive joint with the location drift angle of triangle swing arm and with the cooresponding driven shaft of this location corner position on the swing arm track sprocket is set.Attack before the triangle swing arm swing arm crawler belt support wheel is set respectively on drift angle and the ground connection drift angle, link to each other by the swing arm crawler belt between swing arm track sprocket and the swing arm crawler belt support wheel.
Further, in the triangle swing arm chute is set, the sliding pin that is fixed on the swing arm crawler belt support wheel can slide in chute, thereby regulates the degree of tension of swing arm crawler belt.
Further, control is set in the platform car body draws electric motor drive or the manual drive that axle rotates in, launch or gathering thereby drive the triangle swing arm of drawing on the axle.
Advantage of the present utility model is:
1. small-scale terrestrial unmanned battle platform robot is provided with the rotation oscillating arm mechanisms, and its triangle swing arm is that the drop according to stairway step in the city designs, can speeling stairway and the bigger slope of gradient;
The triangle swing arm structure reliable and stable, bear great efforts, can launch or draw in by electric motor drive or manual drive, it is small and exquisite to draw rear platform robot volume in, is convenient for carrying;
3. small-scale terrestrial unmanned battle platform robot is reserved platform, and suitable device can be installed, and realizes various tasks such as clearance, scouting, fire support, city operation;
4. the platform car body can form by unit-cast unit, and structural strength is big, can bear the shock of a fall in external impact force and 3 meters high-altitudes.
Description of drawings
Fig. 1 is a kind of main TV structure scheme drawing of small-scale terrestrial unmanned battle platform robot;
Fig. 2 is the plan structure scheme drawing of Fig. 1;
Fig. 3 is the perspective view of platform robot shown in Figure 1 in its triangle swing arm deployed condition;
Fig. 4 is the A-A sectional structure scheme drawing of platform robot shown in Figure 2;
Fig. 5 is the perspective view of platform robot shown in Figure 1 at its triangle swing arm rounding state;
Fig. 6 is the structure for amplifying scheme drawing of the swing arm tensioning portion of platform robot shown in Figure 1;
Fig. 7 is the main cross section matching relationship scheme drawing that drives crawler belt and driving pulley of platform robot shown in Figure 1.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described in further detail:
Fig. 1 comprises the platform car body 1 that drive motor, speed reduction gearing and control setup are installed to small-scale terrestrial unmanned battle platform robot shown in Figure 3, and the rear end, both sides of platform car body 1 is provided with imput shaft 15, and driving pulley 2 is installed on the imput shaft 15.The both sides front end of platform car body 1 is provided with driven shaft 11, and driven pulley 10 is installed on the driven shaft 11, links to each other by the main crawler belt 3 that drives between driving pulley 2 and the driven pulley 10, and the main inboard that drives crawler belt 3 is provided with crawler tensioning control apparatus 4.
Platform car body 1 front end both sides are provided with rotation oscillating arm mechanisms 7.Rotation oscillating arm mechanisms 7 comprises that is drawn in axle 12 and one a diabolo swing arm 6.Drawing axle 12 in interts in the axle center hole of driven shaft 11 and to be the rotation mated condition with it.Triangle swing arm 6 is attacked drift angle 6b and a ground connection drift angle 6c before having a location drift angle 6a, one.As shown in Figure 4, the two ends of drawing axle 12 in stretch out that driven shaft 11 is outer captives joint with the location drift angle 6a of triangle swing arm 6 and be provided with swing arm track sprocket 9 with this cooresponding driven shaft 11 in drift angle 6a position, location.Attack before the triangle swing arm 6 on drift angle 6b and the ground connection drift angle 6c and be respectively arranged with swing arm crawler belt support wheel 8, link to each other by swing arm crawler belt 5 between swing arm track sprocket 9 and the swing arm crawler belt support wheel 8.Triangle swing arm 6 adopts superduralumin to process, and the dynamics of bearing is bigger.
The inside of platform car body 1 is provided with driving, speed reduction gearing and control setups such as battery, electric power system, motor, retarder, communication machine, controller, image processor, sensor.Imput shaft 15 is driven by the retarder of 220W motor by 23: 1, two main crawler belts 3 that drive that cooperate with both sides driving pulley 2 drive driven pulley 10, driven shaft 11 and 9 rotations of swing arm track sprocket, and then drive swing arm crawler belt 5 and advance, realize this small-scale terrestrial unmanned battle platform robot speeling stairway or the bigger corresponding operations such as slope of gradient.
Draw axle 12 in by a 90W motor-driven,, drive both sides triangle swing arm 6, realize electronic synchronous gathering, be easy to carry along the axis rotation of drawing axle 12 in by 936: 1 retarder.After removing motor and retarder, two triangle swing arms 6 can realize manually that rotation is drawn in synchronously, and triangle swing arm 6 is drawn back this small-scale terrestrial unmanned battle platform robot architecture in as shown in Figure 5.
In order to regulate swing arm crawler belt 5 tensioning degrees, to attack drift angle 6b before the triangle swing arm 6 and be provided with chute 13, the sliding pin 14 that is fixed on the swing arm crawler belt support wheel 8 can slide in chute 13, thereby regulates the degree of tension of swing arm crawler belt 5.Structure as shown in Figure 6.
The main crawler belt 3 that drives is for inserting the Alveolus type crawler belt, and the cross section matching relationship of itself and driving pulley 2 as shown in Figure 7.This fit structure can prevent crawler belt slippage from the belt wheel, and does not need to be with normally used catch synchronously, and weight is lighter.Swing arm crawler belt 5 is the same with the cross section matching relationship of swing arm crawler belt support wheel 8, repeats no more in this.
The shell of platform car body 1 adopts Polymer laminated resin material metal forming mould unit-cast unit to form, and structural strength is big, can bear external impact force and 3 meters high-altitude shock of a fall.
This small-scale terrestrial unmanned battle platform robot oad is: long under triangle swing arm 6 rounding states is 560mm, can cross the gully of 400mm, long under triangle swing arm 6 open modes is 900mm, width 440mm, height 215mm, the ground connection height is 73mm, and the preceding angle of attack is liftoff high 220mm can climb the step of 200mm.The reservation platform of platform car body 1 can be installed various task modules such as clearance, scouting, fire support, city operation.
This small-scale terrestrial unmanned battle platform robot maximum speed is designed to 〉=and 3 kilometers/hour, mode is a wireless remote control, range of control≤1000m.

