CN102267505A - Portable telescopic spherical throwing detection robot - Google Patents
Portable telescopic spherical throwing detection robotDownload PDFInfo
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- CN102267505A CN102267505ACN201110179043ACN201110179043ACN102267505ACN 102267505 ACN102267505 ACN 102267505ACN 201110179043 ACN201110179043 ACN 201110179043ACN 201110179043 ACN201110179043 ACN 201110179043ACN 102267505 ACN102267505 ACN 102267505A
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Abstract
Translated fromChinese
Description
Technical field
The invention belongs to the Robotics field, relate to a kind of robot system.Specifically, be a kind of in complex environment, have strong manoevreability and concealed portable extension type ball-type throwing reconnaissance robot.
Background technology
In recent ten years, Robotics fast development.Microminiature ground mobile robot as battle reconnaissance, anti-terrorism monitoring and hazardous environment search and rescue point frequently appears on the world arena in the recent period, becomes noticeable focus.The ground mobile robot Study on Technology also is in the critical stage of develop rapidly.Reconnaissance robot is as microminiature ground mobile robot's a branch, be that a class is used to operating personal that the auxiliary type robot of the place ahead real time information (vision, the sense of hearing, potential threat etc.) is provided, it is detected and field such as sampling, battle reconnaissance, urban SOS, explosive and anti-terrorism chemical defence has application demand widely at space exploration, hazardous environment.
Developed countries such as the U.S., Britain and Germany have obtained prominent achievement in this type of mobile robot's development and application facet, as the typical case's representative (http://www.reconrobotics.com/index.cfm) that is exactly this robotlike by Univ Minnesota-Twin Cities USA's development and business-like Scout robot, this robot has two drive wheels, one is supported tail, and light weight is easy to carry and the free-falling body that can resist several meters distances impacts.But the Scout robot is only handled fuselage color black, does not have and pretends performance preferably, and disguise is not high, is easy to be discovered.Owing to above reason, make the application of Scout be subject to many limitations.
Based on above background and current demand, be necessary to design a kind of being easy to carry and disguised high novel reconnaissance robot.
Summary of the invention
The objective of the invention is provides a kind of simple in structure, portable at the technical deficiency of existing reconnaissance robot, and has the portable extension type ball-type throwing reconnaissance robot that pretends performance more by force.This portable extension type ball-type throwing reconnaissance robot relies on little, the in light weight and good advantage of camouflage performance of its volume, can in the processing of military operations in urban terrain, terrorist incident and industrial accident, replace the people to enter hazardous environment, be engaged in scouting, get rid of the danger and dangerous work such as rescue, thereby the minimizing personal casualty improves guarantee performance and work efficiency.
A kind of portable extension type ball-type of the present invention throwing reconnaissance robot comprises frame, left driving wheel, right drive wheel, telescopic system and control system; Frame is a hollow structure, frame two ends screw thread be connected left driving wheel and right drive wheel; The middle part of frame is equipped with telescopic system and control system.
Wherein, left driving wheel is identical with right drive wheel structure, comprises driving the flexible Connection Block of hub, drive wheel motor Connection Block, damping disc, drive motor and drive wheel.Driving hub is the globosity that the one injection moulding processes, and boring also is equipped with drive motor Connection Block and damping disc, and the flexible Connection Block of drive wheel is housed on the damping disc; Driving hub external circumferential position is provided with horizontal vertical staggered decorative pattern shape projection and is provided with uniform bulbous protrusion at spherical surface.
Described telescopic system comprises telescopic drive, drive wheel telescoping mechanism and supports the tail telescoping mechanism.Wherein, telescopic drive is fixed on the frame; The drive wheel telescoping mechanism is fixed on the drive wheel telescoping mechanism Connection Block in the frame; Supporting the tail telescoping mechanism is fixed on the support tail telescoping mechanism Connection Block in the frame.Telescopic system provides power by telescopic drive, and two-way transmission after the bevel gear set commutation, one tunnel transmission give the drive wheel telescoping mechanism to realize the fore and aft motion of drive wheel; Another road transmission is given and is supported the tail telescoping mechanism to realize supporting the fore and aft motion of tail.
Described control system is installed on the frame, comprise control system housing, shooting headstock, camera fixed housing, wireless vision camera, main control board, left driving wheel motor-driven plate, right drive wheel motor-driven plate, telescopic system motor-driven plate and power supply, be mainly used to monitor and control the deployed condition that folds of telescopic system, and the motion that drives left driving wheel motor, right drive wheel motor and telescopic system motor.
Robot of the present invention has expansion and folds two states when implementation and operation: robot both can and be executed the task in relatively flat ground flexible motion fast running during expansion, also can in the rugged environment of complexity, cross the meadow grit, cross typical obstacles such as step, finish assigned work; Robot is only reserved left drivingwheel 2 andright drive wheel 3 in the external world when folding, and remainder all shrinks in inside, and entire machine people is spherical in shape, has camouflage, is difficult for being discovered.
Robot of the present invention has adopted the lean structure in design, has alleviated weight; The driving hub of left driving wheel and right drive wheel adopts the damping design of the rubber shock-absorbing dish that is connected, and the free-falling body that can bear several meters impacts; The contraction of left driving wheel and right drive wheel can well wear camouflage robot, is difficult for being discovered; Less size design is easy to carry and disposes; The robot function is more complete, and control is simple, both can be applicable to the paramilitary operational detection, also can be used as urban SOS and explosive anti-terrorism, has broad application background and market outlook.
