A spy robot

Abstract

The application discloses a kind of exploration robots, belong to intelligent manufacturing field.The present application includes outer shell, rear fixed support, rear wheel driving device, damping device, exploration device, power transmission device, V-shaped support, middle shaft, clever structure, not only can adopt pure car state structure, for only need car state demand place;It can also adopt ball state, car state conversion structure, ball state is convenient to store, and the shell of ball type is similar to eggshell, has strong stability, can effectively guarantee to protect the internal parts of exploration robot during carrying, solve the problem of difficult to carry, by ball state, car state two state switching to be used for exploration under most terrain.

Description

Technical Field

[0001] This invention relates to a detection robot, belonging to the field of intelligent manufacturing. Background Technology

[0002] Currently, the field of robotics is flourishing with diverse ideas and competing theories, but there are not many robots actually used in the field of detection and reconnaissance. According to existing literature, current robots used in the field of detection and reconnaissance have more or less shortcomings.

[0003] Most robots employ a tracked design to adapt to terrain. While this design offers good terrain adaptability, it is noisy, slow, and primarily used in large, heavily armored machinery, making it unsuitable for reconnaissance and portability. Currently, some lightweight reconnaissance robots exist, but their varied shapes and sizes make them extremely inconvenient for users to walk and store, potentially leading to collisions, functional loss, or even complete malfunction. They also present challenges in portability and lack practicality for temporary field missions. Therefore, developing a portable, highly adaptable robot is essential. Summary of the Invention

[0004] This invention provides a reconnaissance robot that can be used in vehicle mode for applications requiring only vehicle mode, or in a spherical-to-vehicle mode convertible structure. In spherical mode, it is easy to store, while in vehicle mode, it can adapt to most terrains.

[0005] The technical solution of the present invention is: a detection robot, comprising an outer shell, a rear fixed bracket 9, a rear wheel drive device, a shock absorption device 10, a detection device 12, a power transmission device 13, a V-shaped bracket 26, and a central shaft; the outer shell includes a front shell and a rear shell, the front shell including two U-shaped front wheels 1 and a front baffle 2, the rear shell including two U-shaped rear wheels 7 and a rear baffle 8, one end of a first U-shaped connecting frame 14 is sleeved on a first column 19 inside one of the front wheels 1, and the other end of the first U-shaped connecting frame 14 is sleeved on a first column 19 inside the other front wheel 1; the central shaft passes through the V-shaped bracket 26. One end of the central shaft is connected to the front baffle 2, and the other end of the central shaft is connected to the rear baffle 8; one end of the second U-shaped connecting bracket 14 is sleeved on the first column 19 inside the rear wheel 7, and the other end of the second U-shaped connecting bracket 14 is sleeved on the first column 19 inside the other rear wheel 7; each of the two front wheels 1 has a built-in power transmission device 13 for driving the two front wheels 1 to rotate; one end of the rear fixed bracket 9 is fixed to the rear baffle 8, and the other end of the rear fixed bracket 9 is connected to the shock absorption device 10. The shock absorption device 10 is equipped with a rear wheel drive device, which drives the two rear wheels 7 to rotate; a detection device 12 is installed on the upper middle part of the V-shaped bracket 26.

[0006] The power transmission device 13 includes a front wheel drive device 4, three driven wheels 24, a wheel frame 22, and a driving wheel 33. The front wheel drive device 4 includes a first motor 25 and a coupling 30. The front wheel 1 has teeth 18 on the inner side of its outer edge. The output end of the first motor 25 is connected to one end of a rotating shaft through the coupling 30. The other end of the rotating shaft is sequentially equipped with a three-bladed disc 23, a wheel frame 22, and a driving wheel 33. The end of the V-shaped bracket 26 is equipped with a three-bladed disc 23, which is fixed to the wheel frame 22. Multiple driven wheels 24 that mesh with the driving wheel 33 and teeth 18 are installed at equal intervals along the outer ring of the wheel frame 22 away from the V-shaped bracket 26.

[0007] The rear wheel drive device includes a second motor 16 and a coupling 30; wherein, the second motor 16 is fixed on the bottom connecting plate 34 of the shock absorption device 10, and the output shaft of the second motor 16 is fixedly connected to the first column rod 19 on the inner side of the rear wheel 7 through the coupling 30.

[0008] The shock absorption device 10 includes a pair of shock absorption brackets 35, a pair of shock absorber assemblies 39, and an upper connecting rod 37. The shock absorption brackets 35 consist of three shock absorption connecting rods 36 and a pair of connecting plates 34. The shock absorption connecting rods 36 are arranged in an upper two and lower one configuration and are movably connected to the connecting plates 34. The inner connecting plate 34 is fixed to one end of the rear fixed bracket 9, and the other end of the rear fixed bracket 9 is fixed to the rear baffle 8. The outer connecting plate 34 is rotatably connected to one end of each shock absorber assembly 39 and is used to install the rear wheel drive device. The other ends of the two shock absorber assemblies 39 are rotatably connected to the upper connecting rod 37.

[0009] The central axis can be replaced by a shape conversion device 17, which includes a universal joint 51 and a first telescopic rod 6. The first telescopic rod 6 is installed at both ends of the universal joint 51, and the ends of the two first telescopic rods 6 are fixedly connected to the second column rod 20 fixedly connected to the inner side of the front baffle 2 and the rear baffle 8.

[0010] The first telescopic rod 6 includes a stepper motor 52, a first lead screw 53, and a first sleeve 54; wherein, the stepper motor 52 is fixedly connected to the universal joint 51, the output end of the stepper motor 52 is fixed to one end of the first lead screw 53, the first sleeve 54 cooperates with the first lead screw 53 and the first sleeve 54 is fixed to the second column 20.

[0011] The detection device 12 includes an image acquisition device and a second telescopic rod 15. The image acquisition device includes a panoramic camera 11, a support platform 66 and a controller. The panoramic camera 11 is placed in a camera housing 64. The camera housing 64 is connected to the support platform 66. The support platform 66 is fixedly connected to the second sleeve 67 in the second telescopic rod 15.

[0012] The second telescopic rod 15 consists of a connecting rod 69, a second lead screw 68, a stepper motor, and a second sleeve 67. One end of the connecting rod 69 is connected to the V-shaped bracket 26, and the other end of the connecting rod 69 is fixedly connected to the stepper motor. The driving end of the stepper motor is connected to one end of the second lead screw 68, and the other end of the second lead screw 68 is engaged with the second sleeve 67.

[0013] The beneficial effects of this invention are as follows: The robot structure constructed by this invention is ingenious. It can not only adopt a pure vehicle-state structure for use where only vehicle-state requirements are needed, but also adopt a spherical-vehicle-state conversion structure. In spherical state, it is easy to store. The spherical shell is similar to an eggshell, which has strong stability and can effectively protect the internal parts of the reconnaissance robot during transport, solving the problem of carrying difficulties. By switching between spherical and vehicle states, it can be used for reconnaissance in most terrains (e.g., some high places can be reached by throwing it in spherical state). Attached Figure Description

[0014] Figure 1 This is a top view of the overall structure of the invention;

[0015] Figure 2 This is a cross-sectional view of the present invention;

[0016] Figure 3 This is a schematic diagram of the internal structure of the present invention after the outer shell is removed;

[0017] Figure 4 This is a schematic diagram of the outer shell structure of the present invention;

[0018] Figure 5 This is a schematic diagram of the power transmission device structure of the present invention;

[0019] Figure 6 This is a schematic diagram of the shock absorption device of the present invention;

[0020] Figure 7 This is a schematic diagram of the shock absorber assembly structure;

[0021] Figure 8 This is a schematic diagram of the form conversion device of the present invention;

[0022] Figure 9 This is a schematic diagram of the detection device of the present invention;

[0023] Figure 10 This is a schematic diagram of a panoramic camera;

[0024] Figure 11 This is a schematic diagram of the two-form transformation process;

[0025] The diagram is labeled as follows: 1-Front wheel; 2-Front baffle; 3-Bearing I; 4-Front wheel drive unit; 6-Electric bidirectional telescopic rod; 7-Rear wheel; 8-Rear baffle; 9-Rear fixed bracket; 10-Shock absorption device; 11-Panoramic camera; 12-Detection device; 13-Power transmission device; 14-U-shaped connecting frame; 15-Second telescopic rod; 16-Second motor; 17-Form conversion device; 18-Wheel tooth; 19-First column; 20-Second column; 21-Rubber tire bead; 22-Wheel frame; 23-Three-bladed disc; 24-Driven wheel; 25-First motor; 26-V-shaped bracket; 27-Fixing component; 28-Motor mounting bracket; 29-Support plate; 30-Coupling; 31-Screw; 32-Bearing II; 33-Drive wheel; 34-Connecting plate; 35-Shock absorber bracket; 36-Shock absorber connecting rod; 37-Upper connecting rod; 38-Pin; 39-Shock absorber assembly; 40-Lower support lug; 41-Shock absorber; 42-Nut; 43-Lower spring washer; 44-Dust cover; 45-Spring; 46-Upper spring washer; 47-Spring seat; 48-Bearing III; 49-Top rubber; 50-Upper support lug; 51-Universal joint; 52-Stepper motor; 53-First lead screw; 54-First sleeve; 64-Camera housing; 65-Screw; 66-Platform; 67-Second sleeve; 68-Second lead screw; 69-Connecting rod; Detailed Implementation

[0026] The invention will be further described below with reference to the accompanying drawings and embodiments, but the scope of the invention is not limited to the description.

[0027] Example 1: As Figure 1-11As shown, a reconnaissance robot includes an outer shell, a rear fixed bracket 9, a rear wheel drive device, a shock absorption device 10, a reconnaissance device 12, a power transmission device 13, a V-shaped bracket 26, and a central shaft. The outer shell includes a front shell and a rear shell. The front shell includes two U-shaped front wheels 1 and a front baffle 2. The rear shell includes two U-shaped rear wheels 7 and a rear baffle 8. One end of a first U-shaped connecting bracket 14 is sleeved on a first column 19 inside one of the front wheels 1, and the other end of the first U-shaped connecting bracket 14 is sleeved on a first column 19 inside the other front wheel 1. The central shaft passes through the V-shaped bracket 26 and the two are fixedly connected. One end of the central shaft is fixedly connected to the front baffle 2, and the other end of the central shaft is fixedly connected to the front baffle 2. The rear baffle 8 is fixedly connected; one end of the second U-shaped connecting frame 14 is sleeved on the first column 19 inside the rear wheel 7, and the other end of the second U-shaped connecting frame 14 is sleeved on the first column 19 inside the other rear wheel 7. The U-shaped connecting frame 14 is connected to the two front wheels 1 and the two rear wheels 7 through bearings to reduce rotational friction; each of the two front wheels 1 has a built-in power transmission device 13 for driving the two front wheels 1 to rotate. One end of the rear fixed bracket 9 is fixed to the rear baffle 8, and the other end of the rear fixed bracket 9 is connected to the shock absorber 10. The shock absorber 10 is equipped with a rear wheel drive device, which drives the two rear wheels 7 to rotate; a detection device 12 is installed on the upper middle part of the V-shaped bracket 26.

[0028] Furthermore, the power transmission device 13 includes a front wheel drive device 4, three driven wheels 24, a wheel frame 22, and a driving wheel 33. The front wheel drive device 4 includes a first motor 25 and a coupling 30. The front wheel 1 has teeth 18 on its inner side along its outer edge. The output end of the first motor 25 is connected to one end of the shaft through the coupling 30. The other end of the shaft is connected to a three-bladed disc 23 by bearing I 3, a wheel frame 22 by bearing II 32, and a driving wheel 33 by bearing II 32. The end of the V-shaped bracket 26 is provided with a three-bladed disc 23 integral with the V-shaped bracket 26. The three-bladed disc 23 is fixed to the wheel frame 22 by screws 31. Multiple driven wheels 24 that mesh with the driving wheel 33 and teeth 18 are rotatably connected / installed along the outer ring of the wheel frame 22 away from the V-shaped bracket 26 at equal intervals. The output shaft of the first motor 25 is connected and fixed to the coupling 30 by coupling bolts. The first motor 25 is fixed to the support plate 29 of the V-shaped bracket 26 by the motor mounting bracket 28 and the fixing piece 27. The outer edges of the two front wheels and the two rear wheels are equipped with rubber bead 21.

[0029] Furthermore, the rear wheel drive device includes a second motor 16 and a coupling 30; wherein, the second motor 16 is fixed on the bottom connecting plate 34 of the shock absorption device 10, and the output shaft of the second motor 16 is fixedly connected to the first column rod 19 on the inner side of the rear wheel 7 through the coupling 30, and the first column rod 19 on the inner side of the rear wheel 7 is connected to the U-shaped connecting frame 14 through the bearing I3.

[0030] Further, the shock absorption device 10 includes a pair of shock absorption brackets 35, a pair of shock absorber assemblies 39, and an upper connecting rod 37. Each shock absorption bracket 35 consists of three shock absorption connecting rods 36 and a pair of connecting plates 34. The shock absorption connecting rods 36 are arranged in a two-upper-one-lower configuration and are movably connected to the connecting plates 34. The inner connecting plate 34 is fixed to one end of the rear fixed bracket 9, and the other end of the rear fixed bracket 9 is fixed to the rear baffle 8. The outer connecting plates 34 are rotatably connected to one end of each shock absorber assembly 39 via pins 38 and are used to install the rear wheel drive device. The other ends of the two shock absorber assemblies 39 are rotatably connected to the upper connecting rod 37 via pins 38. Each shock absorber assembly consists of a lower support lug 40, a shock absorber 41, a lower spring pad 43, a dust cover 44, a spring 45, an upper spring pad 46, a spring seat 47, a bearing III 48, a top rubber 49, a nut 42, and an upper support lug 50, which are sequentially connected in the above order. Using dual shock absorbers in conjunction with shock-absorbing brackets can improve the robot's shock absorption performance and reduce vibration damage to the robot's precision parts.

[0031] Furthermore, the detection device 12 includes an image acquisition device and a second telescopic rod 15. The image acquisition device includes a panoramic camera 11, screws 65, a support 66, and a controller. The panoramic camera 11 is housed in a camera housing 64, which is connected to the support 66 via screws 65. The support 66 is fixedly connected to the second sleeve 67 in the second telescopic rod 15. The second telescopic rod 15 consists of a connecting rod 69, a second lead screw 68, a stepper motor, and the second sleeve 67. One end of the connecting rod 69 is threadedly connected to a V-shaped bracket 26, and the other end is fixedly connected to the stepper motor. The drive end of the stepper motor is connected to one end of the second lead screw 68, and the other end of the second lead screw 68 engages with the second sleeve 67. The camera housing can be transparent. In actual use, the stepper motor provides power to drive the second lead screw 68 to rotate, which in turn moves the second sleeve 67 that engages with the second lead screw 68. The movement of the second sleeve 67 causes the image acquisition device to move accordingly, thus achieving telescopic movement.

[0032] In this embodiment, a central axis is used to connect the front and rear outer shells. This structure is a vehicle-mounted reconnaissance robot, and its working principle is as follows:

[0033] The drive unit 4 and the detection device 12 operate simultaneously. The second telescopic pole 15 extends the image acquisition device 11, patrols through the drive unit, acquires surrounding images through the panoramic camera 11, performs image recognition through the controller, and transmits image information to the PC via Bluetooth, thereby achieving the detection effect.

[0034] Example 2: Basically the same as Example 1, except that the central shaft can be replaced by a shape conversion device 17. The shape conversion device 17 includes a universal joint 51 and a first telescopic rod 6. The first telescopic rod 6 is installed at both ends of the universal joint 51, and the ends of the two first telescopic rods 6 are fixedly connected to the second column rods 20 fixedly connected to the inner sides of the front baffle 2 and the rear baffle 8. That is, the V-shaped bracket 26 and the front baffle 2, and the rear fixed bracket 9 and the rear baffle 8 are connected as a whole through the shape conversion device 17.

[0035] Furthermore, the first telescopic rod 6 includes a stepper motor 52, a first lead screw 53, and a first sleeve 54; wherein, the stepper motor 52 is fixedly connected to the universal joint 51, the output end of the stepper motor 52 is fixed to one end of the first lead screw 53, and the first sleeve 54 cooperates with the first lead screw 53 and is fixed to the second column rod 20. In actual use, the stepper motor 52 provides power to drive the first lead screw 53 to rotate, thereby driving the first sleeve 54, which cooperates with the first lead screw 53, to move, and the telescopic movement is achieved by the movement of the first sleeve 54.

[0036] In this embodiment, a form conversion device 17 is used to connect the front and rear wheels. This structure is a spherical / vehicle-mode switchable detection robot, and its working principle is as follows:

[0037] In its throwing state, the robot is spherical. After being thrown, upon receiving a conversion signal from the controller, the shape conversion device 17 first operates, driving the first telescopic rod 6 to extend the outer shells on both sides until the two outer shells reach a distance where they do not interfere with each other in vehicle mode (the distance is settable). The conversion from spherical to vehicle mode is achieved through a universal joint. After the conversion, the detection device 12 operates, extending the second telescopic rod 15 to extend the image acquisition device. The panoramic camera 11 acquires surrounding images, which are then recognized by the controller and transmitted to the PC via Bluetooth, achieving the detection effect. During detection, the image acquisition device 64 and the drive device 4 operate simultaneously for patrol and detection. After detection, the robot returns to its owner, the shape conversion device 17 operates, and the first telescopic rod 6 retracts in the reverse direction to complete the conversion.

[0038] The operating principle of the drive device 4 is as follows: the drive motor 25 drives the driving wheel 33, the driving wheel 33 drives the driven wheel 24. Since there is a built-in gear tooth 18 on the outer shell of the front wheel 1, the driven wheel 24 meshes with the built-in gear 18 on the front wheel 1 to realize the driving of the front wheel 1.

[0039] As can be seen from the above technical solution, the power transmission device of the present invention is ingeniously designed, making the robot structure compact and small in size; and further, through the cooperation of the form conversion device and the U-shaped front and rear shells, under the drive of the power transmission device and the rear wheel drive device, it can not only form a vehicle mode, but also switch to a ball mode; in addition, by setting up a U-shaped connecting frame and a shock absorption device, the connection strength of the mechanism can be effectively enhanced, and the impact and vibration during throwing and moving can be reduced.

[0040] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A reconnaissance robot, characterized in that, The device includes an outer shell, a rear fixed bracket (9), a rear wheel drive unit, a shock absorber (10), a detection device (12), a power transmission unit (13), a V-shaped bracket (26), and a central shaft. The outer shell includes a front shell and a rear shell. The front shell includes two front wheels (1) arranged in a U-shape and a front baffle (2). The rear shell includes two rear wheels (7) arranged in a U-shape and a rear baffle (8). One end of the first U-shaped connecting frame (14) is sleeved on the first column (19) inside one of the front wheels (1), and the other end of the first U-shaped connecting frame (14) is sleeved on the first column (19) inside the other front wheel (1). The central shaft passes through the V-shaped bracket (26), and one end of the central shaft is connected to the front baffle (2). The other end of the central shaft is connected to the rear baffle (8); one end of the second U-shaped connecting bracket (14) is sleeved on the first column (19) inside the rear wheel (7), and the other end of the second U-shaped connecting bracket (14) is sleeved on the first column (19) inside the other rear wheel (7); each of the two front wheels (1) has a built-in power transmission device (13) for driving the two front wheels (1) to rotate; one end of the rear fixed bracket (9) is fixed to the rear baffle (8), and the other end of the rear fixed bracket (9) is connected to the shock absorber (10); the shock absorber (10) is equipped with a rear wheel drive device, which drives the two rear wheels (7) to rotate; a detection device (12) is installed above the middle of the V-shaped bracket (26). The central axis is a shape conversion device (17), which includes a universal joint (51) and a first telescopic rod (6); the universal joint (51) is equipped with the first telescopic rod (6) at both ends, and the ends of the two first telescopic rods (6) are fixedly connected to the second column rod (20) on the inner side of the front baffle (2) and the rear baffle (8); the first telescopic rod (6) includes a stepper motor I (52), a first lead screw (53), and a first sleeve (54); Among them, stepper motor I (52) is fixedly connected to universal joint (51), the output end of stepper motor I (52) is fixed to one end of first lead screw (53), first sleeve (54) is engaged with first lead screw (53) and first sleeve (54) is fixed to second column (20); The front and rear wheels are connected by a form conversion device (17). This robot is a spherical / vehicle-mode switchable reconnaissance robot: When it is thrown, it is spherical. When the form conversion device (17) is in operation, the stepper motor I (52) in the first telescopic rod (6) provides power to drive the first lead screw (53) to rotate, which in turn drives the first sleeve (54) that cooperates with the first lead screw (53) to move. The movement of the first sleeve (54) drives the outer shells on both sides to extend, realizing the conversion from spherical to vehicle mode. When the reconnaissance robot is in vehicle mode, the form conversion device (17) is in operation, and the first telescopic rod (6) rotates in the opposite direction to retract, realizing the conversion from vehicle mode to spherical mode.

2. The detection robot according to claim 1, characterized in that, The power transmission device (13) includes a front wheel drive device (4), three driven wheels (24), a wheel frame (22), and a driving wheel (33). The front wheel drive device (4) includes a first motor (25) and a coupling (30). The front wheel (1) has teeth (18) on the inner side of its outer edge. The output end of the first motor (25) is connected to one end of the shaft through the coupling (30). The other end of the shaft is sequentially equipped with a three-leaf disc (23), a wheel frame (22), and a driving wheel (33). The end of the V-shaped bracket (26) is equipped with a three-leaf disc (23). The three-leaf disc (23) is fixed to the wheel frame (22). Multiple driven wheels (24) that mesh with the driving wheel (33) and teeth (18) are installed at equal intervals along the outer ring of the wheel frame (22) away from the V-shaped bracket (26).

3. The detection robot according to claim 1, characterized in that, The rear wheel drive device includes a second motor (16) and a coupling (30); wherein the second motor (16) is fixed on the bottom connecting plate (34) of the shock absorber (10), and the output shaft of the second motor (16) is fixedly connected to the first column rod (19) inside the rear wheel (7) through the coupling (30).

4. The detection robot according to claim 1, characterized in that, The shock absorption device (10) includes a pair of shock absorption brackets (35), a pair of shock absorber assemblies (39), and an upper connecting rod (37). The shock absorption bracket (35) consists of three shock absorption connecting rods (36) and a pair of connecting plates (34). The shock absorption connecting rods (36) are arranged in an upper two and lower one configuration and are movably connected to the connecting plates (34). The connecting plate (34) located on the inner side is fixed to one end of the rear fixed bracket (9), and the other end of the rear fixed bracket (9) is fixed to the rear baffle (8). The connecting plate (34) located on the outer side is rotatably connected to one end of a shock absorber assembly (39) and is used to install the rear wheel drive device. The other ends of the two shock absorber assemblies (39) are rotatably connected to the upper connecting rod (37).

5. The detection robot according to claim 1, characterized in that, The detection device (12) includes an image acquisition device and a second telescopic rod (15). The image acquisition device includes a panoramic camera (11), a support platform (66) and a controller. The panoramic camera (11) is placed in the camera housing (64). The camera housing (64) is connected to the support platform (66). The support platform (66) is fixedly connected to the second sleeve (67) in the second telescopic rod (15).

6. The detection robot according to claim 5, characterized in that, The second telescopic rod (15) is composed of a connecting rod (69), a second lead screw (68), a stepper motor II, and a second sleeve (67). One end of the connecting rod (69) is connected to the V-shaped bracket (26), and the other end of the connecting rod (69) is fixedly connected to the stepper motor II. The driving end of the stepper motor II is connected to one end of the second lead screw (68), and the other end of the second lead screw (68) is engaged with the second sleeve (67).

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