CN209667249U - A kind of throwing type wheel shoe composite machine people - Google Patents
A kind of throwing type wheel shoe composite machine people Download PDFInfo
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- CN209667249U CN209667249U CN201920075076.9U CN201920075076U CN209667249U CN 209667249 U CN209667249 U CN 209667249U CN 201920075076 U CN201920075076 U CN 201920075076U CN 209667249 U CN209667249 U CN 209667249U
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Abstract
The utility model relates to robotic technology fields, provide a kind of throwing type wheel shoe composite machine people, including robot body, several elastic wheels, crawler belt, circular strip；Several elastic wheels are symmetrically disposed on robot body two sides；Notch is respectively provided among each elastic wheel；Crawler belt is flexible-belt, and expansion rear enclosure is loaded on elastic wheel；Circular strip is flexible-belt, and expansion rear enclosure is loaded in the notch of elastic wheel.Middle position is provided with boss on the inside of crawler belt, and boss is corresponding with the notch on elastic wheel；Elastic wheel is except the contour line of the prominent robot body in 6 directions of up, down, left, right, before and after.The utility model has the following beneficial effects: easy to carry, composite construction is carried out using wheel, using flexible pedrail, crawler belt can be replaced from outside under the premise of not dismantling elastic wheel, flexible choice is wheeled and crawler type traveling mode；Special wheeled construction design, robot damage is protected when jettisoninging；It is reasonable in design, novel, it has broad application prospects.
Description
Technical field
The utility model relates to robotic technology field, in particular to a kind of throwing type wheel carries out composite machine people.
Background technique
Electronic reconnaissance, which is widely used for fields, the wheeled reconnaissance robots such as military and rescue, can be moved into relative risk
Reconnaissance is transmitted to rear personnel by region.Current existing wheeled robot car body can be divided into pure wheeled construction and crawler type
The mobility of structure, pure wheeled robot is good, but environment passability is poor, is difficult to travel in soft terrains such as sand ground, snowfields, crawler belt
Formula robot environment is adaptable, and passability is preferable, but mobility is not so good as wheeled construction, and efficiency is lower.
In dangerous working environment, it is often necessary to carry out operation of jettisoninging to robot, be mentioned to the structure design of robot
Requirements at the higher level are gone out.
Utility model content
The purpose of this utility model is exactly to have overcome the deficiencies of the prior art and provide a kind of throwing type wheel shoe composite machine
People carries out composite construction using wheel, using flexible pedrail, can replace crawler belt, spirit from outside under the premise of not dismantling elastic wheel
It is living to select wheeled and crawler type traveling mode.
The utility model adopts the following technical solution:
A kind of throwing type wheel shoe composite machine people, including robot body, several elastic wheels, crawler belt, circular strip；It is several
A elastic wheel is symmetrically disposed on the robot body two sides；Notch is respectively provided among each elastic wheel；The shoe
Band is flexible-belt, and expansion rear enclosure is loaded on the elastic wheel；The circular strip is flexible-belt, and expansion rear enclosure is loaded on the notch of elastic wheel
It is interior.
Further, middle position is provided with boss, the notch on the boss and the elastic wheel on the inside of the crawler belt
It is corresponding.
Further, the elastic wheel protrudes the wheel of the robot body in 6 directions of up, down, left, right, before and after
Except profile, guarantee that robot lands when jettisoninging to take turns shoe.
Further, the elastic wheel quantity is 4, and robot body two sides are respectively arranged 2.
Further, the robot body includes: main cavity component, preceding closure assemblies, rear seal-cover component, upper capping group
Part；
Main chamber body component includes master control borad, battery pack, communication station, driving motor, drive gear set, is mounted on
Inside main cavity；
The preceding closure assemblies are connected with main cavity, are located on front side of main cavity, for installing infrared lamp, camera and pitching
Bracket；
The rear seal-cover component is connected with main cavity, is located on rear side of main cavity, for installing communication antenna；
The upper closure assemblies are connected with main cavity, are located on the upside of main cavity, for installing sound pick-up, buzzer, pick up
Interface, power switch, aviation external plug.
Further, the specific mounting means of main chamber body component are as follows: communication station is installed on the right side of battery pack, main
Control plate is installed on above battery pack, and driving motor bracket is symmetrically arranged in main cavity, and driving motor is respectively arranged in drive
On dynamic electric machine support；One gear of drive gear set is installed in drive motor shaft, another gear and rear-wheel axis connection.