Claims (5)

1. small-scale terrestrial unmanned battle platform robot, comprise drive motor is installed, the platform car body (1) of speed reduction gearing and control setup, the rear end, both sides of described platform car body (1) is provided with imput shaft (15), driving pulley (2) is installed on the described imput shaft (15), the both sides front end of described platform car body (1) is provided with driven shaft (11), driven pulley (10) is installed on the described driven shaft (11), link to each other by the main crawler belt (3) that drives between described driving pulley (2) and the driven pulley (10), the described main inboard that drives crawler belt (3) is provided with crawler tensioning control apparatus (4), it is characterized in that:
The both sides front end of described platform car body (1) also is provided with rotation oscillating arm mechanisms (7), described rotation oscillating arm mechanisms (7) comprises that one is drawn in axle (12) and a diabolo swing arm (6), described gathering axle (12) interts and be the rotation mated condition with it in the axle center hole of driven shaft (11), and described gathering axle (12) is the relative fixed state with platform car body (1); Described triangle swing arm (6) has a location drift angle (6a), attack a drift angle (6b) and a ground connection drift angle (6c) before one, described two ends of drawing axle (12) in are stretched out outside the driven shaft (11) and are captiveed joint with the location drift angle (6a) of described triangle swing arm (6), and be provided with swing arm track sprocket (9) with this cooresponding driven shaft in location drift angle (6a) position (11), attack before the described triangle swing arm (6) on drift angle (6b) and the ground connection drift angle (6c) and be respectively arranged with swing arm crawler belt support wheel (8), link to each other by swing arm crawler belt (5) between described swing arm track sprocket (9) and the swing arm crawler belt support wheel (8).
2. small-scale terrestrial unmanned battle platform robot according to claim 1, it is characterized in that: attack before the described triangle swing arm (6) and offer chute (13) on the drift angle (6b), be fixed with sliding pin (14) on the described accordingly swing arm crawler belt support wheel (8), described sliding pin (14) and chute (13) bearing fit, thereby the degree of tension of scalable swing arm crawler belt (5).
3. small-scale terrestrial unmanned battle platform robot according to claim 1 and 2 is characterized in that: described main driving crawler belt (3) and swing arm crawler belt (5) are and insert the Alveolus type crawler belt.
4. small-scale terrestrial unmanned battle platform robot according to claim 1 and 2, it is characterized in that: be provided with control in the described platform car body (1) and draw electric motor drive or the manual drive that axle (12) rotates in, launch or gathering thereby drive the triangle swing arm (6) of drawing on the axle (12).
5. small-scale terrestrial unmanned battle platform robot according to claim 3, it is characterized in that: be provided with control in the described platform car body (1) and draw electric motor drive or the manual drive that axle (12) rotates in, launch or gathering thereby drive the triangle swing arm (6) of drawing on the axle (12).
CN2010201468660U 2010-03-30 2010-03-30 Small ground unmanned fighting platform robot CN201646915U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2010201468660U CN201646915U (en) 2010-03-30 2010-03-30 Small ground unmanned fighting platform robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2010201468660U CN201646915U (en) 2010-03-30 2010-03-30 Small ground unmanned fighting platform robot

Publications (1)

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CN201646915U true CN201646915U (en) 2010-11-24

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103863424A (en) * 2014-02-26 2014-06-18 南昌大学 Patrol robot capable of adapting to complicated unstructured terrains
CN104527825A (en) * 2015-01-15 2015-04-22 天津智达机器人有限公司 Under-actuated tracked robot moving platform

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103863424A (en) * 2014-02-26 2014-06-18 南昌大学 Patrol robot capable of adapting to complicated unstructured terrains
CN104527825A (en) * 2015-01-15 2015-04-22 天津智达机器人有限公司 Under-actuated tracked robot moving platform

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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: 20101124

Termination date: 20170330