The invention has the advantages that:
1, robot of the present invention is only finished the motion that drive wheel is flexible and the support tail stretches both direction with a motor-driven by simple mechanical drive optimization, and easy to operate, control is simple;
2, robot of the present invention drives hub and adopts integrated injection molded damping disc shock mitigation system, can absorb certain impact shock energy, and the free-falling body that bears several meters impacts; Drive the hub outside face and be provided with horizontal vertical staggered decorative pattern shape projection and uniform bulbous protrusion, promoted the climbing performance of robot;
3, robot of the present invention drives the hub profile like spherical, and robot of the present invention has Telescopic, can with about two drive hubs and be folded together and pretend, be difficult for being discovered, guarantee that robot finishes tasks such as scouting better;
4, robot of the present invention robot of the present invention adopts the lean design philosophy, and hub adopts elastomeric material, the structure optimization combination, and not only light weight but also shock-resistant, profile and quality are convenient to the staff and are carried, and can dispose at any time.
Description of drawings
Fig. 1 is the integral structure figure of robot of the present invention;
Fig. 2 is the rack construction figure of robot of the present invention;
Fig. 3 is the left driving wheel and the right drive wheel constructional drawing of robot of the present invention;
Fig. 4 is the drive wheel shell structure figure of robot of the present invention;
Fig. 5 a is the drive wheel motor Connection Block constructional drawing of robot of the present invention;
Fig. 5 b is the drive wheel motor connecting structure figure of robot of the present invention;
Fig. 6 is the damping disc constructional drawing of robot of the present invention;
Fig. 7 is the flexible Connection Block structured flowchart of the drive wheel of robot of the present invention;
Fig. 8 is the telescopic system constructional drawing of robot of the present invention;
Fig. 9 is the telescopic drive constructional drawing of robot of the present invention;
Figure 10 is the drive wheel telescoping mechanism constructional drawing of robot of the present invention;
Figure 11 is the support tail telescoping mechanism constructional drawing of robot of the present invention;
Figure 12 is the lead screw shaft constructional drawing of robot of the present invention;
Figure 13 is the telescopic system gear cluster drive mechanism figure of robot of the present invention;
Figure 14 is the telescopic drive constructional drawing of robot of the present invention;
Figure 15 a is the ROBOT CONTROL Facad structure figure of system of the present invention;
Figure 15 b is the ROBOT CONTROL structure figure of system of the present invention;
Among the figure:
1.frame 2. leftdriving wheels 3. right drive wheels
4.telescopic system 5.control system 101a. drive motor Connection Blocks
101b. the drive wheel contracting mechanism connects 101c. support tail contracting mechanism and connects 201. left driving wheel shells
The seat seat
201a. rubber shell 201b.body frame 201c. decorative pattern shape projection
201d.bulbous protrusion 201e.rubber rib 202. left driving wheel motor Connection Blocks
202a.permanent seat 202b. drivemotor seat 202c. bearing
202d. three moving leaders ofaxial retention sheet 202e. bearing locatingbush 202f.
202g. the drive wheel tetrafluoro overlaps 203. dampingdisc 203a. rubber disk bodies
203b. dampingskeleton 203c.hub Connection Block 204. drive motor
TheConnection Block 205a. ballaxial retention seat 205b. ball intermediate 205. left driving wheel stretches
205c. shrinkpermanent seat 205d.tetrafluoro bearing shell 205e. ball body
401.flexible motor 402. drivewheel telescoping mechanisms 403. support the tail telescoping mechanism
401a.telescopic drive motor 401b. telescopicdrive motor cabinet 401c. motor prolongs axle
401d. drive the fixedly flexible finishing bevel gear cuter ofsnap ring 402a. drive wheel of finishing bevel gear cuter 401e.
402b. incomplete finishing bevel gear cuter 402c. bearing cap shim 402d. bearing
402e. bevel gear shaft 402f. crank 402g. left side rocking bar
402h. right rocking bar 402i.slide block 403a. supports the tail cone gear
403b. supporttail transmission shaft 403c. transmission shaft finishing bevel gear cuter end bearing 403d. transmission shaft belt wheel end bearing seat
Seat
403e. the big belt wheel 403g. ofsmall pulley 403f. synchronous cog belt
403h. be with screenedhousing 403i.lead screw shaft 403j. lead screw shaft two supports synchronously
403k. feed screw nut 403l. feedscrew nut slide 403m. supports the cauda body
403n. lamellarbody bearing pin 403p. supportscastor 501. control system housings
502. shootingheadstock 503. camera fixedhousings 504. wireless vision camera
505.main control board 506. left driving wheel motor-drivenplates 507. right drive wheel motor-driven plates
508. telescopic system motor-driven 509. power supplys
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in further detail.
The present invention is a kind of portable extension type ball-type throwing reconnaissance robot, as shown in Figure 1, comprisesframe 1,left driving wheel 2,right drive wheel 3,telescopic system 4 andcontrol system 5.
As shown in Figure 2, describedframe 1 comprises drivemotor Connection Block 101a, drive wheel telescopingmechanism Connection Block 101b and supports three parts of tail telescoping mechanism Connection Block 101c.Drivemotor Connection Block 101a is connected to drive wheel telescopingmechanism Connection Block 101b two ends, supports tail telescopingmechanism Connection Block 101c and is fixed on drivemotor Connection Block 101a periphery.
