CN202208023U - Chassis unfolding mechanism of small intelligent obstacle-surmounting vehicle - Google Patents
Chassis unfolding mechanism of small intelligent obstacle-surmounting vehicle Download PDFInfo
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- CN202208023U CN202208023U CN2011203359677U CN201120335967U CN202208023U CN 202208023 U CN202208023 U CN 202208023U CN 2011203359677 U CN2011203359677 U CN 2011203359677U CN 201120335967 U CN201120335967 U CN 201120335967U CN 202208023 U CN202208023 U CN 202208023U
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Abstract
The utility model discloses a chassis unfolding mechanism of a small intelligent obstacle-surmounting vehicle. The chassis unfolding mechanism comprises a first joint, a first mechanical arm, a second mechanical arm, a first motor, a second motor, a second joint and an unfolding mechanism, wherein the first joint is connected on a walking mechanism, the first mechanical arm is movably connected with the first joint, a driving shaft of the first motor is fixedly connected on the first mechanical arm, the first mechanical arm is connected with the second mechanical arm through the second joint, a shell of the second motor is fixedly connected on the first mechanical arm, a driving shaft of the second motor is fixedly connected on the second mechanical arm, and the unfolding mechanism comprise a ball screw, guide rails, sliding blocks, an unfolding motor, wheels, unfolding motor supports, a fixed plate, connecting blocks, a movable plate and a transitional plate. By adopting the chassis unfolding mechanism of the small intelligent obstacle-surmounting vehicle, the comprehensive performance of the small vehicle is improved, and the small vehicle can obtain flexible maneuverability and excellent off-road performance.
Description
Technical field
The utility model belongs to field in intelligent robotics, and in particular, the utility model is a kind of chassis machine mechanism about intelligent obstacle detouring dolly.
Background technology
In recent years, terrorist activity both at home and abroad becomes increasingly active, and the situation is tense.But it is, unable to do what one wishes even Security Personnel of unique skill also feels unavoidably in the face of hard to guard against car bomb, the explosive task dispatching under the complex-terrain.Under similar extreme case, robot can play a significant role.
Traditional large-scale robot for eliminating exploding and danger Mission Capability is high, but volume is big, and weight is high, and structure is huge and complicated, a little less than the mobility, can not advance small space, involves great expense, and maintenance cost is high.Small scale robot is because volume is little, and is less from the mechanical finger that heavy and light brings, and work capacity is not enough.Therefore, possess the small scale robot of large-scale robot eliminating exploding and danger performance, the eliminating exploding and danger task is had great importance.
But the residing working environment of robot is complicated unusually, and robot is in order to reach the designated destination, and the various road surfaces of need passing by are so that the cross-country power of robot just seems is particularly important.The chassis development mechanism of the utility model intelligence obstacle detouring dolly through the change to chassis structure, makes robot in the process of advancing, and obtains sensitive more mobility and superior cross-country ability.
The utility model content
The purpose of the utility model is to provide a kind of volume little; In light weight; Mobility strong possesses the small-sized anti-probably intelligent carriage near the eliminating exploding and danger performance of large-scale robot, uses the chassis development mechanism of the utility model intelligence obstacle detouring dolly; Improve the combination property of dolly, make it obtain sensitive mobility and superior cross-country ability.
For realizing above-mentioned purpose; The utility model discloses a kind of chassis development mechanism of intelligent obstacle detouring dolly; It comprises: first joint, first mechanical arm, second mechanical arm, first motor, second motor, second joint and development mechanism; Said first joint is connected on the said walking mechanism, and said first mechanical arm is connected with said first joint motion, and the driving shaft of said first motor is affixed on said first mechanical arm; Said first mechanical arm links to each other through said second joint with said second mechanical arm; The housing of said second motor is affixed on said first mechanical arm; The driving shaft of said second motor is affixed on said second mechanical arm, and said development mechanism comprises ball screw, guide rail, slide block, expansion motor, wheel, expansion electric machine support, fixed head, contiguous block, portable plate and excessive plate, and said fixed head is fixedly attached on the car body; One end of said ball screw is movably attached on the said fixed head; Said contiguous block is fixed on the said car body, is fixed with said portable plate on the nut of said ball screw, and the two ends of said portable plate are fixed with said guide rail; One side of said slide block and said guide rail are realized being slidingly connected; An other side and the said contiguous block of said slide block achieve a fixed connection, and said expansion motor is fixedly connected with said expansion electric machine support, and said expansion electric machine support is fixedly connected with said guide rail.
