CN2848488Y - Portable moving robot - Google Patents
Portable moving robot Download PDFInfo
- Publication number
- CN2848488Y CN2848488Y CNU2005200940244U CN200520094024U CN2848488Y CN 2848488 Y CN2848488 Y CN 2848488Y CN U2005200940244 U CNU2005200940244 U CN U2005200940244U CN 200520094024 U CN200520094024 U CN 200520094024U CN 2848488 Y CN2848488 Y CN 2848488Y
- Authority
- CN
- China
- Prior art keywords
- wheel
- box body
- travel mechanism
- shaft
- mobile robot
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
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Abstract
The utility model belongs to the technical field of advanced manufacture and automation, specifically a portable moving robot, which has a modular structure and comprises three parts of a working support arm, a moving mechanism and a container body, wherein an outlet shaft of a front wheel of the moving mechanism is combined with a hub key on the lateral face of the container body, and a back wheel of the moving mechanism is spliced with an outlet shaft on the lateral face of the container body. The working support arm is arranged above the container body. Because the moving mechanism and the container body, the working support arm and the container body are designed as a quick assembly and disassembly mechanism, so the problems of the weight and the volume of a moving vehicle are solved at the time of realizing the function of the moving vehicle. The volume and the weight of each module of the moving vehicle with the modular structure are very small, so the moving vehicle has the advantages of portability and wide purpose.
Description
Technical field
The utility model belongs to advanced and makes and technical field of automation specifically a kind of portable mobile robot with modular construction.
Technical background
Along with the development of manufacturing industry and automatic technology and towards the research of the explosion-proof field of anti-terrorism robot, the mobile robot who develops at present is a lot.Because be subjected to the restriction of material and technological level, in order to realize the set goal, the mobile robot is non-dismountable, volume is big, weight is also heavy, carries and transport all very inconvenient, and application is restricted.Though some mobile robot's volume is little, in light weight, function is far short of what is expected, and aspects such as climbing capacity, obstacle climbing ability all are subjected to very big influence.
The utility model content
The purpose of this utility model is to provide a kind of portable mobile robot with modular construction, and it has solved the contradiction between mobile robot's volume, weight and the function when having climbing capacity, obstacle climbing ability function, be easy to carry.
To achieve these goals, the technical solution of the utility model is a modular construction, form by operation support arm, travel mechanism and box body three parts, be specially: the hub key of the shaft of the front-wheel of travel mechanism and box body side closes, the shaft of the trailing wheel of travel mechanism and box body side is pegged graft, and the operation support arm is installed in the box body top;
Described travel mechanism is by trailing wheel, rotating band, and chapelet, front-wheel and swing arm are formed, and wherein front-wheel one side is equipped with swing arm, and the hub of the shaft of opposite side and box body side band keyway is installed together, and establishes one group of hole on the trailing wheel, is connected with the box body shaft by ring flange; Front-wheel becomes one by rotating band, chapelet and trailing wheel; The shaft of described travel mechanism front-wheel is the hollow shaft of band key, and front end has tapering;
Described chapelet is made of two support sections that are installed together by thread spindle between trailing wheel and front-wheel, the arc of the edge of the end that links to each other with belt wheel of support section wherein for adapting with the belt wheel profile, and the other end is connected with thread spindle; Described thread spindle one end is threaded by adapter sleeve, and the other end links to each other with support section.
The utlity model has following advantage:
1. have volume, the little characteristics of weight.The utility model portable mobile robot is a modular construction, and its weight of the dolly after the fractionation is divided into four parts, and every part weight and volume is all very little, and (as: volume of each module is no more than 0.025m
3, quality is no more than 14Kg), can carry, transport also very convenient.And the mobile robot's volume that can realize said function in the prior art is all at 2m
3More than, quality is all more than 80Kg.
2. climbing and obstacle detouring function are better.With some mobile apparatus human body in the prior art in order to pursue the index of volume and weight, can not add the servicing unit of travel mechanism, cause climbing to compare with the deficiency that the performance of obstacle detouring reduces greatly, the swing arm of the utility model travel mechanism and box body can have certain angle, and such structure more helps climbing and obstacle detouring.