Drivemotor Connection Block 101a is cylindric, is positioned at the two ends offrame 1, and leftdriving wheel 2 andright drive wheel 3 are used to be connected; The built-inleft driving wheel 2 of cylinder through-core hole 1A of drivemotor Connection Block 101a and the drive motor of right drive wheel 3.Drive wheel telescopingmechanism Connection Block 101b is positioned at the middle part offrame 1, is used to connect drivewheel telescoping mechanism 402;Cylindrical hole 1B on the drive wheel telescopingmechanism Connection Block 101b is used to connect the slider-crank mechanism of drive wheeltelescoping mechanism.Otch 1C on the drivemotor Connection Block 101a is used to place the synchronization belt transmission system of telescopic system 4.Support tail telescopingmechanism Connection Block 101c and also be positioned atframe 1 middle part, form by two parts of left and right sides structural similitude;Cylindrical hole 1D on the support tail telescopingmechanism Connection Block 101c is used to connect the lead screw transmission system oftelescopic system 4; The tapped bore 1E that supports on the tail telescopingmechanism Connection Block 101c is used for fixingcontrol system 5.
As shown in Figure 3, described leftdriving wheel 2 is identical withright drive wheel 3 structures, is example withleft driving wheel 2, comprises left drivingwheel shell 201, left driving wheelmotor Connection Block 202, dampingdisc 203, drivemotor 204 and the left drivingwheel Connection Block 205 that stretches.
The globosity that described leftdriving wheel shell 201 processes for the one injection moulding as shown in Figure 4, comprisesrubber shell 201a, body frame 201b, decorativepattern shape projection 201c,bulbous protrusion 201d and rubber rib 201e.During moulding, for realizing integrated better injection moulding, special afterbody with body frame 201b is designed to the ring-type tooth-shape structure; According to the contour structures of left driving wheelmotor Connection Block 202, become the pyramidal structure of indent to make things convenient for the realization of drive wheel telescoping mechanism the Front-end Design of body frame 201b; Throughhole 2B on the body frame 201b is used for connecting three moving leaders of left driving wheelmotor Connection Block 202, and fixed by tapped bore 2A.Leftdriving wheel shell 201 borings also are provided withuniform rubber rib 201e at inner surface; the external circumferential position is provided with horizontal vertical staggered decorativepattern shape projection 201c and is provided with uniformbulbous protrusion 201d at spherical surface, has stronger earth-grasping force and grade climbing performance to guarantee robot.The uniform tappedbore 2C damping disc 203 that is used to be connected on the leftdriving wheel shell 201.
Shown in Fig. 5 a, described left driving wheel motor Connection Block 202 comprises permanent seat 202a, drive motor seat 202b, bearing 202c, axial retention sheet 202d, bearing locating bush 202e, three moving leader 202f and drive wheel tetrafluoro cover 202g.Wherein, permanent seat 202a is designed to the pyramidal structure of indent, and interior recess is provided with stepped shaft so that drive motor seat 202b, bearing 202c and bearing locating bush 202e to be installed.Bearing 202c inner ring is installed drive motor seat 202b with one heart, and the outer ring is installed bearing locating bush 202e with one heart; Bearing locating bush 202e is connected with drive motor Connection Block 101a on the frame 1 by waist type groove 2D.Permanent seat 202a is circumferentially with three uniform through holes to connect drive wheel tetrafluoro cover 202g.Three moving leader 202f are cylindric and are parallel to each other, and 360 ° uniform, and on the threaded one end stationary housing skeleton 201b, the other end passes drive wheel tetrafluoro cover 202g and goes up and the corresponding hole of moving leader 202f, captives joint with damping disc 203 at last.Drive wheel tetrafluoro cover 202g connects three moving leader 202f, drive wheel tetrafluoro cover 202g lubricate.After so connecting, drive wheel motor Connection Block 202 forms moving sets with permanent seat 202a, but slide relative.The structure of described drive motor seat 202b designs according to 204 of drive motor, be used to the to be connected drive motor Connection Block 101a of frame 1 part of the counterbore 2F on it, and tapped bore 2E is used for fixing drive motor 204.Axial retention sheet 202d is close to the end face of permanent seat 202a, and counterbore 2G is corresponding with the tapped bore 2H on the permanent seat 202a to prevent axially jumping of drive motor 204.
Shown in Fig. 5 b, describeddrive motor 204 can obtain the position and the speed ofdrive motor 204 for being integrated with the motor of coder by coder and process data handing.Be loaded in thedrive motor 204 among thecylindrical hole 1A offrame 1, be fastened on thedrive motor seat 202b by screw, be connected for bearing betweendrive motor seat 202b and thepermanent seat 202a, the motor projecting shaft ofdrive motor 204 passes drivemotor seat 202b, be inserted among thepermanent seat 202a, and fix by the tapped bore 2I on thepermanent seat drive motor 204 work, the rotation by motor shaft can drivepermanent seat 202a and rotate, and rotates thereby driveleft driving wheel 2.
As shown in Figure 6, described dampingdisc 203 comprisesrubber disk body 203a, dampingskeleton 203b andhub Connection Block 203c for by injection molded integrated part.For being injection molded into integrated part more firmly, special edge designs camber shape with dampingskeleton 203b and hub Connection Block203c.Cylindrical hole 2K on the dampingskeleton 203b links to each other with three movingleader 202f on the left driving wheelmotor Connection Block 202, to realize the flexible of left driving wheel 2.One group of tappedbore 2L on the dampingskeleton 203b is used for theflexible Connection Block 205 of fixed left driving wheel.Tapped bore 2M on thehub Connection Block 203c is used to connect leftdriving wheel shell 201, and its size is corresponding with tapped bore 2C.For ease of assembling, the spy circumferentially cuts one group ofotch 2N with therubber rib 201e on the vacating space placement left drivingwheel shell 201 withrubber disk body 203aedge.Damping disc 203 is connected with leftdriving wheel shell 201, has strengthened anti-seismic performance of the present invention.