Preferably; One end of said ball screw is connected with first synchronous pulley; Be provided with the position side by side of said ball-screw and push motor open; The said motor of pushing open is fixed on the said car body, and said pushing open is connected with second synchronous pulley on the motor, connects through band realization synchronously between said first synchronous pulley and second synchronous pulley.
Preferably; The chassis development mechanism of the utility model intelligence obstacle detouring dolly also comprises: mechanical finger, gear, three-motor; Said gear is a pair of pitch wheel; Two fingers of said mechanical finger are affixed to respectively on the said gear, and the driving shaft of said three-motor is affixed on the arbitrary gear in the said gear.
The further structure of the utility model is:
Preferably, be placed with explosion-proof vent on the said car body, if bomb is difficult for removing, mechanical finger places explosive in the explosion-proof vent.
Preferably, said mechanical arm top is provided with infrared detection sensor, can survey dangers such as bombs.
Preferably, said mechanical arm top is provided with camera, is convenient to the operator observation of dangers such as bomb is in time controlled adjustment to intelligent carriage.
Compare with conventional art, the beneficial effect of the utility model is:
The chassis development mechanism of a kind of intelligent obstacle detouring dolly of the utility model is through the setting of two joint mechanical arms and mechanical fingers, can conveniently be implemented in behind the danger such as discovery bomb its accurate in locating and control.
The chassis development mechanism of a kind of intelligent obstacle detouring dolly of the utility model can be found dangers such as bomb timely and effectively through infrared sensor, and the blindness of having avoided artificial eliminating exploding and danger is with dangerous;
The chassis development mechanism of a kind of intelligent obstacle detouring dolly of the utility model utilizes the gear mesh mechanical finger to realize machinery control, can guarantee the dynamics of dangers such as mechanical finger clamping bomb simply accurately, avoids handling the danger of careless generation.
The chassis development mechanism of a kind of intelligent obstacle detouring dolly of the utility model has made things convenient for the observation of operating personnel to danger through the setting of camera, simultaneously can control adjustment to the deficiency that intelligent carriage is tackled emergency situations.
Through following description and combine accompanying drawing, it is more clear that the utility model will become, and these accompanying drawings are used to explain the embodiment of the utility model.
Description of drawings
Fig. 1 is the structural representation of a specific embodiment of chassis development mechanism of a kind of intelligent obstacle detouring dolly of the utility model;
Fig. 2 is the structural representation of a development mechanism specific embodiment in chassis under another angle of a kind of intelligent obstacle detouring dolly of the utility model;
Fig. 3 is the structural representation of a development mechanism specific embodiment in chassis under another angle of a kind of intelligent obstacle detouring dolly of the utility model.
The specific embodiment
With reference now to accompanying drawing, describe the embodiment of the utility model, the similar elements label is represented similar elements in the accompanying drawing.As stated, the utility model provides a kind of chassis development mechanism of intelligent obstacle detouring dolly, use the chassis development mechanism of said intelligent obstacle detouring dolly can simple and effective realization to location, control, the eliminating of dangers such as bomb.