Further, the specific mounting means of the preceding closure assemblies are as follows: the capping left and right sides before infrared lamp is installed on；It bows
Face upward capping middle part before bracket is installed on；Camera bracket is connected by bearing with tilt mount, and camera bracket can be revolved along axis
Turn；Camera is installed in the middle part of camera bracket, and infrared diode is installed on camera bracket two sides；Camera, infrared two pole
Pipe and camera bracket can be rotated along axis, axis connection on the left of position coder and camera bracket, for detecting camera branch
The absolute angle of frame rotation；Pitching motor is installed on tilt mount, on the right side of one group of gear of pitching gear set and camera bracket
Axis connection, another group of gear and pitching motor axis connection；When pitching motor work, revolved by pitching gear set drive camera
Turn.
Further, axle sleeve is connected with main cavity, is located at main chamber body side surface；Front axle passes through spring bearing and axle sleeve
Connection, can rotate in the axial direction；Front-wheel end cap one end and elastic wheel are fixed, and the other end and wheel shaft are fixed；Hind axle passes through branch
Support bearing is connected with axle sleeve, can be rotated in the axial direction, and rear-wheel end cap one end and elastic wheel are fixed, and the other end and wheel shaft are solid
It is fixed；When driving motor works, hind axle rotation is driven by drive gear set, since hind axle is solid by wheel end cap and elastic wheel
It is set to one, therefore travel wheel and hind axle rotate together.
Further, the communication antenna is fixed on rear seal-cover.
Further, the specific mounting means of the upper closure assemblies are as follows: sound pick-up is fixed on the left front of capping, uses
In acquisition audio-frequency information；Buzzer is fixed on the right front of capping, is used for early warning；Pick up interface is fixed on capping
Middle part, the fixation for external mission payload；Power supply, which opens the light, is fixed on the left back of capping；Aviation external plug is fixed on
The right back of capping.
The utility model has the following beneficial effects: it is easy to carry, composite construction is carried out using wheel, uses flexible pedrail, Ke Yi
Under the premise of not dismantling elastic wheel, crawler belt is replaced from outside, flexible choice is wheeled and crawler type traveling mode；Special wheeled knot
Structure design, robot damage is protected when jettisoninging；It is reasonable in design, novel, it has broad application prospects.
Detailed description of the invention
Fig. 1 show the structural schematic diagram that a kind of throwing type wheel of the utility model embodiment carries out composite machine people.
Fig. 2 show the main view of the utility model embodiment.
Fig. 3 show the structure schematic diagram of crawler belt knot.
Fig. 4 show the structural schematic diagram of circular strip.
Wherein: 1. infrared lamps, 2. position coders, 3. infrared diodes, 4. cameras, 5. camera brackets, 6. pitching
Motor, 7. tilt mounts, 8. pitching gear sets, 9. communication stations, 10. elastic wheels, 11. wheel end caps, 12. axle sleeves, 13. front-wheels
Axis, 14. spring bearings, 15. hind axles, 16. drive gear sets, 17. driving motor brackets, 18. driving motors, 19. master control borads,
20. capping before battery pack, 21., 22. sound pick-ups, capping, 24. main cavities, 25. pick up interfaces, 26. buzzers, 27. on 23.
Aviation external plug, 28. communication antennas, 29. rear seal-covers, 30. power switches, 31. crawler belts, 32. circular strip, 33. notches.
Specific embodiment
The utility model specific embodiment is described in detail below in conjunction with specific attached drawing.It should be noted that following implementations
Example described in technical characteristic or technical characteristic combination be not construed as it is isolated, they can be combined with each other from
And reach superior technique effect.In the drawings of the following embodiments, the identical label that each attached drawing occurs represents identical spy
Sign or component, can be apply to different embodiments.
The utility model embodiment is for solving the problems, such as that robot wheel carries out replacement, damage of jettisoninging.
As shown in Figs 1-4, the utility model embodiment can be not using flexible pedrail 31 using wheel shoe composite construction
Under the premise of dismantling elastic wheel 10, crawler belt 31 is replaced from outside, flexible choice is wheeled and crawler type traveling mode.
A kind of throwing type wheel of the utility model embodiment carries out composite machine people, including robot body, several elastic wheels
10, crawler belt 31, circular strip 32；Several described elastic wheels 10 are symmetrically disposed on the robot body two sides；Each bullet
Notch 33 is respectively provided among property wheel 10；The crawler belt 31 is flexible-belt, and expansion rear enclosure is loaded on the elastic wheel 10；The circular strip
32 be flexible-belt, and expansion rear enclosure is loaded in the notch 33 of elastic wheel 10.