As shown in Figure 7, the flexible Connection Block 205 of described left driving wheel comprises ball axial retention seat 205a, ball intermediate 205b, shrinks permanent seat 205c, tetrafluoro bearing shell 205d and ball body 205e.The flexible Connection Block 205 of left driving wheel is the bearing of biserial ball-type, to bear bigger diametral load and beidirectional axial force.Wherein, the inboard of the side of ball intermediate 205b and ball axial retention seat 205a forms a row ball trajectory, the ball body 205e of interior dress suitable quantity; The opposite side of ball intermediate 205b and the inner arc groove of permanent seat 205c form another row ball trajectory, the ball body 205e of interior dress suitable quantity.Ball intermediate 205b is installed in ball axial retention seat 205a and shrinks between the permanent seat 205c, and the tapped bore 2Q on it is used to connect the damping skeleton 203b on the damping disc 203, and corresponding with tapped bore 2L.Fixed by being connected of counterbore 2P and tapped bore 2Y with ball axial retention seat 205a and contraction permanent seat 205c.Tetrafluoro bearing shell 205d forms moving sets with frame 1 concentric installation, realizes tetrafluoro bearing shell 205d and shrinks the fixing of permanent seat 205c with being connected of tapped bore 2X by counterbore 2Z.Cylindrical hole 2R on the contraction permanent seat 205c links to each other to realize the contraction of left driving wheel 2 with the slider-crank mechanism in the pinch system 4.
As shown in Figure 8, describedtelescopic system 4 comprisestelescopic drive 401, drivewheel telescoping mechanism 402 and supports tail telescoping mechanism 403.Wherein,telescopic drive 401 is fixed on theframe 1; Drivewheel telescoping mechanism 402 is fixed on the drive wheel telescopingmechanism Connection Block 101b in theframe 1; On the support tail telescopingmechanism Connection Block 101c that supporttail telescoping mechanism 403 is fixed in the frame 1.Telescopic system 4 provides power bytelescopic drive 401, and two-way transmission after the bevel gear set commutation, one tunnel transmission give drivewheel telescoping mechanism 402 to realize the fore and aft motion of drive wheel; Another road transmission is given and is supportedtail telescoping mechanism 403 to realize supporting the fore and aft motion of tail.
As shown in Figure 9, describedtelescopic drive 401 comprises thattelescopic drive motor 401a, telescopicdrive motor cabinet 401b, motor prolong anaxle 401c, drive finishing bevel gear cuter 401d and fixing snap ring 401e.Wherein,telescopic drive motor 401a is connected by tappedbore 4B and telescopicdrive motor cabinet 401b;Telescopic drive motor 401a is arranged in the cylinder through-core hole 1A of drivemotor Connection Block 101a, and telescopicdrive motor cabinet 401b is connected bycounterbore 4A andframe 1; The projecting shaft oftelescopic drive motor 401a passes telescopicdrive motor cabinet 401b, prolongsaxle 401c by circumferential tapped bore and motor and is connected; Drive finishing bevel gear cuter 401d and motor and prolongaxle 401c is concentric and install, realize driving the circumferentially fixing of finishing bevel gear cuter 401d, by the fixing axial restraint ofsnap ring 401e realization driving finishing bevel gear cuter 401d by circumferential tapped bore.Drive the flexible finishing bevel gear cuter 402a standard engagement of drive wheel on finishing bevel gear cuter 401d and the drivewheel telescoping mechanism 402, give drivewheel telescoping mechanism 402 transmission of power.
As shown in figure 10, described drive wheel telescoping mechanism 402 is installed on the drive wheel contracting mechanism Connection Block 101b in the frame 1, comprises drive wheel stretch finishing bevel gear cuter 402a, not exclusively finishing bevel gear cuter 402b, bearing cap shim 402c, bearing 402d, bevel gear shaft 402e, crank 402f, left rocking bar 402g, right rocking bar 402h and slide block 402i.Drive wheel telescoping mechanism 402 adopts slider-crank mechanism to realize the flexible of left driving wheel 2 and right drive wheel 3, slider-crank mechanism comprises crank 402f, left rocking bar 402g, right rocking bar 402h and slide block 402i, and wherein crank 402f is cemented in the end of bevel gear shaft 402e; The bearing pin that being connected of crank 402f and left rocking bar 402g, right rocking bar 402h adopts the overcoat bearing is to realize mutual rotation; Slide block 402i is by the tapped bore 4C flexible Connection Block 205 of left driving wheel that is connected, and its size is corresponding with cylindrical hole 2R on the contraction permanent seat 205c.Bearing cap shim 402c is connected to prevent that bearing 402d from endwisely slipping with the concentric installation of bevel gear shaft 402e and with drive wheel contracting mechanism Connection Block 101b.Not exclusively finishing bevel gear cuter 402b with support support tail cone gear 403a engagement in the tail telescoping mechanism 403 realizing the transmission of power, and incomplete finishing bevel gear cuter 402b, except the number of teeth was half of the flexible bevel pinion 402b of drive wheel, all the other gear parameters were all identical.