Like Fig. 1,2, shown in 3; A kind of chassis development mechanism of intelligent obstacle detouring dolly; It comprises: first joint 2, first mechanical arm 3, second mechanical arm 4, first motor 7, second motor 8, second joint 10 and development mechanism; Said first joint 2 is connected on the car body 1, and said first mechanical arm 3 flexibly connects with said first joint 2, and the driving shaft of said first motor 7 is affixed on said first mechanical arm 3; Said first mechanical arm 3 links to each other through said second joint 10 with said second mechanical arm 4; The housing of said second motor 8 is affixed on said first mechanical arm 3; The driving shaft of said second motor 8 is affixed on said second mechanical arm 4; Said development mechanism comprises ball screw 31, guide rail 32,33, slide block 23,24, launches motor 71, wheel 13,14, expansion electric machine support 25,26, fixed head 53, contiguous block 21,22, portable plate 52; Said fixed head 53 is fixedly attached on the car body 1, and an end of said ball screw 31 is movably attached on the said fixed head 53, and said contiguous block 21,22 is fixed on the said car body 1; Be fixed with said portable plate 52 on the nut 51 of said ball screw 31; The two ends of said portable plate 52 are fixed with said guide rail 32,33, and a side of said slide block 23,24 and said guide rail 32,33 are realized being slidingly connected, and an other side and the said contiguous block 21,22 of said slide block 23,24 achieve a fixed connection; Said expansion motor 81,82 is fixedly connected with said expansion electric machine support 25,26, and said expansion electric machine support 25,26 is fixedly connected with said guide rail 32,33.
More specifically; One end of said ball screw 31 is connected with first synchronous pulley; Be provided with the position side by side of said ball-screw and push motor 71 open; The said motor 71 of pushing open is fixed on the said car body 1, and said pushing open is connected with second synchronous pulley on the motor 71, between said first synchronous pulley and second synchronous pulley through being with 72 realize to connect synchronously.Fixed electric machine support 27,28 and motor 83,84 achieve a fixed connection, and wheel 11,12 is connected to said motor 83,84.
More specifically; Be provided with first joint 2 for 3 one sections at said first mechanical arm, the other end is provided with second joint 10, and wherein said first joint 2 is fixedly connected with said walking mechanism 1; Said second joint 10 is connected with said second mechanical arm 4; Said first mechanical arm 3 and said walking mechanism 1 relative rotation motion of driving system, said first mechanical arm 3 and said second mechanical arm, 4 relative rotation motion of driving system realized the rotation of mechanical arm and folding thus.
More specifically, the driving shaft of said first motor 7 is affixed on said first mechanical arm 3, drives 3 relative first joint, 2 motions of said first mechanical arm; The housing of said second motor 8 is affixed on said first mechanical arm 3, and the driving shaft of said second motor 8 is affixed on said second mechanical arm 4, drives 4 relative second joint 10 motions of said second mechanical arm; The driving shaft of said three-motor 9 is affixed on the arbitrary gear in the said gear 6, drives said gear 6 motions.
More specifically; Said gear 6 is a pair of pitch wheel; Two fingers of said mechanical finger 5 are affixed to respectively on the said gear 6, and under the driving of said three-motor 9, said gear 6 relatively rotates; Drive 5 motions of said mechanical finger simultaneously, drive said mechanical finger 5 and open or close up.
Below in conjunction with accompanying drawing 1,2, the description according to the architectural feature of above chassis development mechanism to the utility model intelligence obstacle detouring dolly makes the course of work of the utility model and operation principle become more clear.
In the present embodiment; The chassis development mechanism of the utility model intelligence obstacle detouring dolly uses means (not marking in the present embodiment) such as infrared sensor to detect dangers such as bomb, and said walking mechanism 1 moves the chassis development mechanism of the utility model intelligence obstacle detouring dolly by the danger such as bomb simultaneously.Said first motor 7 drives said first mechanical arm 3 and rotates, and said second motor 8 drives said second mechanical arm 4 and rotates, thereby realizes the flexible motion of mechanical arm.Said first mechanical arm 3 can relatively rotate respectively with said second mechanical arm 4, the rotation of completion mechanical arm and folding.Rotation through mechanical arm and folding; Realized the accurate location of said mechanical finger 5; Thereby said mechanical finger 5 can be realized clamping and eliminating to dangers such as bombs, conveniently is implemented in behind the dangers such as finding bomb its accurate in locating and control.