When needing wheeled traveling, crawler belt 31 can be unloaded (crawler belt 31 be flexible-belt, expanding outwardly can be with elastic wheel 10
Separation), certain is thus generated loaded in the notch 33 among elastic wheel 10 from outer sheath after at this time expanding circular strip 32
The frictional force of clamp force, the tensile force and generation can guarantee that forward and backward elastic wheel 10 rotates together, and drive the wheeled traveling of robot.
When needing crawler belt to advance, thus crawler belt 31 is slightly magnified from outside can generate a bit loaded on elastic wheel 10
Certain tensile force and frictional force, the tensile force and frictional force can be such that forward and backward elastic wheel 10 rotates together, and driving robot is carried out
Formula is advanced.
Preferably, 10 quantity of elastic wheel is 4, and robot body two sides are respectively arranged 2；31 inside of crawler belt is intermediate
Position is provided with boss, and the boss is corresponding with the notch 33 on the elastic wheel 10.Boss is sticked in the spy in notch 33
Different design, can fix the position of crawler belt 31 first, and crawler belt 31 is prevented to be detached from traveling with elastic wheel 10；Secondly, can be with
Increasing friction force, the more preferable synchronous rotation for guaranteeing front and back elastic wheel 10.To further increase frictional force, the inner surface of notch 33
Coarse designs, such as plucking, setting minute groove etc. can be done.
Preferably, the appearance profile of the elastic wheel 10 protrudes the machine in 6 directions of up, down, left, right, before and after
Except the contour line of human agent, which can guarantee that machine is landed per capita with wheel shoe when jettisoninging with various angles, prevents machine
Destruction of the people when jettisoninging, as shown in Figure 3,4.
Following preferred embodiment is to illustrate the overall structure of the utility model robot, should not be using it as the utility model
The restriction of protection scope.
The throwing type wheel carries out composite machine people and includes: infrared lamp 1, position coder 2, infrared diode 3, camera 4, takes the photograph
As head bracket 5, pitching motor 6, tilt mount 7, pitching gear set 8, communication station 9, elastic wheel 10, wheel end cap 11, axle sleeve
12, front axle 13, spring bearing 14, hind axle 15, drive gear set 16, driving motor bracket 17, driving motor 18, master control borad
19, battery pack 20, preceding capping 21, sound pick-up 22, upper capping 23, main cavity 24, pick up interface 25, buzzer 26, aviation are external
Plug 27, communication antenna 28, rear seal-cover 29, power switch 30, crawler belt 31, circular strip 32.
The robot body includes: preceding closure assemblies, main cavity component, rear seal-cover component, upper closure assemblies and train,
The train and main cavity 24 connect, and are located at 24 two sides of main cavity, and the preceding closure assemblies are connected with main cavity, are located at main cavity
24 front sides, main infrared lamp 1, camera 4 and tilt mount, the main chamber body component installed mainly installs internal components, such as main
Plate 19, battery pack 20 and communication station 9 etc. are controlled, the rear seal-cover component and main cavity 24 connect, and are located at 24 rear side of main cavity, main
Communication antenna 28 is installed, the upper closure assemblies and main cavity 24 connect, and are located at 24 upside of main cavity, mainly install sound pick-up
22, buzzer 26, pick up interface 25, power switch 30, aviation external plug 27 etc..
21 left and right sides of capping before the infrared lamp 1 is mounted on, 21 middle part of capping, takes the photograph before the tilt mount 7 is installed on
Picture head bracket 5 is connected by bearing and tilt mount 7, can be rotated along axis, the camera 4 is installed on camera bracket 5
Middle part, infrared diode 3 is installed on 5 two sides of camera bracket, camera and infrared diode and camera bracket can be along axis
Rotation, 5 left side axis connection of the position coder 2 and camera bracket, for detecting the absolute angle of camera bracket rotation
Degree, the pitching motor 6 are installed on tilt mount 7,5 right side axis connection of 8 one groups of gears of pitching gear set and camera bracket,
Another group of gear and pitching motor axis connection are rotated when pitching motor work by pitching gear set drive camera, above-mentioned
Constitute the preceding closure assemblies of robot.
The battery pack 20 is installed on inside main cavity 24, and the communication station 9 is installed on inside main cavity 24, battery pack
Right side, the master control borad 19 is installed on the inside of main cavity 24, and the top of battery pack, the driving motor bracket 17 is installed on master
24 inside of cavity, bilateral symmetry are placed, and driving motor 18 is respectively arranged on driving motor bracket 17, and the one of drive gear set 16
A gear is installed in drive motor shaft, another gear and rear-wheel axis connection, the main cavity component of above-mentioned composition robot.
