CN104149867A - Miniature robot capable of being thrown - Google Patents
Miniature robot capable of being thrown Download PDFInfo
- Publication number
- CN104149867A CN104149867A CN201410408806.4A CN201410408806A CN104149867A CN 104149867 A CN104149867 A CN 104149867A CN 201410408806 A CN201410408806 A CN 201410408806A CN 104149867 A CN104149867 A CN 104149867A
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- robot
- wheel hub
- rubber
- miniature
- shell
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Abstract
The invention discloses a miniature robot capable of being thrown. The miniature robot capable of being thrown comprises a robot body, moving wheels located at the two ends of the robot body and a shock absorption tail connected with the robot body. The robot body comprises a shell, a supporting framework located in the shell and a driving device for driving the moving wheels to move, the driving device is installed on the supporting framework, the driving device comprises a motor, a driving gear connected with the motor, a driven gear meshed with the driving gear and a stepped shaft connected with the driven gear, the stepped shaft is connected with the moving wheels, the shock absorption tail is located on the shell, and the tail portion of the shock absorption tail is curled to form a dovetail shape. According to the miniature robot capable of being thrown, the shock absorption tail is arranged on the shell and the moving wheels are provided with a plurality of protrusions and shock absorption springs, therefore, a good shock absorption effect is achieved when the robot is thrown and falls to the ground, the structure is ingenious, and practicability is high.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of miniature robot of throwing.
Background technology
The miniature robot of throwing has broad application prospects in fields such as military surveillance, operation, anti-terrorisms, thereby is subject to the great attention of countries in the world.Abroad, the existing correlative study of portable, small-sized, special mobile robot.But domestic relatively less to this research, have and can throw and have the miniature reconnaissance robot technology of better shock-absorbing function still immature, major technique bottleneck is cast, shock-absorbing function, to the requirement of thrower's throwing gesture.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of miniature robot of throwing, by a plurality of dampings are set, reached the object of good damping effect, structure is ingenious, practical.
Technical scheme: for solving the problems of the technologies described above, a kind of miniature robot of throwing of the present invention, comprise robot body, be positioned at the movable pulley at robot body two ends and the damping tail being connected with robot body, described robot body comprises shell, be positioned at the support frame of shell and the actuating device that drives movable pulley to move, actuating device is arranged on support frame, described actuating device comprises motor, the driving gear being connected with motor, driven gear and the stepped shaft being connected with driven gear with driving gear engagement, stepped shaft is connected with movable pulley, described damping tail is positioned on shell, damping tail afterbody is swallow-tailed curling.
As preferably, described movable pulley comprises plastic wheel hub and rubber periderm, and rubber periderm is positioned on plastic wheel hub, and plastic wheel hub is connected with stepped shaft.
As preferably, described plastic wheel hub outside is provided with damping spring device, and damping spring device comprises rubber spring lid and damping spring, and damping spring is between rubber spring lid and plastic wheel hub.
As preferably, on described rubber periderm, there are 9 projections, convex shape is that root is planted more greatly on rubber tyre apron, and top is less, and top is straight.
As preferably, one end that described stepped shaft is connected with plastic wheel hub is square.
Beneficial effect: the miniature robot of throwing of the present invention, by damping tail being set on shell and being provided with a plurality of projections and damping spring on movable pulley, make robot throw land time reached good damping effect, structure is ingenious, practical.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is support framework structure schematic diagram in the present invention;
Fig. 3 is the fractionation structural representation of movable pulley in the present invention;
Fig. 4 is the cutaway view of movable pulley in the present invention;
Fig. 5 is the structural representation of damping tail in the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in Figures 1 to 5, a kind of miniature robot of throwing of the present invention, comprise robot body 1, be positioned at the movable pulley 2 and the damping tail 3 being connected with robot body 1 at robot body 1 two ends, robot body 1 comprises shell, be positioned at the support frame of shell and the actuating device that drives movable pulley 2 to move, actuating device is positioned at support frame, actuating device comprises motor 106, the driving gear 208 being connected with motor 106, driven gear 207 and the stepped shaft 206 being connected with driven gear 207 with driving gear 208 engagements, stepped shaft 206 is connected with movable pulley 2, on stepped shaft 206, be placed on little bearing 205, large bearing 210 and axle sleeve 209, damping tail 3 is positioned on shell and by screw and is connected with support frame, damping tail 3 materials are spring steel as thin as a wafer, afterbody is curling, likeness in form dovetail, there is shock-absorbing function, miniaturely throw the generation power that contacts that robot relies on damping tail 3 and ground, thereby realize removable function.
