JP4491615B2 - Hand throwing robot - Google Patents

Description

  The present invention relates to a hand-throwing small robot that is used when observing or reconnaissance in a dangerous room or the like under a floor with a low height where a human cannot directly enter.

  As an example of this type of small robot, there is a robot provided with a pair of left and right movable wheels a and a base b supported between the movable wheels a as shown in FIG. The self-propelled robot having this structure has a support bar c that contacts the floor surface on the gantry b, and a needle-like spring attached to the movable wheel a is extended and rotated during movement (built in the movable wheel). (By the power mechanism).

  In addition, other types of self-propelled small robots have a protrusion-type stabilizer in place of the support bar c, which prevents the structure from moving around with the movable wheels when moving. In addition, the stability of the gantry at the time of stopping is ensured.

  However, in the small robot, since a long support rod or a protrusion type stabilizer is in contact with the floor surface, it may be worn out or obstructed during movement. Further, these support rods or stabilizers are indispensable parts for movement in the robot, and have to be protruded long from the gantry, making it difficult to reduce the size.

  Therefore, the present invention solves the above-mentioned problems, and the object thereof is to prevent rotation due to the suspension of the gantry accompanying the rotation of the movable wheel, and to provide a substantially ball without the use of such support rods or stabilizers. It is possible to provide a hand-throwing robot that is easy to transport and to observe or to reconnaissance by making it deformable in a shape.

In order to solve the above-described problems, the hand-throwing robot of the present invention includes a gantry 2 having a built-in motor 4, and can be connected to the motor 4 via a gear box 9 on the left and right of the gantry 2. A pair of substantially hemispherical movable wheels 3, 3, a bearing portion 11 integrally provided at the inner back of each movable wheel 3, and an output shaft 4 a of the motor 4 are connected to each other via the bearing portion 11. A drive shaft 12 for transmitting a rotational force in the same direction as the rotation direction of the motor 4 to each movable wheel 3, and a drive shaft 12 disposed in the gear box 9 on the same axis as the drive shaft 12 of each movable wheel 3 . By having a balancer 23 coaxially joined to the reversing shaft 21 connected to the output shaft 4a, the reversing shaft 21 and the balancer 23 are always rotated in the reverse rotation direction with respect to the rotation direction of each movable wheel 3, Bei a reversing mechanism for holding the frame 2 in a stationary state It is characterized in that was. The motors may be provided on the left and right sides of the gantry, but the driving shaft of one motor may be interlocked with the pair of movable wheels via an interlocking mechanism.

In the first aspect of the present invention, the movable wheel is connected to the bearing portion provided in the movable wheel so as to be movable in the axial direction, and the joint edge of the movable wheels is screwed in by a male and female screw. possible and then, between the gearbox and the bearing unit, by biasing the mutually spaced side the movable ring by interposed compression coil springs on the outer periphery of the drive shaft, in the opposite direction the movable wheel by remote control means The motor is rotationally driven so as to rotate, and the movable wheels in a state of being connected in a screwed manner are separated from each other .

The invention according to claim 2, Oite to claim 1, together with the motor in the serial frame, CPU, wireless communication means, with a built-in operation means such as a battery, the camera and antennas for imaging on stand Projecting and performing the motor control by the control from the remote control means by the wireless communication means, and the image information captured by the camera can be displayed on the monitor display provided in the remote control means via the wireless communication means It is characterized by that.

  In the first aspect of the invention, the reverse rotation mechanism causes a rotational moment in the reverse direction of the movable wheel on the frame itself, and the suspension of the frame accompanying the rotation of the movable wheel is offset and the stationary state is stably maintained. . Further, it can be reduced and expanded as necessary, and in the reduced state, it can be reduced to a substantially ball shape.

In the first aspect of the invention, in addition to the above-described actions and effects, when moving and throwing, the movable wheels are connected to each other in a screwed manner to reduce the ball shape, and at the stage of ground contact, By reversing in the reverse direction, the screw is removed, and the unfolded state is automatically brought about by the spring force. Therefore, the structure for contraction and unfolding is also simplified.

According to the second aspect of the invention, it is possible to freely move and change the direction by remote control, and to display the captured image on the monitor display of the remote control means in real time.

The best mode of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a front view showing a right half section in a deployed state of a hand-throwing robot according to the present invention. FIG. 2 is a right half section view showing a power transmission mechanism in the gear box.