The axle sleeve 12 and main cavity 24 connect, and are located at 24 side of main cavity, and the front axle 13 passes through spring bearing
14 and axle sleeve 12 connect, can rotate in the axial direction, take turns that 11 one end of end cap and elastic wheel 10 are fixed, and the other end and wheel shaft are solid
Fixed, the hind axle 15 is connected by spring bearing 14 and axle sleeve 12, can be rotated in the axial direction, and 11 one end of end cap and bullet are taken turns
Property wheel 10 it is fixed, the other end and wheel shaft are fixed, and have notch among the elastic wheel 10, have boss on the inside of crawler belt, when using crawler belt
When 31 operation, boss is located in the notch of elastic wheel on the inside of crawler belt, will not fall off in driving process, and the driving motor 18 works
When, drive hind axle 15 to rotate by drive gear set 16, since hind axle 15 is fixed as by wheel end cap 11 and elastic wheel 10
One, therefore travel wheel will be rotated together with hind axle, the wheel train structure of above-mentioned composition robot.
The crawler belt 31 is flexible-belt, thus crawler belt 31 can slightly magnify from outside can produce a bit loaded on elastic wheel 10
Raw certain tensile force, the tensile force just can drive the elastic wheel of front to rotate together, when without using crawler type, Ke Yigeng
It is changed to circular strip 32, which is also flexible-belt, can also be installed on elastic wheel 10 from outside, can equally be generated certain
Tensile force.
The communication antenna 28 is fixed on rear seal-cover 29, the rear seal-cover component of above-mentioned composition robot.
The sound pick-up 22 is fixed on capping 23, positioned at the left front of upper capping, for acquiring audio-frequency information, the bee
Ring device 26 is fixed on capping, positioned at the right front of upper capping 23, is used for early warning, the pick up interface 25 is fixed on envelope
Lid 23, positioned at the middle part of upper capping, for the fixation of external mission payload, the power supply open the light 30 be fixed on capping 23, position
In the left back of upper capping, the aviation external plug 27 is fixed on capping 23, positioned at the right back of upper capping, above-mentioned structure
At the upper closure assemblies of robot.
The utility model can in wheel, carry out between switch, when switching, does not need disassembly elastic wheel, easy to operate；Elastic wheel
Overall size cover robot body, it is therefore prevented that robot when jettisoninging possibility damage；Preceding closure assemblies, main cavity group
The compact smoothness of whole design of part, rear seal-cover component, upper closure assemblies and train, modularized design more can guarantee that robot is being thrown
The stability of structure when throwing；Structure is simple and novel, has broad prospect of application.
Although having been presented for several embodiments of the utility model herein, those skilled in the art should be managed
Solution, in the case where not departing from the spirit of the present invention, can be changed the embodiments herein.Above-described embodiment only shows
Example property, it should not be using the embodiments herein as the restriction of the utility model interest field.
Claims (10)
1. a kind of throwing type wheel carries out composite machine people, which is characterized in that including robot body, several elastic wheels, crawler belt, circle
Shape band；Several described elastic wheels are symmetrically disposed on the robot body two sides；Slot is respectively provided among each elastic wheel
Mouthful；The crawler belt is flexible-belt, and expansion rear enclosure is loaded on the elastic wheel；The circular strip is flexible-belt, and expansion rear enclosure is loaded on bullet
In the notch of property wheel.
2. throwing type wheel as described in claim 1 carries out composite machine people, which is characterized in that interposition installs on the inside of the crawler belt
It is equipped with boss, the boss is corresponding with the notch on the elastic wheel.
3. throwing type wheel as described in claim 1 carries out composite machine people, which is characterized in that the elastic wheel it is upper and lower, left,
Right, forward and backward 6 directions protrude except the contour line of the robot body, guarantee that robot lands when jettisoninging to take turns shoe.
4. throwing type wheel as described in claim 1 carries out composite machine people, which is characterized in that the elastic wheel quantity is 4, machine
Device human agent two sides are respectively arranged 2.
5. throwing type wheel according to any one of claims 1-4 carries out composite machine people, which is characterized in that the robot body
It include: main cavity component, preceding closure assemblies, rear seal-cover component, upper closure assemblies；
Main chamber body component includes master control borad, battery pack, communication station, driving motor, drive gear set, is mounted on main chamber
Internal portion；
The preceding closure assemblies are connected with main cavity, are located on front side of main cavity, for installing infrared lamp, camera and pitching branch
Frame；
The rear seal-cover component is connected with main cavity, is located on rear side of main cavity, for installing communication antenna；
The upper closure assemblies are connected with main cavity, be located at main cavity on the upside of, for install sound pick-up, buzzer, pick up interface,
Power switch, aviation external plug.
6. throwing type wheel as claimed in claim 5 carries out composite machine people, which is characterized in that the specific peace of main chamber body component
Dress mode are as follows: communication station is installed on the right side of battery pack, and master control borad is installed on above battery pack, and driving motor bracket is in main chamber
It is symmetrically arranged in vivo, driving motor is respectively arranged on driving motor bracket；One gear of drive gear set is installed on
In drive motor shaft, another gear and rear-wheel axis connection.
7. throwing type wheel as claimed in claim 5 carries out composite machine people, which is characterized in that the specific peace of the preceding closure assemblies
Dress mode are as follows: the capping left and right sides before infrared lamp is installed on；Capping middle part before tilt mount is installed on；Camera bracket passes through axis
It holds and is connected with tilt mount, camera bracket can be rotated along axis；Camera is installed in the middle part of camera bracket, infrared diode
It is installed on camera bracket two sides；Camera, infrared diode and camera bracket can be rotated along axis, position coder and be taken the photograph
The axis connection on the left of head bracket, for detecting the absolute angle of camera bracket rotation；Pitching motor is installed on tilt mount,
Axis connection on the right side of one group of gear of pitching gear set and camera bracket, another group of gear and pitching motor axis connection；When pitching electricity
When machine works, rotated by pitching gear set drive camera.
8. throwing type wheel as claimed in claim 5 carries out composite machine people, which is characterized in that axle sleeve is connected with main cavity, position
In main chamber body side surface；Front axle is connected by spring bearing with axle sleeve, can be rotated in the axial direction；Front-wheel end cap one end and bullet
Property wheel is fixed, and the other end and wheel shaft are fixed；Hind axle is connected by spring bearing with axle sleeve, can be rotated in the axial direction, after
Wheel end cap one end and elastic wheel are fixed, and the other end and wheel shaft are fixed.
9. throwing type wheel as claimed in claim 5 carries out composite machine people, which is characterized in that the communication antenna seals after being fixed on
It covers.
10. throwing type wheel as claim in any one of claims 6-9 carries out composite machine people, which is characterized in that the upper capping group
The specific mounting means of part are as follows: sound pick-up is fixed on the left front of capping, for acquiring audio-frequency information；Buzzer is fixed on
The right front of capping is used for early warning；Pick up interface is fixed on the middle part of capping, the fixation for external mission payload；
Power supply, which opens the light, is fixed on the left back of capping；Aviation external plug is fixed on the right back of capping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920075076.9U CN209667249U (en) | 2019-01-17 | 2019-01-17 | A kind of throwing type wheel shoe composite machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920075076.9U CN209667249U (en) | 2019-01-17 | 2019-01-17 | A kind of throwing type wheel shoe composite machine people |
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| Publication Number | Publication Date |
|---|---|
| CN209667249U true CN209667249U (en) | 2019-11-22 |
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ID=68565831
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920075076.9U Active CN209667249U (en) | 2019-01-17 | 2019-01-17 | A kind of throwing type wheel shoe composite machine people |
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| Country | Link |
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| CN (1) | CN209667249U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533052A (en) * | 2019-01-17 | 2019-03-29 | 北京晶品特装科技有限责任公司 | A kind of throwing type wheel shoe composite machine people |
| CN109533052B (en) * | 2019-01-17 | 2024-06-07 | 北京晶品特装科技股份有限公司 | Throwing type wheel-track composite robot |
-
2019
- 2019-01-17 CN CN201920075076.9U patent/CN209667249U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533052A (en) * | 2019-01-17 | 2019-03-29 | 北京晶品特装科技有限责任公司 | A kind of throwing type wheel shoe composite machine people |
| CN109533052B (en) * | 2019-01-17 | 2024-06-07 | 北京晶品特装科技股份有限公司 | Throwing type wheel-track composite robot |
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Address after: Room 603, building 5, No.1, Chaoqian Road, science and Technology Park, Changping District, Beijing Patentee after: Beijing Jingpin special decoration technology Co., Ltd Address before: 102299, Beijing, Changping District, a road on the front of a macro science and Technology Park, building 5, 6 floor Patentee before: BEIJING JINGPINTEZHUANG SCIENCE AND TECHNOLOGY Co.,Ltd. |