As shown in figure 11, described supporttail telescoping mechanism 403 comprise supporttail cone gear 403a, supporttail transmission shaft 403b, transmission shaft finishing bevel gear cuterend bearing seat 403c, transmission shaft belt wheelend bearing seat 403d,small pulley 403e,big belt wheel 403f,synchronous cog belt 403g, synchronously be with screenedhousing 403h,lead screw shaft 403i, lead screw shaft twosupports 403j, feedscrew nut 403k, feed screw nut slide 403l,support cauda body 403m, lamellarbody bearing pin 403n and support castor 403p.Wherein, supporttail cone gear 403a and not exclusively finishing bevel gear cuter 402b engagement.Support concentric installation of drivemotor Connection Block 101a ontail transmission shaft 403b and theframe 1, be fixed in theframe 1 by tappedbore 4D on the transmission shaft finishing bevel gear cuterend bearing seat 403c and transmission shaft belt wheelend bearing seat 403d and (be arranged in the cylinder through-core hole 1A of drivemotor Connection Block 101a).
As shown in figure 12,lead screw shaft 403i, lead screw shaft twosupports 403j, feedscrew nut 403k and feed screw nut slide 403l constitute the lead screw transmission system, convert gyroscopic movement to required linear telescopic motion.Lead screw shaft 403i is fixed on the support tail telescopingmechanism Connection Block 101c on theframe 1 by lead screw shaft twosupports 403j;Feed screw nut 403k andlead screw shaft 403i form screw mechanism with the form of screw pair, for preventing thatlead screw shaft 403i is by recording the deflection deformation that excessively causes, ad hoc have feed screw nut slide 403l to shrink with the straight line of auxiliaryfeed screw nut 403k, form moving sets betweenfeed screw nut 403k and feed screw nut slide 403l, and feed screw nut slide 403l is consolidated on the support tail telescopingmechanism Connection Block 101c on theframe 1 by bolt hole 4E.Stretch out symmetrically and shrink for reaching twofeed screw nut 403k, special 4F and 4G part withlead screw shaft 403i is designed to minus thread and right-hand screw thread respectively.
As shown in figure 11,support cauda body 403m, lamellarbody bearing pin 403n andsupport castor 403p formation support tail.Support tail and be formed by connecting by lamellarbody bearing pin 403n by several pieces supportcauda bodies 403m, the terminal connection again supportedcastor 403p to support the walking of robot.Three bearing pin through holes are arranged with installation lamellarbody bearing pin 403n on the everysupport cauda body 403m, and the intermediate pin shaft through-hole is positioned at the middle of supporting cauda body 403m.When the support tail was flexible, each supportedcauda body 403m and rotates around corresponding lamellar body bearing pin 403n.If supporting the length ofcauda body 403m is l1, quantity is n, the threaded portion length oflead screw shaft 403i is l2, the length of robot was l when leftdriving wheel 2 andright drive wheel 3 were stretched out fully3, then satisfy l1≤ l2, l3≈ nl1
Be the concrete transmission of telescopic system 4 middle gear groups as shown in figure 13.Do not move interference in order to ensure supporting tail telescoping mechanism 403 with drive wheel telescoping mechanism 402, the spy utilizes the engagement of incomplete finishing bevel gear cuter 402b and non-mesh regional that drive wheel telescoping mechanism 402 and the motion of supporting tail telescoping mechanism 403 are staggered to a certain extent, concrete operations are as follows: when left driving wheel 2 is stretched out with the relative frame 1 of right drive wheel 3 beginnings, two half-round symmetrical on left side rocking bar 402g and the right rocking bar 402h are in crank 402f, and not exclusively finishing bevel gear cuter 402b does not mesh with support tail cone gear 403a, after having rotated 1/4 circle, incomplete finishing bevel gear cuter 402b just begins to enter engagement with support tail cone gear 403a, support the lead screw shaft 403i setting in motion in the tail telescoping mechanism 403 this moment, two feed screw nut 403k are along feed screw nut slide 403l move toward one another, when incomplete finishing bevel gear cuter 402b has rotated 1/2 circle, support tail and left driving wheel 2, right drive wheel 3 relative frames 1 are stretched out fully and telescopic drive motor 401a stops operating; In like manner, during contraction, telescopic drive motor 401a counter-rotating, not exclusively finishing bevel gear cuter 402b enters engagement and has rotated 1/4 circle back jump out of mesh with support tail cone gear 403a, support tail and shrink fully this moment, when incomplete finishing bevel gear cuter 402b rotated for 1/2 when circle, left driving wheel 2 and right drive wheel 3 shrink fully and telescopic drive motor 401a stops operating, when shrinking fully as shown in figure 14.If supporting the reduction ratio of the synchronous strap drive in the tail telescoping mechanism 403 is n1, the threaded portion length of lead screw shaft 403i is l2, helical pitch is p, then for to reach the demand that telescopic system 4 does not interfere, must satisfy 4l2=n1P.
Described control system 5 comprises control system housing 501, shooting headstock 502, camera fixed housing 503, wireless vision camera 504, main control board 505, left driving wheel motor-driven plate 506, right drive wheel motor-driven plate 507, telescopic system motor-driven plate 508 and power supply 509, shown in Figure 15 a and Figure 15 b; Wherein, control system housing 501 is the cylindrical housings of boring, and main control board 505, left driving wheel motor-driven plate 506, left driving wheel motor-driven plate 507, telescopic system motor-driven plate 508 and power supply 509 are arranged on control system housing 501 inside.Have through hole 5C on the control system housing 501 with the support tail telescoping mechanism Connection Block 101c of fixed control system 5 in frame 1.Shooting headstock 502 is fixed on the support tail telescoping mechanism Connection Block 101c in the frame 1 by mounting hole 5A, and its upper surface is installed camera fixed housing 503, and wireless vision camera 504 is built in the camera fixed housing 503.Wireless vision camera 504 is mainly used in the advance real-time vision graphicinformation in the place ahead and give main control board 505 with information transfer by the camera antenna 5F on it of transferring robot, and main control board 505 is received and sent messages by master control antenna 5E; Left driving wheel motor-driven plate 506 and right drive wheel motor-driven plate 507 are used for the motion of controlling and driving turbin generator and the position and the velocity information of drive wheel fed back to main control board 505; Telescopic system motor-driven plate 508 is used for controlling the information of opening that folds that the motion of telescopic system motor and monitoring left driving wheel 2 and right drive wheel 3 fold open status information and support tail, and gives main control board 505 with message feedback.Power supply 509 connects camera power end 5G by cable hole 5H and gives wireless vision camera 402 power supplies; Driving power is provided for main control board 505 and left driving wheel motor-driven plate 506, left driving wheel motor-driven plate 507, telescopic system motor-driven plate 508 by trough 5B and 5I.
Robot of the present invention has expansion and folds two states when implementation and operation; Deployed condition as shown in Figure 1, robot both can travel and execute the task in relatively flat ground flexible motion this moment, also can cross the meadow grit in the rugged environment of complexity, cross typical obstacle such as step, finished assigned work; Collapse state as shown in figure 14, this moment, robot was only reservedleft driving wheel 2 andright drive wheel 3 in the external world, remainder all shrinks in inside, entire machine people is spherical in shape, has camouflage, is difficult for being discovered.
Claims (8)
1. a portable extension type ball-type throwing reconnaissance robot is characterized in that: comprise frame, left driving wheel, right drive wheel, telescopic system and control system; Frame is a hollow structure, frame two ends be connected left driving wheel and right drive wheel; The middle part of frame is equipped with telescopic system and control system;
Described frame comprises drive motor Connection Block, drive wheel telescoping mechanism Connection Block and supports tail telescoping mechanism Connection Block, the drive motor Connection Block is a hollow cylinder, be positioned at the frame two ends, be used to connect left driving wheel and right drive wheel, the drive motor of built-in left driving wheel of cylinder through-core hole 1A and right drive wheel in the drive motor Connection Block; Drive wheel telescoping mechanism Connection Block is between the drive motor Connection Block, and the cylindrical hole 1B on the drive wheel telescoping mechanism Connection Block is used to connect the slider-crank mechanism of drive wheel telescoping mechanism; Support tail telescoping mechanism Connection Block and be fixed on drive motor Connection Block periphery, be provided with the lead screw gear that cylindrical hole 1D is used to connect telescopic system, be provided with tapped bore 1E and be used for fixing control system; Drive motor Connection Block in the frame is provided with otch 1C, is used to place the pulley arrangement of telescopic system;
Described left driving wheel is identical with right drive wheel structure, and wherein, left driving wheel comprises left driving wheel shell, left driving wheel motor Connection Block, damping disc, drive motor and the left driving wheel Connection Block that stretches; The left driving wheel shell comprises rubber shell, body frame, decorative pattern shape projection, bulbous protrusion and rubber rib; The rubber shell outside is provided with decorative pattern shape projection, bulbous protrusion, and inside is provided with the rubber rib, and body frame is positioned at rubber shell inside, and the through hole 2B on the body frame is used for connecting three moving leaders of left driving wheel motor Connection Block, and fixed by tapped bore 2A; Tapped bore 2C uniform on the left driving wheel shell is used to the damping disc that is connected;
Left driving wheel motor Connection Block comprises permanent seat, drive motor seat, bearing, axial retention sheet, bearing locating bush, three moving leaders and drive wheel tetrafluoro cover; Wherein, permanent seat is the pyramidal structure of indent, and interior recess is provided with stepped shaft so that drive motor seat, bearing and bearing locating bush to be installed; Bearing inner ring is installed the drive motor seat with one heart, and the outer ring is installed the bearing locating bush with one heart; Link to each other with the drive motor Connection Block of frame by waist type groove 2D on the bearing locating bush; Permanent seat be circumferentially with three uniform through holes to connect drive wheel tetrafluoro cover; Three moving leaders are cylindric and are parallel to each other, and an end is fixed on the body frame, and the other end passes the drive wheel tetrafluoro and puts and the corresponding hole of moving leader, captives joint with damping disc at last; Counterbore 2F on the drive motor seat be used to the to be connected drive motor Connection Block of frame, tapped bore 2E is used for fixing drive motor; The axial retention sheet is close to the end face of permanent seat, and counterbore 2G is corresponding with the tapped bore 2H on the permanent seat;
Be loaded in the drive motor among the cylindrical hole 1A of frame, be fastened on the drive motor seat by screw, be connected for bearing between drive motor seat and the permanent seat, the motor projecting shaft of drive motor passes the drive motor seat, be inserted in the permanent seat, and fix by the tapped bore 2I on the permanent seat and 2J and permanent seat;
Damping disc comprises rubber disk body, damping skeleton and hub Connection Block; Cylindrical hole 2K on the damping skeleton links to each other with three moving leaders on the left driving wheel motor Connection Block; One group of tapped bore 2L on the damping skeleton is used for the flexible Connection Block of fixed left driving wheel; Tapped bore 2M on the hub Connection Block is used to connect the left driving wheel shell, and its size is corresponding with tapped bore 2C;
The flexible Connection Block of left driving wheel comprises ball axial retention seat, ball intermediate, shrinks permanent seat, tetrafluoro bearing shell and ball body; Wherein, the inboard of a side of ball intermediate and ball axial retention seat forms a row ball trajectory, interior dress ball body; The inner arc groove of the opposite side of ball intermediate and permanent seat forms another row ball trajectory, interior dress ball body; The ball intermediate is installed in ball axial retention seat and shrinks between the permanent seat, and the tapped bore 2Q on it is used to connect the damping skeleton on the damping disc; Fixed by being connected of counterbore 2P and tapped bore 2Y with ball axial retention seat and contraction permanent seat; Tetrafluoro bearing shell and the concentric formation moving sets of installing of frame are realized the tetrafluoro bearing shell and are shunk the fixing of permanent seat with being connected of tapped bore 2X by counterbore 2Z; Cylindrical hole 2R on the contraction permanent seat links to each other with the slider-crank mechanism in the pinch system;
Described telescopic system comprises telescopic drive, drive wheel telescoping mechanism and supports the tail telescoping mechanism; Wherein, telescopic drive is fixed on the frame, and the drive wheel telescoping mechanism is fixed on the drive wheel telescoping mechanism Connection Block in the frame; Supporting the tail telescoping mechanism is fixed on the support tail telescoping mechanism Connection Block in the frame;
