CN220807456U - Onboard net gun device of spherical robot - Google Patents
Onboard net gun device of spherical robot Download PDFInfo
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- CN220807456U CN220807456U CN202322112524.7U CN202322112524U CN220807456U CN 220807456 U CN220807456 U CN 220807456U CN 202322112524 U CN202322112524 U CN 202322112524U CN 220807456 U CN220807456 U CN 220807456U
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Abstract
The utility model relates to an onboard net gun device of a spherical robot, which solves the problems that a net gun carried on the spherical robot is required to meet the requirement of stability under the condition of shaking a sphere and is required to meet the requirement of convenient disassembly and rapid excitation. The net gun device comprises an installation side plate fixed with the side surface of the spherical robot, wherein the middle part of the installation side plate is connected with a connecting bracket through a quick-release buckle, the connecting bracket is an L-shaped bracket consisting of a vertical bracket and a horizontal bracket, the inner wall of the top end of the vertical bracket is connected with the quick-release buckle, the horizontal bracket is arranged on the outer side of the lower end of the vertical bracket, a rotary steering engine is arranged below the outer end of the horizontal bracket, a net gun fixing frame is arranged above the horizontal bracket, a net gun assembly is sleeved in the net gun fixing frame, and a triggering mechanism is arranged above the net gun fixing frame. The spherical robot machine-mounted net gun device can be quickly disassembled and used; meanwhile, the gravity center of the net gun device is sunk, so that the net gun device is ensured to adapt to the shaking environment of the spherical robot.
Description
Technical Field
The utility model belongs to the field of robots, relates to a spherical robot, and in particular relates to an airborne net gun device of the spherical robot.
Background
Police and patrol robots are becoming popular, capture robots are required to capture targets in an environment-free and time-free manner, however, the conventional unmanned aerial vehicle capture cannot realize long-time patrol, and the conventional or foot-type robots cannot work in a particularly severe environment.
The spherical robot can adapt to complex severe environments, adopts a spherical shell capable of rolling, a main shaft and a secondary shaft which are perpendicular to each other are arranged in the shell, the secondary shaft can rotate relative to the main shaft, a swinging block is hung below the secondary shaft, the robot is driven to walk by means of back-and-forth swinging of the swinging block, and the robot is driven to turn by means of left-and-right swinging of the swinging block. The invention patent with the Chinese patent number 2021114617581 discloses a rolling robot with an observing and aiming capturing system and an observing and aiming capturing method thereof, wherein net guns are arranged at two ends of a main shaft of the spherical robot, and the net guns are only introduced to realize pitch angle and horizontal angle adjustment on the main shaft of the rolling robot through a holder and a steering engine, and a specific connection and installation structure of the net guns and the rolling robot is not disclosed. In the process of walking and steering, particularly when the road surface has uneven, the robot can generate obvious shaking, the net gun carried on the spherical robot not only needs to meet the requirement of stability under the shaking condition of the sphere, but also needs to meet the requirement of convenient disassembly and rapid excitation, so that the connection structure of the net gun and the spherical robot is one of the design key points of the net gun robot.
Disclosure of Invention
The utility model aims to solve the problem that a net gun carried on a spherical robot meets the requirement of stability under the condition of shaking a sphere and meets the requirement of convenient disassembly and assembly and quick excitation.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a spherical robot's machine carries net rifle device, includes spherical robot, spherical robot's middle part is equipped with annular rolling surface, spherical robot's bilateral symmetry sets up net rifle device, net rifle device includes the installation curb plate fixed with spherical robot side, the middle part of installation curb plate links to each other with the linking bridge through quick detach buckle, the linking bridge is the L type support that comprises vertical support and horizontal support, vertical support top inner wall connection quick detach buckle, the vertical support is located the low-end outside of vertical support, the outer end below of horizontal support sets up rotates steering wheel, the top sets up net rifle mount, net rifle mount endotheca is equipped with net rifle subassembly, the top of net rifle mount is equipped with trigger mechanism.
The net gun device of the device is arranged on the installation side plate, and the installation side plate is fixed with the side face of the spherical robot. The quick assembly disassembly of whole net rifle device can be realized through the quick detach buckle of draw-in groove formula, and the net rifle subassembly in the net rifle mount is after arousing, can only carry out quick assembly disassembly to net rifle subassembly alone. The device adopts the L-shaped connecting support for sinking connection, ensures that the whole center of the net gun device is lower and is not higher than the height of the main shaft, ensures that the rolling driving of the spherical robot is not influenced, and has good adaptability to the shaking of the spherical robot. The steering engine can be rotated to drive the horizontal angle of the net gun assembly. The triggering mechanism can be reset rapidly, and can be used for a second time rapidly in cooperation with the rapid disassembly and assembly of the net gun assembly.