  In the figure, the hand-throwing robot 1 is of a size that can be grasped with a palm, like a hand throw when retracted, and includes a gantry 2 and a pair of movable wheels 3 that are deployed on the left and right sides of the gantry 2. It is made up of.

  The gantry 2 includes a pair of left and right motors 4 and various electronic components to be described later, and a storage unit 7 in which an imaging camera 5 and an antenna 6 project from the center of the upper part, and is provided upright on the left and right sides of the storage unit 7. A gear box 9 fixed via a mounting base 8 and an activation switch SW projecting from the front center of the storage unit 7 are provided.

  Each of the movable wheels 3 has an inner hollow shape in which a cylindrical portion is integrated with a hemispherical end portion, and a large number of rubber-made protrusions 10 protrude from the cylindrical outer peripheral portion along the circumferential direction. The projection 10 can be rotated with the ground surface as a ground plane.

  A bearing 11 is integrated into the inner part of the movable wheel 3, and a drive shaft 12 protruding from the end of the gear box 9 is slidable at the center of rotation of the movable wheel 3 in the bearing 11. It is pivotally supported. As a means for preventing rotation of the drive shaft 12 with respect to the bearing portion 11, in addition to the engagement by the illustrated spline groove 13, an engagement means by a key and a key groove can be employed.

  A compression coil spring 14 is inserted between the bearing portion 11 and the gear box 9 on the outer periphery of the drive shaft 11, and each movable wheel 3 is always separated from the gantry 2 by the spring pressure of the spring 14. Is being energized.

  Further, a male screw portion 15 projects from one of the opening edges at the joint ends of the two movable wheels 3, and a female screw portion 16 is formed on the other inner peripheral portion, and the gantry 2 as shown in FIG. 1 is released. Then, the operator manually pulls the movable wheels 3 against the spring pressure of the spring 14 and twists them together to close the cradle 2 between the movable wheels 3 in a capsule shape. It is like that.

  As shown in FIG. 2, at a position close to the bearing portion 11 in the gear box 9, the output shaft 4 a of the motor 4 is connected to the drive shaft 12 via an input gear 17, an intermediate gear 18 and an output gear 19. The motor 4 rotates in the same direction as the rotation direction of the motor 4, and the rotational power is transmitted to the movable wheel 3 via the bearing portion 11.

  Further, at a position close to the mounting base 8 in the gear box 9, a reversal fixed to a reversing shaft 21 coaxially arranged with the drive shaft 12 is mounted on an input gear 20 mounted on the base side of the output shaft 4 a. The gear 22 is engaged.

  A balancer 23 is coaxially joined to the reversing shaft 21, and a rotational force that is always opposite to the rotational direction of the motor 4 is applied, so that the reverse of the rotational direction of the movable wheel 3 due to the flywheel effect of the balancer 23. By generating a rotational moment, the gantry 2 is prevented from rotating in the rotational direction of the movable wheel 3 and is held stationary.

3 and 4 show the arrangement of the electronic components described above stored in the storage unit 7. The pair of motors 4 described above are disposed on the left and right of the bottom side of the storage unit 7, and an acceleration / direction sensor 24 is disposed between the motors 4. A battery 25 is arranged, and a CPU 26 for controlling each part is arranged on one side of the upper side, and a wireless communication device 27 is arranged on the other side, and the respective parts are connected by wiring (not shown).
According to this structure, the heavy battery 25 and the motor 4 are kept at a low position so that the center of gravity is kept low. Even when the movable wheel 3 is stopped, the gantry 2 can be used as an imaging camera as shown in FIGS. 5 is stably held at a fixed position in a state where it is positioned at the top.

  As shown in FIG. 5, the CPU 26 receives a command from the remote control device 28 via the communication device 27, moves the left and right motors 4 based on the command from the remote control device 28, and moves in the command direction. An operation of sending an image signal received by the imaging camera 5 to the control device 28 via the communication device 27 is performed.

  FIG. 5 shows the above-described robot 1 from throwing to unfolding operation. Before throwing, after turning on the switch SW, as shown in (a), the movable wheels 3 are joined to each other, and after that, the hook is put into the target room by the throwing method similar to the manual throwing. After being thrown in, the operator himself / herself can evacuate to a safe place to ensure the safety of the operator.

  The acceleration / orientation sensor 24 detects this state in accordance with the throwing-in operation. However, the CPU 26 is in a state where it is not detected after the landing impact, that is, when it is stationary on the floor F as shown in FIG. The two motors 4 are reversed in the screw loosening direction to disengage the screws, and the movable wheel 3 is automatically expanded to the left and right by the spring pressure of the spring 14, so that (c) and FIG. As shown in the figure, the gantry 2 is exposed, indoor imaging can be performed by the imaging camera 5, and mutual communication with the control device 28 is possible through the antenna 6, and this development is subsequently performed according to a command from the control device 28. It is possible to observe or reconnaissance of the interior while running in the room. The movable wheel 3 can also be expanded to the left and right in response to a command from the control device 28.

  The control device 28 is similar to a normal personal computer, and includes a personal computer main body 28a with a built-in wireless communication device, a monitor display 28b, a keyboard 28c, an operation mouse (not shown), a joystick, etc. As shown in the figure, the software built in the main body 28a displays the position / direction information from the acceleration / direction sensor 24 and the indoor image captured by the imaging camera 5 on the monitor display 28b. The target image of the camera 5 and a brick point indicating the presence of a dangerous object or a dangerous person in the target are displayed according to a check input on the pilot side.

  Further, by driving the motor 4 of the robot 1 in accordance with a movement command from the control device 28, the robot 1 projects its indoor scenery and target image while running in the room and displays it on the monitor display 28b. When the direction is changed, the direction is immediately changed by the comfortable turning by reversing the left and right motors 4.

  In the figure, a desktop personal computer is shown as the remote control device 28. However, it is desirable to substitute a portable personal computer such as a portable laptop personal computer in an actual disaster site or incident site. In addition, although not shown in the figure, in order to resist the use of the robot 1 such as a throwing operation at a disaster site, an incident site, etc., the electronic components built in the gantry 2 are protected by a shock absorber, etc. Of course, it is also possible to give this.

It is a front view which shows the right half part in the unfolded state of the hand-throwing robot according to the present invention. It is sectional drawing of the right half part which shows the power transmission mechanism in the gearbox. (A)-(c) is the plane sectional view which shows the components arrangement | positioning in a storage part, a front sectional view, and a side sectional view. It is a perspective view which shows the components arrangement | positioning in the storage part. (A)-(c) is explanatory drawing which shows the process from throwing of the same hand throwing-type robot to a deployment state, and the relationship with a remote control apparatus. It is a perspective view which shows an example of the conventional self-propelled small robot.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Hand throwing robot 2 Base 3 Movable wheel 4 Motor 4a Output shaft 5 Imaging camera 6 Antenna 7 Storage part 8 Mounting base 9 Gear box 11 Bearing part 12 Drive shaft 14 Compression coil spring 15 Male thread part 16 Female thread part 17, 20 input gear 18 intermediate gear 19 output gear 21 reverse shaft 22 reverse gear 23 balancer 24 acceleration / direction sensor 25 battery 26 CPU
27 Communication Device 28 Remote Control Device 28b Monitor Display

Claims (2)

A frame (2) with a built-in motor (4), and a left and right side of the frame (2) are connected to the motor (4) via a gear box (9) and can rotate to be substantially hemispherical. A pair of movable wheels (3), (3), a bearing portion (11) integrally provided at the inner back of each movable wheel (3), and an output shaft (4a) of the motor (4) are connected. , the drive shaft for transmitting the rotational force of the same direction as the rotational direction of the motor (4) bearing part via (11) to each of the movable wheel (3) and (12), wherein each of the movable wheel in the gearbox (9) in A balancer (23) disposed on the same axis as the drive shaft (12) of (3) and coaxially joined to the reversing shaft (21) connected to the output shaft (4a) of the motor (4); reversing shaft (21) and the balancer (23) to be rotated the always reverse to the rotational direction of the movable wheel (3) , And a reversing mechanism for holding the frame (2) stationary,
The movable wheel is connected to the bearing portion provided in the movable wheel so as to be movable in the axial direction, and the joint edge of the movable wheels can be screwed together by male and female screws, and the gear box and the bearing portion In the meantime, the motor is rotated so that each movable wheel is rotated in the opposite direction by remote control means by urging the movable wheels away from each other by a compression coil spring interposed on the outer periphery of the drive shaft. A hand-throwing robot characterized in that the movable wheels are driven and separated from each other in a state of being connected in a screwed manner . In addition to the motor, the gantry incorporates a CPU, wireless communication means, battery, and other operating means, and an imaging camera and antenna project from the gantry, and control from the remote control means by the wireless communication means. wherein performs motor control, throwing hand according to claim 1, characterized in that a displayable image information captured by the camera on the monitor display provided on the remote control unit via the wireless communication means by Type robot.

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