Telescopic drive comprises that telescopic drive motor, telescopic drive motor cabinet, motor prolong axle, drive finishing bevel gear cuter and fixing snap ring; Wherein, the telescopic drive motor is connected by tapped bore 4B and telescopic drive motor cabinet; The telescopic drive motor cabinet is connected by counterbore 4A and frame; The projecting shaft of telescopic drive motor passes the telescopic drive motor cabinet, prolongs axle by circumferential tapped bore and motor and is connected; Drive finishing bevel gear cuter and prolong concentric installations of axle, realize driving circumferentially fixing of finishing bevel gear cuter, by the fixing axial restraint of snap ring realization driving finishing bevel gear cuter by circumferential tapped bore with motor; Drive the flexible finishing bevel gear cuter standard engagement of drive wheel of finishing bevel gear cuter and drive wheel telescoping mechanism, give the drive wheel telescoping mechanism transmission of power;
The drive wheel telescoping mechanism is installed on the drive wheel contracting mechanism Connection Block in the frame, comprises drive wheel stretch finishing bevel gear cuter, not exclusively finishing bevel gear cuter, bearing cap shim, bearing, bevel gear shaft, crank, left rocking bar, right rocking bar and slide block; The drive wheel telescoping mechanism adopts slider-crank mechanism to realize the flexible of left driving wheel and right drive wheel, and slider-crank mechanism comprises crank, left rocking bar, right rocking bar and slide block; Wherein crank is cemented in the finishing bevel gear cuter the tip of the axis; Crank and left rocking bar, right rocking bar be connected the bearing pin that adopts the overcoat bearing; Slide block is by the tapped bore 4C flexible Connection Block of left driving wheel that is connected, and its size is corresponding with cylindrical hole 2R on the contraction permanent seat; Bearing cap shim is connected with the concentric installation of bevel gear shaft and with drive wheel contracting mechanism Connection Block; Incomplete finishing bevel gear cuter and the support tail cone gear mesh that supports in the tail telescoping mechanism;
Support the tail telescoping mechanism comprise support the tail cone gear, support tail transmission shaft, transmission shaft finishing bevel gear cuter end bearing, transmission shaft belt wheel end bearing, small pulley, big belt wheel, synchronous cog belt, synchronously be with screened housing, lead screw shaft, lead screw shaft two supports, feed screw nut, feed screw nut slide, support cauda body, lamellar body bearing pin and support castor; Wherein, support tail cone gear and not exclusively finishing bevel gear cuter engagement; Support concentric installation of drive motor Connection Block in tail transmission shaft and the frame, be fixed in the frame by tapped bore 4D on the transmission shaft finishing bevel gear cuter end bearing and transmission shaft belt wheel end bearing;
Small pulley, big belt wheel, synchronous cog belt and be with screened housing to constitute synchronization belt transmission system synchronously; Small pulley is installed in an end that supports tail transmission shaft, and big belt wheel is installed in an end of lead screw shaft, will support the transmission of power of tail transmission shaft by the engagement type strap drive and give lead screw shaft, and be with screened housing to be positioned at the synchronization belt transmission system periphery synchronously, is fixedly installed in frame;
Lead screw shaft, lead screw shaft two supports, feed screw nut and feed screw nut slide constitute the lead screw transmission system; Lead screw shaft is fixed on the support tail telescoping mechanism Connection Block on the frame by the lead screw shaft two supports; Feed screw nut and lead screw shaft form screw mechanism with the form of screw pair; Feed screw nut and feed screw nut slide form moving sets, and the feed screw nut slide is consolidated on the support tail telescoping mechanism Connection Block on the frame by bolt hole 4E; The 4F of lead screw shaft and 4G are respectively minus thread and right-hand screw thread;
Support cauda body, lamellar body bearing pin and support castor and constitute the support tail; Support tail and be formed by connecting by the lamellar body bearing pin by several pieces support cauda bodies, the terminal connection again supported castor to support the walking of robot; Three bearing pin through holes are arranged with installation lamellar body bearing pin on the every support cauda body, and the intermediate pin shaft through-hole is positioned at the middle of supporting the cauda body;
Described control system comprises control system housing, shooting headstock, camera fixed housing, wireless vision camera, main control board, left driving wheel motor-driven plate, right drive wheel motor-driven plate, telescopic system motor-driven plate and power supply; Wherein, the control system housing is the cylindrical housings of boring, and main control board, left driving wheel motor-driven plate, left driving wheel motor-driven plate, telescopic system motor-driven plate and power supply are arranged on the control system enclosure interior; Have through hole 5C on the control system housing with the support tail telescoping mechanism Connection Block of fixed control system in frame; The shooting headstock is fixed on the support tail telescoping mechanism Connection Block in the frame by mounting hole 5A, and its upper surface is installed camera fixed housing, and wireless vision camera is built in the camera fixed housing; Wireless vision camera is mainly used in the advance real-time vision graphicinformation in the place ahead and give main control board with information transfer by the camera antenna 5F on it of transferring robot, and main control board is received and sent messages by master control antenna 5E; Left driving wheel motor-driven plate and right drive wheel motor-driven plate are used for the motion of controlling and driving turbin generator and the position and the velocity information of drive wheel fed back to main control board; Telescopic system motor-driven plate is used for controlling the information of opening that folds that the motion of telescopic system motor and monitoring left driving wheel and right drive wheel fold open status information and support tail, and with message feedback to main control board; Power supply connects camera power end 5G by cable hole 5H and gives wireless vision camera power supply; Provide driving power by trough 5B and 5I to main control board and left driving wheel motor-driven plate, left driving wheel motor-driven plate, telescopic system motor-driven plate.