Preferably, a dovetail boss guide rail is arranged in the middle of the outer side of the mounting side plate, the dovetail boss guide rail is horizontally arranged, and a dovetail groove clamped with the dovetail boss guide rail is formed in the inner side surface of the quick-release buckle.
Preferably, the top of the vertical support of the connecting support is provided with a square straight groove inwards, and the quick-release buckle is locked in the placing groove through a bolt and positioned.
Preferably, a square groove is formed in the lower surface of the outer end of the horizontal support of the connecting support, and a cylindrical hole is formed in the upper surface of the horizontal support in an aligned manner with the square groove; the steering engine is installed in the square groove, the rudder disk containing cavity is arranged at the bottom of the net gun fixing frame, the outer ring of the rudder disk containing cavity is sleeved with the rolling bearing, and the rolling bearing is embedded in the cylindrical hole.
Preferably, the net gun fixing frame is of a frame structure, a net gun group cavity is formed in the inner side of the net gun fixing frame, a self-locking knob plunger is arranged on one side cavity wall of the net gun group cavity, and the net gun assembly is sleeved in the net gun group cavity and is fixed through the self-locking knob plunger.
Preferably, the top surface of the net gun fixing frame is provided with a connecting column, the center of the connecting column is provided with a vertical impact hammer hole, the triggering mechanism is sleeved at the top of the net gun fixing frame, the middle part of the triggering mechanism is provided with a guide pillar cavity, and the guide pillar cavity is sleeved with the connecting column at the top surface of the net gun fixing frame; the impact hammer of the triggering mechanism is sleeved in the impact hammer hole, the transmitting spring is pressed between the impact hammer and the top wall of the guide pillar cavity, the middle part of the impact hammer is provided with a second hinge pin, the side wall of the connecting pillar is provided with a long round hole for the second hinge pin to slide up and down, and the second hinge pin is hinged at the rear end of the reset handle and is also hinged with the front end of the supporting lever; the rear end of the supporting lever is propped against the front end of the limiting rocker to be limited, the electromagnet is arranged above the tail of the net gun fixing frame, and the front end of the pull rod of the electromagnet is hinged with the rear end of the limiting rocker through a third hinge pin.
Preferably, a first reset pin is arranged in the middle of the reset handle to form a lever structure, and the front end of the reset handle is pressed down to drive a second hinge pin to ascend through leverage.
Preferably, the side wall of the net gun fixing frame is also fixed with a signal processor.
The whole net gun device and the independent net gun assembly can be quickly assembled and disassembled, the trigger structure can be quickly reset, and the spherical robot-mounted net gun device can be quickly assembled and disassembled and used; meanwhile, the net gun device is installed in a sinking mode through the L-shaped connecting frame, the gravity center of the net gun device is sinking, and the net gun device is ensured to adapt to the shaking environment of the spherical robot.
Drawings
The utility model is further described below with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of an overall structure of the present utility model.
Fig. 2 is a perspective view of a net gun device according to the present utility model.
Fig. 3 is a front cross-sectional view of a net gun device of the present utility model.
Fig. 4 is a diagram showing the structure of the net gun fixing frame of the present utility model.
Fig. 5 is a schematic structural view of the triggering mechanism of the present utility model.
In the figure: 1. the device comprises a mounting side plate, a quick-release buckle, a connecting bracket, a net gun assembly, a rotary steering engine, a net gun fixing frame, a trigger mechanism, an electromagnet, a signal converter, a spherical robot, a net gun device and a net gun device, wherein the side plate, the quick-release buckle, the connecting bracket, the net gun assembly, the rotary steering engine, the net gun fixing frame, the trigger mechanism, the electromagnetic iron, the signal converter and the spherical robot are arranged in sequence, and the net gun device is arranged in sequence; 301. straight grooves, 302, square grooves, 303 and cylindrical holes; 501. steering engine body, 502, steering wheel; 601. the net gun fixing frame comprises a net gun fixing frame body 602, a rolling bearing 603, a rudder disc accommodating cavity 604, a net gun group cavity 605, a self-locking rotary plunger 606, an impact hammer hole 607 and a connecting column; 701. reset handle, 702, hinge pin one, 703, impact hammer, 704, firing spring, 705, guide post cavity, 706, support lever, 707, limit rocker, 708, hinge pin two, 709, hinge pin three.
Detailed Description
The utility model will be further illustrated by the following examples in conjunction with the accompanying drawings.
Examples: an onboard net gun device of a spherical robot is shown in fig. 1-2. The middle part of the spherical robot is provided with an annular rolling surface, the two side surfaces of the spherical robot do not roll along with the rolling surface, and the net gun devices are symmetrically arranged on the two side surfaces of the spherical robot. The net gun device comprises a mounting side plate 1, a quick-release buckle 2, a connecting bracket 3, a net gun assembly 4, a rotary steering engine 5, a net gun fixing frame 6, a triggering mechanism 7, an electromagnet 8 and a signal processor 9.
As shown in fig. 3, the inner side of the installation side plate 1 is fixedly connected with the side surface of the spherical robot, a dovetail boss guide rail is arranged in the middle of the outer side of the installation side plate, the dovetail boss guide rail is horizontally arranged, the connection support 3 is in an L-shaped arrangement and comprises a vertical support close to the inner side and a horizontal support extending outwards from the bottom of the vertical support, the quick-release buckle 2 is fixedly connected in a square straight groove 301 on the inner side of the top of the vertical support of the connection support 3, and a dovetail groove clamped with the dovetail boss guide rail is formed in the inner side of the quick-release buckle. The steering engine 5 is arranged in a square groove 302 on the lower surface of the outer end of the horizontal support of the connecting support 3, a cylindrical hole 303 is formed in the upper surface of the outer end of the horizontal support of the connecting support 3, and the square groove 302 is aligned with the cylindrical hole 303 up and down.
As shown in fig. 3 and 4, the net gun fixing frame 6 is arranged on the cylindrical hole 303 of the connecting bracket 3, a rudder disc accommodating cavity 603 is arranged at the bottom of the net gun fixing frame 6, a rolling bearing 602 is sleeved on the outer ring of the rudder disc accommodating cavity 603, and the rolling bearing 602 is embedded in the cylindrical hole 303 of the horizontal bracket of the connecting bracket 3. The net gun fixing frame 6 is of a frame structure, a horizontal net gun group cavity 604 is arranged on the inner side of the net gun fixing frame 6, a self-locking knob plunger 605 is arranged on one side of the middle of the net gun fixing frame 6, and the net gun assembly 4 is sleeved in the net gun group cavity 604 and is fixed in a matched manner through the self-locking knob plunger 605. The top surface of the net gun fixing frame 6 is provided with a connecting column 607, the center of the connecting column is provided with a vertical impact hammer hole 606, and the impact hammer hole 606 is communicated with the net gun group cavity 604 for triggering the net gun assembly 4. The signal processor 9 is arranged on the side wall of the net gun fixing frame 6.
As shown in fig. 3 and 5, the triggering mechanism 7 is sleeved at the top of the net gun fixing frame 6, a guide pillar cavity 705 is arranged in the middle of the triggering mechanism 7, and the guide pillar cavity 705 is sleeved with a connecting post 607 at the top surface of the net gun fixing frame 6. The impact hammer 703 of the triggering mechanism 7 is sleeved in the impact hammer hole 606, the transmitting spring 704 is pressed between the impact hammer 703 and the top wall of the guide pillar cavity 705, the middle part of the impact hammer 703 is provided with a second hinge pin 708, the side wall of the connecting pillar 607 is provided with a long round hole for the second hinge pin 708 to slide up and down, and the second hinge pin is hinged at the rear end of the reset handle 701 and also hinged with the front end of the supporting lever 706, and is driven by the reset handle 701 and limited by the supporting lever. The middle part of the reset handle 701 is provided with a first reset pin 702, a lever structure is formed, and the front end of the reset handle 701 is pressed down to drive a second hinge pin 708 to ascend through leverage. The rear end of the supporting lever 706 is abutted against the front end of the limiting rocker 707 to be limited, the electromagnet 8 is arranged at the tail of the net gun fixing frame 6, and the front end of a pull rod of the electromagnet 8 is hinged with the rear end of the limiting rocker 707 through a hinge pin III 709.
When the device is specifically used, a user installs the installation side plate 1 on the spherical robot, captures a target through the dynamic capture camera, when the target needs to be captured, the signal converter 9 is transmitted to the model through the in-ball control system, the signal converter 9 transmits converted signals to the rotary steering engine 5 and the electromagnet 8, the rotary steering engine 5 rotates the net gun fixing frame 6 left and right to aim at the target, the electromagnet 8 pulls the pull rod to drive the limiting rocker 707 to rotate to release the supporting lever 706, the impact hammer 703 is acted by the elasticity of the emission spring 704, and the impact hammer hole 606 is used for impacting the excitation button on the net gun assembly 4 downwards, so that the net is captured in emission. Before the second firing, firstly, the reset handle 701 is pressed downwards to enable the impact hammer to return to the impact hammer hole 606, the firing spring 704 is compressed, the pull rod of the electromagnet 8 is reset, secondly, the self-locking rotary plunger 605 is rotated and pulled, the net gun assembly 4 is taken out of the net gun fixing frame 6 forwards, a new net gun assembly 4 is sleeved in the net gun assembly cavity 604, the reset self-locking rotary plunger 605 is loosened, and the net gun assembly is fixed. The method is the use flow of the whole spherical robot on-board capturing net gun device.
Claims (8)
1. The utility model provides a spherical robot's machine carries net rifle device, includes spherical robot, spherical robot's middle part is equipped with annular rolling surface, spherical robot's bilateral symmetry sets up net rifle device, its characterized in that: the net gun device comprises an installation side plate fixed with the side surface of the spherical robot, the middle part of the installation side plate is connected with a connecting bracket through a quick-release buckle, the connecting bracket is an L-shaped bracket consisting of a vertical bracket and a horizontal bracket, the inner wall of the top end of the vertical bracket is connected with the quick-release buckle, the horizontal bracket is arranged on the outer side of the lower end of the vertical bracket, a rotating steering engine is arranged below the outer end of the horizontal bracket, a net gun fixing frame is arranged above the horizontal bracket, a net gun assembly is sleeved in the net gun fixing frame, and a triggering mechanism is arranged above the net gun fixing frame.
2. The spherical robotic airborne net gun apparatus of claim 1, wherein: the middle part of the outer side of the installation side plate is provided with a dovetail boss guide rail, the dovetail boss guide rail is horizontally arranged, and the inner side surface of the quick-release buckle is provided with a dovetail groove which is clamped with the dovetail boss guide rail.
3. The spherical robotic airborne net gun apparatus of claim 1, wherein: the vertical support top of linking bridge sets up square straight flute inwards, quick detach buckle passes through the bolt locking and in the standing groove and fixes a position.
4. The spherical robotic airborne net gun apparatus of claim 1, wherein: the lower surface of the outer end of the horizontal bracket of the connecting bracket is provided with a square groove, and the upper surface of the horizontal bracket is aligned with the square groove and provided with a cylindrical hole; the steering engine is installed in the square groove, the rudder disk containing cavity is arranged at the bottom of the net gun fixing frame, the outer ring of the rudder disk containing cavity is sleeved with the rolling bearing, and the rolling bearing is embedded in the cylindrical hole.
5. The spherical robotic airborne net gun apparatus of claim 1, wherein: the net gun fixing frame is of a frame structure, a net gun group cavity is formed in the inner side of the net gun fixing frame, a self-locking knob plunger is arranged on one side cavity wall of the net gun group cavity, and the net gun assembly is sleeved in the net gun group cavity and is fixed through the self-locking knob plunger.
6. The spherical robotic airborne net gun apparatus of claim 1, wherein: the top surface of the net gun fixing frame is provided with a connecting column, the center of the connecting column is provided with a vertical impact hammer hole, the triggering mechanism is sleeved at the top of the net gun fixing frame, the middle part of the triggering mechanism is provided with a guide pillar cavity, and the guide pillar cavity is sleeved with the connecting column at the top surface of the net gun fixing frame; the impact hammer of the triggering mechanism is sleeved in the impact hammer hole, the transmitting spring is pressed between the impact hammer and the top wall of the guide pillar cavity, the middle part of the impact hammer is provided with a second hinge pin, the side wall of the connecting pillar is provided with a long round hole for the second hinge pin to slide up and down, and the second hinge pin is hinged at the rear end of the reset handle and is also hinged with the front end of the supporting lever; the rear end of the supporting lever is propped against the front end of the limiting rocker to be limited, an electromagnet is arranged above the tail of the net gun fixing frame, and the front end of a pull rod of the electromagnet is hinged with the rear end of the limiting rocker through a third hinge pin.
7. The spherical robotic airborne net gun apparatus of claim 6, wherein: the middle part of the reset handle is provided with a first reset pin to form a lever structure, and the front end of the reset handle is pressed down to drive the second hinge pin to rise through leverage.
8. The spherical robotic airborne net gun apparatus of claim 1, wherein: the side wall of the net gun fixing frame is also fixed with a signal processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322112524.7U CN220807456U (en) | 2023-08-08 | 2023-08-08 | Onboard net gun device of spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322112524.7U CN220807456U (en) | 2023-08-08 | 2023-08-08 | Onboard net gun device of spherical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220807456U true CN220807456U (en) | 2024-04-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322112524.7U Active CN220807456U (en) | 2023-08-08 | 2023-08-08 | Onboard net gun device of spherical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220807456U (en) |
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2023
- 2023-08-08 CN CN202322112524.7U patent/CN220807456U/en active Active
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