In the present invention, movable pulley 2 comprises draws together plastic wheel hub 204 and rubber periderm 203, rubber periderm 203 is positioned on plastic wheel hub 204, plastic wheel hub 204 is connected with stepped shaft 206, has 9 projections on rubber periderm 203, and convex shape is that root is planted more greatly on rubber periderm 203 circles, top is less, top is straight, to contact with ground, and bumper and absorbing shock ability radially when robot is thrown; Plastic wheel hub 204 1 sides are provided with damping spring device, damping spring device comprises rubber spring lid 201 and damping spring 202, damping spring 202, can axial buffer when damping spring 202 is thrown robot between rubber spring lid 201 and plastic wheel hub 204.
In the present invention, support frame comprises that charge port 101, link span 102, axle are pallet 103, cap 104 and battery carrier 105, charge port 101 is loaded on link span 102 left ends, battery carrier 105 is distributed in link span 102 sides, link span 102 two ends are that pallet 103 is connected by screw and axle, axle is that pallet 103 carries actuating device and is connected compact conformation, and proof strength with cap 104.
The present invention in use, miniaturely throw the implementation procedure that robot moves, as Fig. 4: motor 106 drives driving gears 208, driving gear 208 drives driven gear 207 to rotate, driven gear 207 passes through the transmission of hexagonal square shaft with stepped shaft 206, stepped shaft 206 adopts square shaft transmission with the plastic wheel hub 204 of movable pulley 2 simultaneously, thereby plastic wheel hub 204 is passed in the rotation of motor 106, drive movable pulley 2 to rotate, on the other hand, damping tail 3 effect strong with contacting of ground prevented the rotation in robot body 1 stage casing, thereby guarantee to only have movable pulley 2 to rotate, realize removable function, because two ends movable pulley 2 is connected with actuating device respectively, regulate motor 106 rotating speeds separately just can to turn to by control.
The miniature robot throwing property implementation procedure of throwing: whole robot size is less, the similar dumbbell shaped of shape, in convenient operation person is held in the hand.While landing, have different attitudes after robot is thrown: during when axial vertical drop, rely on damping spring 202 structures on movable pulley 2, first rubber spring lid 201 contacts with ground, the rubber spring lid 201 that elastomeric material is made has certain absorbing vibration ability, and the further absorbing vibration of damping spring 202 connecting, thereby arrive the function of stronger buffering shock-absorbing, avoid robot rigid member directly to contact and damage with ground; When radially straight whereabouts, on rubber periderm 203, there are 9 projections, it is upper that convex shape is that root is planted more greatly in rubber periderm 203 circle, and top is less, and top is slightly straight, to contact with ground, bumper and absorbing shock radially; When axially other angles fall, the spring shock absorption structure of movable pulley 2 and rubber periderm 203 all can some participate in bumper and absorbing shock; Damping tail 3 participates on the one hand robot locomotive function and realizes, on the other hand, its materials'use spring steel, its tail end is curling, there is the function that is equivalent to spring, if afterbody first contacts with ground, there is bumper and absorbing shock function, when it is deformed to rubber periderm 203 and contacts with ground, bumper and absorbing shock ability increases greatly.To sum up, realized miniature throwing property of throwing robot.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (5)
1. the miniature robot of throwing, it is characterized in that: comprise robot body, be positioned at the movable pulley at robot body two ends and the damping tail being connected with robot body, described robot body comprises shell, be positioned at the support frame of shell and the actuating device that drives movable pulley to move, actuating device is arranged on support frame, described actuating device comprises motor, the driving gear being connected with motor, driven gear and the stepped shaft being connected with driven gear with driving gear engagement, stepped shaft is connected with movable pulley, described damping tail is positioned on shell, damping tail afterbody is swallow-tailed curling.
2. the miniature robot of throwing according to claim 1, is characterized in that: described movable pulley comprises plastic wheel hub and rubber periderm, and rubber periderm is positioned on plastic wheel hub, and plastic wheel hub is connected with stepped shaft.
3. the miniature robot of throwing according to claim 2, it is characterized in that: described plastic wheel hub outside is provided with damping spring device, damping spring device comprises rubber spring lid and damping spring, and damping spring is between rubber spring lid and plastic wheel hub.
4. according to the miniature robot of throwing described in claim 2 or 3, it is characterized in that: on described rubber periderm, having 9 projections, convex shape is that root is planted more greatly on rubber tyre apron, and top is less, and top is straight.
5. the miniature robot of throwing according to claim 4, is characterized in that: one end that described stepped shaft is connected with plastic wheel hub is square.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410408806.4A CN104149867B (en) | 2014-08-19 | 2014-08-19 | Miniature robot capable of being thrown |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410408806.4A CN104149867B (en) | 2014-08-19 | 2014-08-19 | Miniature robot capable of being thrown |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104149867A true CN104149867A (en) | 2014-11-19 |
| CN104149867B CN104149867B (en) | 2017-01-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410408806.4A Expired - Fee Related CN104149867B (en) | 2014-08-19 | 2014-08-19 | Miniature robot capable of being thrown |
Country Status (1)
| Country | Link |
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| CN (1) | CN104149867B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104477271A (en) * | 2014-12-24 | 2015-04-01 | 北京航空航天大学 | Throwing type mobile robot |
| CN106002915A (en) * | 2016-06-08 | 2016-10-12 | 北京晶品特装科技有限责任公司 | Throwing type two-wheel reconnaissance robot |
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| US6548982B1 (en) * | 1999-11-19 | 2003-04-15 | Regents Of The University Of Minnesota | Miniature robotic vehicles and methods of controlling same |
| CN101402198A (en) * | 2008-10-20 | 2009-04-08 | 北京理工大学 | Casting type miniature robot of spring vibration reduction inflatable wheel with omnidirectional buffer capacity |
| US7559385B1 (en) * | 2004-03-10 | 2009-07-14 | Regents Of The University Of Minnesota | Ruggedized robotic vehicles |
| CN101854523A (en) * | 2010-05-25 | 2010-10-06 | 任曲波 | Small scout and counter-strike battle robot |
| CN102267505A (en) * | 2011-06-29 | 2011-12-07 | 北京航空航天大学 | Portable telescopic spherical throwing detection robot |
| CN102307276A (en) * | 2011-08-04 | 2012-01-04 | 昆山市工业技术研究院有限责任公司 | Throwable deformable micro-robot |
| KR101103294B1 (en) * | 2009-02-03 | 2012-01-11 | 김우현 | two-wheel robot with assistance wheel |
| CN102514647A (en) * | 2012-01-05 | 2012-06-27 | 北京市劳动保护科学研究所 | High-impact resistance two-wheeled mobile robot |
| CN102862616A (en) * | 2012-09-05 | 2013-01-09 | 北京航空航天大学 | Throwing type mobile robot |
-
2014
- 2014-08-19 CN CN201410408806.4A patent/CN104149867B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6548982B1 (en) * | 1999-11-19 | 2003-04-15 | Regents Of The University Of Minnesota | Miniature robotic vehicles and methods of controlling same |
| US7559385B1 (en) * | 2004-03-10 | 2009-07-14 | Regents Of The University Of Minnesota | Ruggedized robotic vehicles |
| CN101402198A (en) * | 2008-10-20 | 2009-04-08 | 北京理工大学 | Casting type miniature robot of spring vibration reduction inflatable wheel with omnidirectional buffer capacity |
| KR101103294B1 (en) * | 2009-02-03 | 2012-01-11 | 김우현 | two-wheel robot with assistance wheel |
| CN101854523A (en) * | 2010-05-25 | 2010-10-06 | 任曲波 | Small scout and counter-strike battle robot |
| CN102267505A (en) * | 2011-06-29 | 2011-12-07 | 北京航空航天大学 | Portable telescopic spherical throwing detection robot |
| CN102307276A (en) * | 2011-08-04 | 2012-01-04 | 昆山市工业技术研究院有限责任公司 | Throwable deformable micro-robot |
| CN102514647A (en) * | 2012-01-05 | 2012-06-27 | 北京市劳动保护科学研究所 | High-impact resistance two-wheeled mobile robot |
| CN102862616A (en) * | 2012-09-05 | 2013-01-09 | 北京航空航天大学 | Throwing type mobile robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104477271A (en) * | 2014-12-24 | 2015-04-01 | 北京航空航天大学 | Throwing type mobile robot |
| CN106002915A (en) * | 2016-06-08 | 2016-10-12 | 北京晶品特装科技有限责任公司 | Throwing type two-wheel reconnaissance robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104149867B (en) | 2017-01-11 |
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Granted publication date: 20170111 Termination date: 20200819 |