2. according to the described a kind of portable extension type ball-type throwing reconnaissance robot of claim 1, it is characterized in that: described left driving wheel shell and the right hub that drives are one injection moulding processing.
3. according to the described a kind of portable extension type ball-type throwing reconnaissance robot of claim 1, it is characterized in that: described damping disc is one injection moulding processing.
4. according to the described a kind of portable extension type ball-type throwing reconnaissance robot of claim 1, it is characterized in that: described telescopic system provides a propulsion source by telescopic drive, two-way transmission after the bevel gear set commutation, one tunnel transmission give the drive wheel telescoping mechanism to realize the fore and aft motion of drive wheel; Another road transmission is given and is supported the tail telescoping mechanism to realize supporting the fore and aft motion of tail.
5. according to the described a kind of portable extension type ball-type throwing reconnaissance robot of claim 4, it is characterized in that: adopt the engagement of incomplete finishing bevel gear cuter and non-mesh regional that drive wheel telescoping mechanism and the motion of supporting the tail telescoping mechanism are staggered to a certain extent in the described bevel gear set.
6. according to the described a kind of portable extension type ball-type throwing reconnaissance robot of claim 4, it is characterized in that: the reduction ratio of the synchronous strap drive in the described support tail telescoping mechanism is n1, the threaded portion length of lead screw shaft is l2, helical pitch is p, then satisfies 4l2=n1P.
7. according to the described a kind of portable extension type ball-type throwing reconnaissance robot of claim 1, it is characterized in that: the left rocking bar of described drive wheel telescopic system and right rocking bar are circular-arc.
8. according to the described a kind of portable extension type ball-type throwing reconnaissance robot of claim 1, it is characterized in that: described support tail supports the cauda body by several pieces and is formed by connecting by the lamellar body bearing pin, and establishing the length that supports the cauda body is l1, quantity is n, the threaded portion length of lead screw shaft is l2, the length of robot was l when left driving wheel and right drive wheel were stretched out fully3, l then1≤ l2, l3≈ nl1
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| CN2011101790437ACN102267505B (en) | 2011-06-29 | 2011-06-29 | Portable telescopic spherical throwing detection robot |
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| CN2011101790437ACN102267505B (en) | 2011-06-29 | 2011-06-29 | Portable telescopic spherical throwing detection robot |
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| CN2011101790437AExpired - Fee RelatedCN102267505B (en) | 2011-06-29 | 2011-06-29 | Portable telescopic spherical throwing detection robot |
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| CN105197122A (en)* | 2015-10-16 | 2015-12-30 | 北京机械设备研究所 | A Throwable Reconnaissance Robot |
| CN106772659A (en)* | 2016-12-21 | 2017-05-31 | 中国航天科工集团第四研究院指挥自动化技术研发与应用中心 | One kind can releasing type optical reconnaissance device as the occasion requires |
| CN107972781A (en)* | 2017-11-14 | 2018-05-01 | 宜昌创源中新光电科技有限公司 | Trolley and control method are scouted based on double-wheel self-balancing is wirelessly transferred |
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| CN115026855A (en)* | 2022-08-15 | 2022-09-09 | 南京航空航天大学 | A throwing robot with omnidirectional shock resistance |
| WO2023004974A1 (en)* | 2021-07-27 | 2023-02-02 | 歌尔股份有限公司 | Rotating wheel device, driving wheel, and robot |
| CN115674215A (en)* | 2021-07-30 | 2023-02-03 | 歌尔科技有限公司 | Turning wheel device, driving wheel and robot |
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| WO2023004974A1 (en)* | 2021-07-27 | 2023-02-02 | 歌尔股份有限公司 | Rotating wheel device, driving wheel, and robot |
| CN115674212A (en)* | 2021-07-27 | 2023-02-03 | 歌尔科技有限公司 | Rotary wheel device, drive wheel and robot |
| CN115674215A (en)* | 2021-07-30 | 2023-02-03 | 歌尔科技有限公司 | Turning wheel device, driving wheel and robot |
| CN115674214A (en)* | 2021-07-30 | 2023-02-03 | 歌尔科技有限公司 | Robot |
| CN115026855A (en)* | 2022-08-15 | 2022-09-09 | 南京航空航天大学 | A throwing robot with omnidirectional shock resistance |
| CN116395055A (en)* | 2023-04-07 | 2023-07-07 | 宁波大学 | A compound spherical robot with wheels and legs |
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