3. simple in structure, flexible.The utility model modular mobile robot can remove and install easily fast, and being connected to be threaded to the master between travel mechanism and the box body and between operation support arm and the box body is easy to operate.The chapelet that can adjust length in the travel mechanism promptly has been connected in rotating band in the travel mechanism and belt wheel together, belt wheel has kept the centre-to-centre spacing identical with the box body front axle before and after making again in the travel mechanism, has solved a difficult problem that is connected between travel mechanism and the box body.
Description of drawings
Fig. 1 is each module assembly structure schematic diagram of portable mobile robot.
Fig. 2 is travel mechanism's structural representation among Fig. 1.
Fig. 3-1 is the concrete structure schematic diagram that the hub of travel mechanism's front-wheel and box body side is connected.
Fig. 3-2 is the syndeton schematic diagram of the shaft of travel mechanism's trailing wheel and box body side.
Fig. 4 is the structural representation of chapelet among Fig. 2.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail.
Shown in Fig. 1,3, portable mobile robot is made up of operation support arm 1, travel mechanism 2 and box body 5 three parts, described travel mechanism 2 and box body 5 demountable structures; Be specially: the hub of the shaft of the front-wheel of travel mechanism 2 and box body 5 side band keyways is installed together, and the shaft of the trailing wheel of travel mechanism 2 and box body 5 sides is pegged graft, and operation support arm 1 is installed in box body 5 tops.
The kind of described operation support arm 1 is a lot, and the mechanical arm of installation camera of observation usefulness is arranged, in addition the mechanical arm of using with the paw operation etc. (present embodiment is for installing the mechanical arm of camera).In order to realize different functions, can be furnished with different operation support arms.The base of operation support arm to have can with the corresponding installing hole of box body so that be connected with box body.
As shown in Figure 2, described travel mechanism 2 is by trailing wheel 6, rotating band 7, chapelet 8, front-wheel 9 and swing arm are formed, and wherein front-wheel 9 one sides are equipped with swing arm, and the shaft of opposite side extend in the hub of box body 5 side band keyways, front-wheel 9 becomes one with trailing wheel 6 by rotating band 7 and chapelet 8, and described chapelet 8 is between trailing wheel 6 and front-wheel 9; Described swing arm is driving wheel (shared) with front-wheel 9, and driven pulley links to each other with driving wheel by covering band.The centre-to-centre spacing of front-wheel 9 and trailing wheel 6 is determined with chapelet 8 length.
Shown in Fig. 3-1,3-2, (front end has tapering to the shaft 12 of the front-wheel 9 of travel mechanism 2 for hollow shaft, play the guiding role during with box body 5 assemblings), hub 13 bondings with box body 5, key 11 with the shaft 12 of front-wheel 9 is realized transmissions, and stay bolt 10 passes shaft 12 and is connected with the hub 13 of box body 5.Establish one group of hole on the trailing wheel 6 of travel mechanism 2, the screwed hole correspondence with on the ring flange 15 of box body 5 shafts (be rear axle, insert the axis hole of trailing wheel 6) connects with screw.
As shown in Figure 4, chapelet 8 is made of two support sections 16 that are installed together by thread spindle 17, wherein support section 16 usefulness nylon are made in case belt wheel is damaged, and the arc identical with the belt wheel outline made at the edge of an end, and the other end is connected with thread spindle 17; Thread spindle 17 totally two be processed into left and right sides screw thread respectively; Adapter sleeve 18 is used for two thread spindles 17 are linked together, and the inside of adapter sleeve 18 is internal threads, Yi Bian be processed into left-hand thread, another side is processed into right-hand thread, and is corresponding with two thread spindles 17.Outer six sides are processed in the outside of adapter sleeve 18, and chapelet support section 16 is fixedlyed connected with thread spindle 17, the monkey wrench cover that is rotatably connected, and the length of chapelet will elongate or shorten.
Because the flexibility of rotating band 6 can not link together wheel, so the utility model designed the chapelet 8 that can adjust length, and between the belt wheel of front and back, belt wheel keeps suitable centre-to-centre spacing before and after making with chapelet 8 supports.Under the tension force and chapelet 8 effects of rotating band 6, the position and the shape of the belt wheel of rotating band 6 and front and back have all been fixed, and constitute standalone module, and the transportation that is easy to carry, front and back belt wheel have suitable centre-to-centre spacing, also are easy to assembling, dismounting.
