CN102381358A - Ground mobile robot with inflatable car body - Google Patents
Ground mobile robot with inflatable car body Download PDFInfo
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- CN102381358A CN102381358A CN2011102796093A CN201110279609A CN102381358A CN 102381358 A CN102381358 A CN 102381358A CN 2011102796093 A CN2011102796093 A CN 2011102796093A CN 201110279609 A CN201110279609 A CN 201110279609A CN 102381358 A CN102381358 A CN 102381358A
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- car body
- mobile robot
- ground mobile
- lower body
- end cap
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Abstract
The invention discloses a ground mobile robot with inflatable car body comprising a car body, travel mechanisms, an electric and control module and a power module, and driving and transmission mechanisms; the quantity of the driving and transmission mechanisms are corresponded to that of the travel mechanisms; each driving and transmission mechanism is connected with a corresponding travel mechanism; the car body comprises an upper car body, a lower car body and a lower car body skeleton; the upper car body is connected with the lower car body and forms a closed air pocket carriage; an air tap is provided on the upper car body, the lower car body is fixed on the lower car body skeleton, wherein both the upper car body and the lower car body are made of light materials. The ground mobile robot with inflatable car body uses a light and hard inflatable car body as the car body force-bearing structure, then the robot reduces the car body weight of the ground mobile robot effectively, raises power weight ratio of the robot, and makes the robot have advantages of large load an rapid movement; meanwhile, because the tightness is good, the robot can further move in water, for possessing amphibious ability.
Description
Technical field
The present invention relates to ground mobile robot, particularly a kind of ground mobile robot of inflating car body that has.
Background technology
Ground mobile robot is to adopt remote control, autonomous or half mode such as autonomous automation equipment at ground motion.
The height of ground mobile robot locomitivity is one of main performance of mobile robot.Improving one of method of ground mobile robot exercise performance, is the weight that alleviates robot.Because the cross country power requirement of robot make robot must have certain length, width and height, thereby the weight that how under the situation of volume basic fixed, to alleviate robot just becomes key.If robot weight saving can make its speed faster, it is more to bear a heavy burden, and required motor power is little, and corresponding accumulator capacity also can reduce; If robot weight is too big, then can cause kinematic velocity slow, obstacle climbing ability is poor, and load-carrying capacity is poor.
Ground mobile robot generally takes the body construction of framework-covering to come expendable weight now.Because the ground mobile robot car body must have certain intensity, rigidity; Guarantee effects such as the motor support is located, front and back wheel supports the location, anti-twist; So framework and fixed sturcture also must have constant weight, make existing ground mobile robot be difficult to further loss of weight.Therefore, how to guarantee that ground mobile robot has under the prerequisite of good exercise performance, the weight that effectively reduces ground mobile robot is a difficult point.
Summary of the invention
The purpose of the embodiment of the invention is the defective to above-mentioned prior art, has proposed a kind of ground mobile robot of inflating car body that has, and can effectively reduce the weight of ground mobile robot, and make it have good exercise performance.
The technical scheme taked of the embodiment of the invention is to achieve these goals: a kind of ground mobile robot of inflating car body that has, comprise car body, and be located at the travel mechanism of side body; Be located at electric and control module and power module in the car body, and be located at driving and the transmission device on the car body, said driving and transmission device are corresponding with the quantity of said travel mechanism; Driving separately and transmission device link to each other with travel mechanism separately; Said car body comprises upper body, lower body and lower body skeleton, and said upper body is connected with said lower body and forms fully enclosed gas bag formula compartment, and said upper body is provided with valve; Said valve is used for inflation and venting; Said lower body is fixed on the said lower body skeleton, and wherein, said upper body and said lower body are processed by light material.
Particularly, as preferably, said light material is leather, dermatine or rubber.
Particularly, as preferably, said travel mechanism is a crawler type, comprises two crawler belts and four wheels of being located at symmetrical car body both sides, wherein, and two wheels arranging before and after each crawler belt set inside.
Particularly; As preferably; The outer rim of said upper body and said lower body is respectively equipped with ruffle separately; Said upper body and said lower body link to each other through ruffle separately, and fix through the bolt and nut that is arranged on the said ruffle separately, and said ruffle is separately processed by the hard aluminum material.
Particularly, as preferably, said lower body skeleton is arranged on the bottom of said lower body, and the bottom of said lower body skeleton and said lower body is fixing through bonding.
Particularly, as preferably, each said driving and transmission device include motor, electric motor end cap and felt collar; The output shaft of said motor passes said car body and penetrates with it in corresponding said travel mechanism; Pass on the said output shaft of said car body then electric motor end cap of cover, through said electric motor end cap and screw said motor and said car body are fixed together, the front end face of said electric motor end cap is provided with groove; Place said felt collar in the said groove; Realize water seal and oil sealing through said felt collar, the output shaft of said motor is provided with key, through said key said output shaft and said travel mechanism is linked together.
Further; In order to prevent that gas from getting into said car body inner chamber from said driving and transmission device; The outer cover of said motor is provided with sealing bag; Said sealing bag is processed by gas impermeable material, and the port of said sealing bag is glued at the inwall of said lower body, makes the inner chamber of said car body form a fully enclosed space to form sealing gland.
Further; In order to guarantee the conformability of each travel mechanism's operation; Be connected with the electric motor end cap attaching parts between the said driving of said car body homonymy and the said electric motor end cap in the transmission device, make the said travel mechanism of said car body homonymy when moving, can keep the conformability of its travel direction through said electric motor end cap attaching parts.
Particularly, as preferably, said electric motor end cap attaching parts integral body is sheet material, which is provided with perforation and through hole, and said perforation is used to pass the output shaft of said motor, and said through hole is used to pass said screw.
The beneficial effect of the embodiment of the invention is: compare framed structure car body of the prior art and will lean on frame supported and maintenance, anti-twist, opposing external force, frame strength requires very big, and sectional area can not be too little, and car body weight can not be accomplished very little; Upper body, lower body that the embodiment of the invention adopts light material to process, after charging gas, whole locomotive body becomes a hard gas bag; Thereby the overall weight of the embodiment of the invention makes the ground mobile robot overall weight greatly alleviate than light of tower structure of the prior art more, and because the embodiment of the invention is mainly stressed through the high pressure gas bag; Car body has very big intensity and hardness, guarantees that car body can guarantee car body strength when receiving stretching, distortion, bump, and the location of travel mechanism; And during normal operation; Car body also has certain elasticity, when receiving external impacts or falling, can play buffer action.
Therefore, the embodiment of the invention effectively reduces the weight of ground mobile robot guaranteeing that ground mobile robot has under the prerequisite of good exercise performance, has improved the power-weight ratio of robot, thereby making robot have bears a heavy burden greatly, move fast advantage.
Description of drawings
Fig. 1 is the said block diagram that has the ground mobile robot of inflating car body of the embodiment of the invention;
Fig. 2 is the explosive view of Fig. 1;
Fig. 3 is the partial enlarged view of A among Fig. 2;
Fig. 4 is the partial view of said upper body of the embodiment of the invention and lower body bonding part.
Among the figure: 1 crawler belt, 2 wheels, 3 keys, 4 screws, 5 electric motor end cap attaching partss, 6 electric motor end caps, 7 felt collars, 8 motors, 9 sealing bags, 10 upper bodies, 11 valves, 12 electric and control modules, 13 power modules, 14 lower body skeletons, 15 lower bodies.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is described further, but not as to qualification of the present invention.
Shown in Fig. 1-2, a kind of ground mobile robot of inflating car body that has comprises car body; Be located at a plurality of travel mechanisms of side body, be located at electric and control module 12 and power module 13 in the car body, and be located at driving and the transmission device on the car body; Said driving and transmission device are corresponding with the quantity of said travel mechanism, and driving separately and transmission device link to each other with separately travel mechanism, and said car body comprises upper body 10, lower body 15 and lower body skeleton 14; Said upper body 10 is connected with said lower body 15 and forms fully enclosed gas bag formula compartment; Said upper body 10 is provided with valve 11, and said valve 11 is used for inflation and venting, and said lower body 15 is fixed on the said lower body skeleton 14; Wherein, said upper body 10 and said lower body 15 are processed by light material.
Compare framed structure car body of the prior art and will lean on frame supported and maintenance, anti-twist, opposing external force, frame strength requires very big, and sectional area can not be too little, and car body weight can not be accomplished very little; Upper body 10, lower body 15 that the embodiment of the invention adopts light material to process, after charging gas, whole locomotive body is equivalent to a gas bag; Thereby the overall weight of the embodiment of the invention makes the ground mobile robot overall weight greatly alleviate than light of tower structure of the prior art more, and because the embodiment of the invention is mainly stressed through the high pressure gas bag; Car body has very big intensity and hardness; Guarantee that car body is receiving to stretch, can guarantee car body strength when distortion, bump, and during normal operation, car body also has certain elasticity; When receiving external impacts or falling, can play buffer action.
Therefore, the embodiment of the invention effectively reduces the weight of ground mobile robot guaranteeing that ground mobile robot has under the prerequisite of good exercise performance, has improved the power-weight ratio of robot, thereby making robot have bears a heavy burden greatly, move fast advantage.
Particularly, said travel mechanism, the travel mechanism that can adopt crawler type, wheel formula or other form.
Particularly, as shown in Figure 1 as preferably, in this example, said travel mechanism is a crawler type, comprises two crawler belts 1 and four wheels 2 of being located at symmetrical car body both sides, wherein, and two wheels 2 arranging before and after each crawler belt 1 set inside.
Particularly, as preferably, said light material is leather, dermatine or rubber.
Particularly, as preferably, referring to Fig. 2; The outer rim of said upper body 10 and said lower body 15 is respectively equipped with ruffle separately; Said upper body 10 and said lower body 15 link to each other through ruffle separately, and fix through the bolt and nut that is arranged on the said ruffle separately, thereby form the good gas bag of leak tightness; Wherein, said ruffle is separately processed by the hard aluminum material.
Concrete; Like Fig. 2 and shown in Figure 4, in this example, the ruffle of said upper body 10 and lower body 15 is processed by the hard aluminum material; Remainder adopts leather or dermatine or rubber to process; Ruffle and remainder are glued together, are consolidated with the ruffle of bolt and nut with upper body 10 and lower body 15 then, thereby can realize good sealing effectiveness.
Particularly; As preferably, as shown in Figure 2, said lower body skeleton 14 is arranged on the bottom of said lower body 15; And said lower body skeleton 14 is fixing through bonding with the bottom of said lower body 15, makes too greatly and overhead too near that said lower body 15 bottoms can not rise after inflation.
Particularly, as preferably, as shown in Figure 3; Each said driving and transmission device include motor 8, electric motor end cap 6 and felt collar 7, and the output shaft of said motor 8 passes said car body and penetrates in the travel mechanism corresponding with it, pass on the said output shaft of said car body then electric motor end cap 6 of cover; Through said electric motor end cap 6 and screw 4 said motor 8 is fixed together with said car body; The front end face of said electric motor end cap 6 is provided with groove, places said felt collar 7 in the said groove, realizes water seal and oil sealing through said felt collar 7; The output shaft of said motor 8 is provided with key 3, through said key 3 said output shaft and said travel mechanism is linked together.
Further; As shown in Figure 3; In order to prevent that gas from getting into said car body inner chamber from said driving and transmission device, the outer cover of said motor 8 is provided with sealing bag 9, and said sealing bag 9 is processed by gas impermeable material; The port of said sealing bag 9 is glued at the inwall of said lower body 15, makes the inner chamber of said car body form a fully enclosed space to form sealing gland.Thereby whole locomotive body forms a fully enclosed gas bag, makes the favorable sealing property of car body to make said ground mobile robot possess amphibious locomitivity at underwater exercise.
Further; In order to guarantee the conformability of the operation of two wheels in every group of crawler type wheel; As shown in Figure 2; Be connected with electric motor end cap attaching parts 5 between the pairing said electric motor end cap 6 of the said crawler type wheel of said car body homonymy, make the said travel mechanism of said car body homonymy when moving, can keep the conformability of its travel direction through said electric motor end cap attaching parts 5.In this example, kept the conformability of two wheel 2 travel direction of homonymy.
Particularly, as shown in Figure 2 as preferably, said electric motor end cap attaching parts 5 integral body are sheet material, which is provided with perforation and through hole, and said perforation is used to pass the output shaft of said motor 8, and said through hole is used to pass said screw 4.
Like Fig. 2, Fig. 3 and shown in Figure 4; Owing to can produce the heat-dissipation problem under the sealed environment; For solving the heat-dissipation problem; Remove and select the ruffle of the good hard aluminum material of heat dispersion, select good electric motor end cap attaching parts of heat dispersion 5 and the heat dissipation element of electric motor end cap 6 simultaneously as drive part as upper body 10 and lower body 15.
Special, referring to Fig. 2, when robot needs repairing, only need unclamp the bolt and nut that is connected between upper body 10 and the lower body 15, let upper body 10 and lower body open in 15 minutes and get final product; When gas bag has the gas leakage situation to take place, coat with the glue mending-leakage in the place of gas leakage and to get final product, keep in repair very convenient.
Further, referring to shown in Figure 2, car body inside is provided with reinforced rib, and said reinforced rib adopts thin and tough material to process, and it only plays the effect of assist location.
Above-described embodiment, the present invention specific embodiment a kind of more preferably just, common variation that those skilled in the art carries out in technical scheme scope of the present invention and replacement all should be included in protection scope of the present invention.
Claims (9)
1. one kind has the ground mobile robot of inflating car body, comprises car body, is located at the travel mechanism of side body; Be located at electric and control module and power module in the car body, and be located at driving and the transmission device on the car body, said driving and transmission device are corresponding with the quantity of said travel mechanism; Driving separately and transmission device link to each other with travel mechanism separately, it is characterized in that said car body comprises upper body, lower body and lower body skeleton; Said upper body is connected with said lower body and forms fully enclosed gas bag formula compartment; Said upper body is provided with valve, and said valve is used for inflation and venting, and said lower body is fixed on the said lower body skeleton; Wherein, said upper body and said lower body are processed by light material.
2. ground mobile robot as claimed in claim 1 is characterized in that, said light material is leather, dermatine or rubber.
3. ground mobile robot as claimed in claim 1 is characterized in that said travel mechanism is a crawler type, comprises two crawler belts and four wheels of being located at symmetrical car body both sides, wherein, and two wheels arranging before and after each crawler belt set inside.
4. ground mobile robot as claimed in claim 1; It is characterized in that; The outer rim of said upper body and said lower body is respectively equipped with ruffle separately; Said upper body and said lower body link to each other through ruffle separately, and fix through the bolt and nut that is arranged on the said ruffle separately, and said ruffle is separately processed by the hard aluminum material.
5. ground mobile robot as claimed in claim 1 is characterized in that said lower body skeleton is arranged on the bottom of said lower body, and the bottom of said lower body skeleton and said lower body is fixing through bonding.
6. ground mobile robot as claimed in claim 1; It is characterized in that; Each said driving and transmission device include motor, electric motor end cap and felt collar, and the output shaft of said motor passes said car body and penetrates with it in corresponding said travel mechanism, pass on the said output shaft of said car body then electric motor end cap of cover; Through said electric motor end cap and screw said motor and said car body are fixed together; The front end face of said electric motor end cap is provided with groove, places said felt collar in the said groove, realizes water seal and oil sealing through said felt collar; The output shaft of said motor is provided with key, through said key said output shaft and said travel mechanism is linked together.
7. ground mobile robot as claimed in claim 6; It is characterized in that; The outer cover of said motor is provided with sealing bag; Said sealing bag is processed by gas impermeable material, and the port of said sealing bag is glued at the inwall of said lower body, makes the inner chamber of said car body form a fully enclosed space to form sealing gland.
8. ground mobile robot as claimed in claim 6; It is characterized in that; Be connected with the electric motor end cap attaching parts between the said driving of said car body homonymy and the said electric motor end cap in the transmission device, make the said travel mechanism of said car body homonymy when moving, can keep the conformability of its travel direction through said electric motor end cap attaching parts.
9. like the described ground mobile robot of each claim of claim 1-8; It is characterized in that said electric motor end cap attaching parts integral body is sheet material, which is provided with perforation and through hole; Said perforation is used to pass the output shaft of said motor, and said through hole is used to pass said screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110279609 CN102381358B (en) | 2011-09-20 | 2011-09-20 | Ground mobile robot with inflatable car body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110279609 CN102381358B (en) | 2011-09-20 | 2011-09-20 | Ground mobile robot with inflatable car body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102381358A true CN102381358A (en) | 2012-03-21 |
| CN102381358B CN102381358B (en) | 2013-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110279609 Expired - Fee Related CN102381358B (en) | 2011-09-20 | 2011-09-20 | Ground mobile robot with inflatable car body |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0222518A1 (en) * | 1985-10-15 | 1987-05-20 | Automation Technology Corporation | Remote control mobile surveillance system |
| CN2815823Y (en) * | 2005-09-15 | 2006-09-13 | 张国印 | Suspension crawler type running device |
| EP1886904A2 (en) * | 2006-08-11 | 2008-02-13 | Ascend RMM, S.L. | Climbing cleaning robot |
| US20090314554A1 (en) * | 2006-10-06 | 2009-12-24 | Irobot Corporation | Robotic vehicle |
| CN101734295A (en) * | 2010-02-03 | 2010-06-16 | 中国人民解放军国防科学技术大学 | Deformed caterpillar robot |
| CN101758865A (en) * | 2010-02-08 | 2010-06-30 | 朱晓义 | Inflatable automobile |
| CN101780817A (en) * | 2010-04-14 | 2010-07-21 | 山东大学 | Robot platform for detecting underground danger area of coal mine |
-
2011
- 2011-09-20 CN CN 201110279609 patent/CN102381358B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0222518A1 (en) * | 1985-10-15 | 1987-05-20 | Automation Technology Corporation | Remote control mobile surveillance system |
| CN2815823Y (en) * | 2005-09-15 | 2006-09-13 | 张国印 | Suspension crawler type running device |
| EP1886904A2 (en) * | 2006-08-11 | 2008-02-13 | Ascend RMM, S.L. | Climbing cleaning robot |
| US20090314554A1 (en) * | 2006-10-06 | 2009-12-24 | Irobot Corporation | Robotic vehicle |
| CN101734295A (en) * | 2010-02-03 | 2010-06-16 | 中国人民解放军国防科学技术大学 | Deformed caterpillar robot |
| CN101758865A (en) * | 2010-02-08 | 2010-06-30 | 朱晓义 | Inflatable automobile |
| CN101780817A (en) * | 2010-04-14 | 2010-07-21 | 山东大学 | Robot platform for detecting underground danger area of coal mine |
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| Publication number | Publication date |
|---|---|
| CN102381358B (en) | 2013-07-03 |
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Granted publication date: 20130703 Termination date: 20200920 |