The gear 6 that the utility model uses is a pair of pitch wheel; Under the driving of said three-motor 9; Said gear 6 relative motions; Drive said mechanical finger 5 motions that are fixedly connected with said gear 6 simultaneously; Utilize 6 pairs of mechanical fingers of gear 5 to realize machinery control, opening and closing and the opening and closing amplitude of said mechanical finger 5 is simple to be realized the safe and effective clamping of dangers such as bomb and has guaranteed the dynamics of dangers such as mechanical finger clamping bomb accurately thereby accurately control, and avoids handling the danger of careless generation.
The utility model can be through arranging that in said second mechanical arm 4 ends infrared sensor finds timely and effectively dangers such as bomb, and the blindness of having avoided artificial eliminating exploding and danger is with dangerous;
The utility model can be through being provided with camera in said second mechanical arm 4 ends, thereby be convenient to the observation of operating personnel to danger, can control adjustment to the deficiency that intelligent carriage is tackled emergency situations simultaneously.At last, should be pointed out that above embodiment only is the more representational example of the utility model.Obviously, the utility model is not limited to the foregoing description, and many distortion can also be arranged.Every technical spirit according to the utility model is to any simple modification, equivalent variations and modification that above embodiment did, all should think the protection domain that belongs to the utility model.
Claims (2)
1. the chassis development mechanism of an intelligent obstacle detouring dolly; It is characterized in that forming as follows: first joint, first mechanical arm, second mechanical arm, first motor, second motor, second joint and development mechanism; Said first joint is connected on the said walking mechanism; Said first mechanical arm is connected with said first joint motion, and the driving shaft of said first motor is affixed on said first mechanical arm; Said first mechanical arm links to each other through said second joint with said second mechanical arm; The housing of said second motor is affixed on said first mechanical arm; The driving shaft of said second motor is affixed on said second mechanical arm, and said development mechanism comprises ball screw, guide rail, slide block, expansion motor, wheel, expansion electric machine support, fixed head, contiguous block, portable plate and excessive plate, and said fixed head is fixedly attached on the car body; One end of said ball screw is movably attached on the said fixed head; Said contiguous block is fixed on the said car body, is fixed with said portable plate on the nut of said ball screw, and the two ends of said portable plate are fixed with said guide rail; One side of said slide block and said guide rail are realized being slidingly connected; An other side and the said contiguous block of said slide block achieve a fixed connection, and said expansion motor is fixedly connected with said expansion electric machine support, and said expansion electric machine support is fixedly connected with said guide rail.
2. the chassis development mechanism of intelligent obstacle detouring dolly according to claim 1; It is characterized in that; The position side by side that one end of said ball screw is connected with first synchronous pulley and said ball-screw is provided with pushes motor open, and the said motor of pushing open is fixed on the said car body; Said pushing open is connected with second synchronous pulley on the motor, connect through band realization synchronously between said first synchronous pulley and second synchronous pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203359677U CN202208023U (en) | 2011-09-08 | 2011-09-08 | Chassis unfolding mechanism of small intelligent obstacle-surmounting vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203359677U CN202208023U (en) | 2011-09-08 | 2011-09-08 | Chassis unfolding mechanism of small intelligent obstacle-surmounting vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202208023U true CN202208023U (en) | 2012-05-02 |
Family
ID=45987579
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203359677U Expired - Fee Related CN202208023U (en) | 2011-09-08 | 2011-09-08 | Chassis unfolding mechanism of small intelligent obstacle-surmounting vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202208023U (en) |
-
2011
- 2011-09-08 CN CN2011203359677U patent/CN202208023U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120502 Termination date: 20120908 |