Concrete installation process:
The utility model modular construction can split into travelling car independently module on the whole, and standalone module also can be assembled into travelling car easily.Travelling car is split into the process of standalone module:
Unclamp the nut and the screw of front and back wheel, at this moment pat outward gently, can easily travelling car be split into standalone module with hand or instrument.Standalone module is assembled into the process of travelling car: the hub 13 of the shaft 12 aligning box bodies 5 of the front-wheel 9 of travel mechanism 2, trailing wheel 6 axis holes are aimed at box body 5 shaft ring flanges 15, pat with have gentle hands and beat and can slip in the axis hole.Unload the chapelet 8 in the travel mechanism 2, rotate swing arm, the direction of hub 13 keyways of the direction of front-wheel 9 keys 11 of travel mechanism 2 and box body 5 is coincide, continuation shifts near travel mechanism 2 to appropriate position to box body 5, the shaft 12 (hollow shaft) that stay bolt 10 passes travel mechanism's 2 front-wheels 9 extend in the screwed hole of hub 13 of box body 5, axial location.With set screws the trailing wheel 6 of travel mechanism 2 is fixed on the ring flange 15 of shaft of box body 5.Same way is contained in box body 5 opposite sides to another travel mechanism 2.The demolition, installation of operation support arm are simpler, are the demolition, installation of several screws.
Claims (5)
1. portable mobile robot, it is characterized in that: be modular construction, form by operation support arm (1), travel mechanism (2) and box body (5) three parts, be specially: the hub key of the shaft of the front-wheel of travel mechanism (2) and box body (5) side closes, the shaft of the trailing wheel of travel mechanism (2) and box body (5) side is pegged graft, and operation support arm (1) is installed in box body (5) top.
2. portable mobile robot according to claim 1, it is characterized in that: described travel mechanism (2) is by trailing wheel (6), rotating band (7), chapelet (8), front-wheel (9) and swing arm are formed, and wherein front-wheel (9) one sides are equipped with swing arm, and the hub of the shaft of opposite side and box body (5) side band keyway is installed together, establish one group of hole on the trailing wheel (6), be connected with box body (5) shaft by ring flange (15); Front-wheel (9) becomes one with trailing wheel (6) by rotating band (7), chapelet (8).
3. portable mobile robot according to claim 2 is characterized in that: the shaft (12) of described travel mechanism (2) front-wheel is the hollow shaft of band key, and front end has tapering.
4. portable mobile robot according to claim 1, it is characterized in that: described chapelet (8) is positioned between trailing wheel (6) and the front-wheel (9), constitute by two support sections (16) that are installed together by thread spindle (17), the arc of the edge of the end that links to each other with belt wheel of support section (16) for adapting with the belt wheel profile wherein, the other end is connected with thread spindle (17).
5. portable mobile robot according to claim 4 is characterized in that: described thread spindle (17) one ends are threaded by adapter sleeve (18), and the other end links to each other with support section (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2005200940244U CN2848488Y (en) | 2005-12-02 | 2005-12-02 | Portable moving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2005200940244U CN2848488Y (en) | 2005-12-02 | 2005-12-02 | Portable moving robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2848488Y true CN2848488Y (en) | 2006-12-20 |
Family
ID=37520966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2005200940244U Expired - Fee Related CN2848488Y (en) | 2005-12-02 | 2005-12-02 | Portable moving robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2848488Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100522505C (en) * | 2005-12-02 | 2009-08-05 | 中国科学院沈阳自动化研究所 | Portable mobile robot |
| CN108161885A (en) * | 2018-01-06 | 2018-06-15 | 哈尔滨工大特种机器人有限公司 | A kind of public safety mobile robot |
-
2005
- 2005-12-02 CN CNU2005200940244U patent/CN2848488Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100522505C (en) * | 2005-12-02 | 2009-08-05 | 中国科学院沈阳自动化研究所 | Portable mobile robot |
| CN108161885A (en) * | 2018-01-06 | 2018-06-15 | 哈尔滨工大特种机器人有限公司 | A kind of public safety mobile robot |
| CN108161885B (en) * | 2018-01-06 | 2020-02-21 | 哈尔滨工大特种机器人有限公司 | Public safety mobile robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |