Throwable spherical reconnaissance robot opening and closing mechanism

Abstract

The utility model belongs to the technical field of robot equipment, and relates to a throwing spherical reconnaissance robot opening and closing mechanism which comprises a main machine frame, the two sides of the main machine frame are respectively connected with an opening type hemispherical shell, and the hemispherical shells can slide relative to the surface of the main machine frame so as to achieve opening and closing actions. A guide rod which is arranged in a penetrating manner is fixed on the main rack; rod bodies, corresponding to the two sides of the main machine frame, of the guide rods are sleeved with springs and side supports respectively, and the two ends of the guide rods are fixedly provided with blocking pieces respectively so as to limit the side supports. A buckle assembly is installed at the open end of the hemispherical shell, hook assemblies are fixed to the surfaces of the two sides of the main rack respectively, and the hook assemblies and the buckle assembly can be locked. Each side support is provided with a driving assembly. The lock catch assemblies of the opening and closing mechanism are respectively arranged on the hemispherical shell and the main frame, so that the shielding of the lock catch assemblies on the camera is eliminated, the field angle of the camera is increased, and the appearance is more elegant.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot equipment and relates to an opening and closing mechanism of a spherical reconnaissance robot capable of throwing. Background Art

[0002] There are various wireless remote control reconnaissance equipment, such as remote control drones, remote control unmanned vehicles, and spherical robots on the market, but they all have inherent deficiencies or defects. A Chinese patent with publication number CN117208105A discloses a throwable spherical reconnaissance robot, which has the advantages of small size and light weight, but also has some disadvantages, mainly that the locking components are all located on the ball shell, which blocks the camera when working and reduces the camera's field of view. Summary of the invention

[0003] In view of the above problems, the utility model provides an opening and closing mechanism of a throwable spherical reconnaissance robot, wherein locking components of the opening and closing mechanism are respectively arranged on a hemispherical shell and a main frame, thereby eliminating the blocking of a camera by the locking components, increasing the field of view of the camera, and making the appearance more elegant.

[0004] According to the technical solution of the utility model: a throwable spherical reconnaissance robot opening and closing mechanism, characterized in that: comprising a main frame, two sides of the main frame are respectively connected to an open hemispherical shell, the hemispherical shell can slide relative to the surface of the main frame to achieve opening and closing action;

[0005] A guide rod is fixed on the main frame;

[0006] The guide rods are respectively provided with springs and side brackets on the rod bodies corresponding to the two sides of the main frame, and baffles are respectively fixed at both ends of the guide rods to limit the side brackets;

[0007] The open end of the hemispherical shell is equipped with a buckle assembly, and the two side surfaces of the main frame are respectively fixed with hook assemblies, and the hook assembly and the buckle assembly can be locked;

[0008] Each of the side brackets is installed with a driving assembly, and the driving assembly can drive the hemispherical shell to rotate to unlock the hook assembly and the buckle assembly.

[0009] As a further improvement of the present invention, the guide rods have equal axially extending lengths relative to the two side surfaces of the main frame.

[0010] As a further improvement of the utility model, the driving assembly includes a motor and a connecting piece, wherein the motor is mounted on a side bracket, the output shaft of the motor is fixedly connected to the connecting piece, and the connecting piece is fixedly connected to the inner cavity vertex of the hemispherical shell.

[0011] As a further improvement of the utility model, the hook assembly includes a hook bracket, and a plurality of hooks are evenly distributed on one axial side surface of the hook bracket;

[0012] The buckle assembly comprises a buckle bracket, and a plurality of buckles are evenly distributed on the axial outer surface of the buckle bracket;

[0013] The buckle and the hook can realize locking and unlocking.

[0014] As a further improvement of the utility model, a guide rod mounting hole is provided on the main frame to penetrate the guide rod.

[0015] As a further improvement of the utility model, a positioning shaft hole is further provided on the main frame, and the positioning shaft is provided in the positioning shaft hole to limit the guide rod in the axial and radial directions.

[0016] As a further improvement of the utility model, a camera mounting groove is provided on the main frame.

[0017] As a further improvement of the utility model, the hemispherical shell includes an outer spherical shell and an inner spherical shell, the inner spherical shell is bonded and fixed inside the outer spherical shell, and a tire is arranged on the outer surface of the open end of the outer spherical shell.

[0018] As a further improvement of the present invention, the guide rod mounting hole is constructed as a rectangular hole, and the longitudinal cross-section of the guide rod matches the guide rod mounting hole.

[0019] The technical effect of the utility model is that the opening and closing method of the utility model can realize manual closing and automatic opening of the spherical robot, thereby protecting internal components and having strong anti-fall performance.

[0020] The opening and closing method of the utility model can realize that the spherical robot is in a spherical state when thrown, and the landing force condition is good.

[0021] The spherical state of the opening and closing mode of the utility model can realize long-distance throwing, and can roll to a far place for timely reconnaissance. The position of the lock assembly is changed from being all on the ball shell to being arranged on the ball shell and the main frame respectively, eliminating the blocking of the camera by the lock assembly, increasing the field of view of the camera, and making the appearance more elegant. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the utility model in a closed state.

[0023] Figure 2 It is a structural schematic diagram of the utility model in an expanded state.

[0024] Figure 3 It is a schematic diagram of the installation of the main frame of the utility model.

[0025] Figure 4 It is a structural schematic diagram of the main frame and guide rods.

[0026] Figure 5 It is a schematic diagram of the lock structure of the utility model. DETAILED DESCRIPTION

[0027] The specific implementation of the utility model is further described below in conjunction with the accompanying drawings.

[0028] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. The described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0029] Figure 1-5 It includes an outer spherical shell 1, a tire 2, a camera 3, a main frame 4, a guide rod mounting hole 41, a guide rod 5, a side bracket 6, a baffle 7, a spring 8, a driving assembly 9, a motor 91, a connecting piece 92, a hook assembly 10, a hook bracket 101, a hook 102, a positioning shaft hole 11, an inner spherical shell 12, a buckle assembly 13, a buckle bracket 131, a buckle 132, a positioning shaft 14, etc.

[0030] like Figure 1-5 As shown, the utility model is an opening and closing mechanism of a throwable spherical reconnaissance robot, comprising a main frame 4, and an open hemispherical shell is connected to both sides of the main frame 4, respectively, and the hemispherical shell can slide relative to the surface of the main frame 4 to achieve an opening and closing action. A camera 3 is installed in the mounting groove of the main frame 4, and when the two hemispherical shells are in an open state, the camera 3 can observe the outside. When the two hemispherical shells are closed, the camera 3 is encapsulated in the cavity formed by the two hemispherical shells.

[0031] Furthermore, in order to achieve reliable and stable opening and closing of the two hemispherical shells, a guide rod 5 is fixed to the main frame 4. A positioning shaft hole 11 is also provided on the main frame 4, and a positioning shaft 14 is provided in the positioning shaft hole 11 to limit the guide rod 5 axially and radially.

[0032] The guide rod 5 corresponds to the rod bodies on both sides of the main frame 4, and springs 8 and side brackets 6 are respectively sleeved. The two ends of the guide rod 5 are respectively fixed with baffles 7 to limit the side brackets 6. When the spherical robot is closed, the spring 8 is compressed, and when the spherical robot is opened, it is opened by the elastic force of the spring 8.

[0033] The open end of the hemispherical shell is installed with a buckle assembly 13, and the two side surfaces of the main frame 4 are respectively fixed with hook assemblies 10, and the hook assembly 10 and the buckle assembly 13 can be locked.

[0034] Each of the side brackets 6 is installed with a driving assembly 9, which can drive the hemispherical shell to rotate to unlock the hook assembly 10 and the buckle assembly 13.

[0035] Furthermore, in practice, the axially extending lengths of the guide rods 5 relative to the two side surfaces of the main frame 4 are equal.

[0036] It can be understood that the driving assembly 9 includes a motor 91 and a connecting member 92, wherein the motor 91 is mounted on the side bracket 6, the output shaft of the motor 91 is fixedly connected to the connecting member 92, and the connecting member 92 is fixedly connected to the apex of the inner cavity of the hemispherical shell to ensure smooth and reliable telescopic movement of the two hemispherical shells.

[0037] Furthermore, the hook assembly 10 comprises a hook bracket 101 , and a plurality of hooks 102 are evenly distributed on one axial side surface of the hook bracket 101 .

[0038] The buckle assembly 13 includes a buckle bracket 131 , and a plurality of buckles 132 are evenly distributed on the axial outer surface of the buckle bracket 131 .

[0039] The buckle 132 and the hook 102 can be locked and unlocked.

[0040] The main frame 4 is provided with a guide rod mounting hole 41 for the guide rod 5 to penetrate.

[0041] The hemispherical shell includes an outer spherical shell 1 and an inner spherical shell 12, wherein the inner spherical shell 12 is bonded and fixed inside the outer spherical shell 1, and a tire 2 is arranged on the outer surface of the open end of the outer spherical shell 1. The tire 2 can increase the friction force. The material of the outer spherical shell 1 is EVA, which can achieve the effect of shock absorption and protect the internal components. The inner spherical shell 12 is made of carbon fiber material, which can meet the strength requirements and is light in weight. There is no restriction on the material of the inner spherical shell 12.

[0042] The guide rod mounting hole 41 is configured as a rectangular hole, and the longitudinal cross section of the guide rod 5 matches the guide rod mounting hole 41 .

[0043] The closing method of the utility model is as follows: manually overcome the force of the spring 8 to close the left and right ball shells. Take the left ball shell as an example, rotate it to a certain angle and lock it through the hook 102 and the buckle 132. The hook assembly 10 and the hook assembly 11 are both fixedly mounted on the main frame 4, where they are connected by bolts. The buckle assembly 13 is fixedly connected to the inner ball shell 12, and the right side is the same.

[0044] The spherical robot is opened as follows: the motor 91 drives the inner spherical shell 12 to rotate, thereby driving the spherical shell to rotate. Taking the left spherical shell as an example, the hook 102 and the buckle 132 are disengaged (the same as the right side), and under the elastic force of the spring 8, the left and right spherical shells are opened.

[0045] Finally, it should be noted that the above specific implementation methods are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to examples, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A throwing spherical reconnaissance robot opening and closing mechanism, characterized in that: It comprises a main frame (4), wherein two sides of the main frame (4) are respectively connected to an open hemispherical shell, and the hemispherical shell can slide relative to the surface of the main frame (4) to achieve an opening and closing action; A guide rod (5) is fixedly provided on the main frame (4) and is arranged to penetrate the main frame (4); The guide rod (5) is provided with a spring (8) and a side bracket (6) on the rod body corresponding to both sides of the main frame (4), and baffles (7) are fixed on both ends of the guide rod (5) to limit the side bracket (6); A buckle assembly (13) is installed at the open end of the hemispherical shell, and hook assemblies (10) are respectively fixed to the two side surfaces of the main frame (4), and the hook assembly (10) and the buckle assembly (13) can be locked; Each of the side brackets (6) is installed with a driving assembly (9), and the driving assembly (9) is capable of driving the hemispherical shell to rotate, so as to unlock the hook assembly (10) and the buckle assembly (13).

2. The opening and closing mechanism of the throwable spherical reconnaissance robot according to claim 1, characterized in that: The guide rods (5) have equal axial extension lengths relative to the two side surfaces of the main frame (4).

3. The opening and closing mechanism of the throwable spherical reconnaissance robot according to claim 1, characterized in that: The driving assembly (9) comprises a motor (91) and a connecting piece (92), wherein the motor (91) is mounted on the side bracket (6), the output shaft of the motor (91) is fixedly connected to the connecting piece (92), and the connecting piece (92) is fixedly connected to the vertex of the inner cavity of the hemispherical shell.

4. The opening and closing mechanism of the throwable spherical reconnaissance robot according to claim 1, characterized in that: The hook assembly (10) comprises a hook bracket (101), and a plurality of hooks (102) are evenly distributed on a surface of one axial side of the hook bracket (101); The buckle assembly (13) comprises a buckle bracket (131), and a plurality of buckles (132) are evenly distributed on the axial outer surface of the buckle bracket (131); The buckle (132) and the hook (102) can achieve locking and unlocking.

5. The opening and closing mechanism of the throwable spherical reconnaissance robot according to claim 1, characterized in that: The main frame (4) is provided with a guide rod mounting hole (41) for passing the guide rod (5).

6. The opening and closing mechanism of the throwable spherical reconnaissance robot according to claim 5, characterized in that: A positioning shaft hole (11) is also provided on the main frame (4), and a positioning shaft (14) is provided in the positioning shaft hole (11) to limit the guide rod (5) in the axial and radial directions.

7. The opening and closing mechanism of the throwable spherical reconnaissance robot according to claim 1, characterized in that: The main frame (4) is provided with a camera mounting slot.

8. The opening and closing mechanism of the throwable spherical reconnaissance robot according to claim 1, characterized in that: The hemispherical shell comprises an outer spherical shell (1) and an inner spherical shell (12); the inner spherical shell (12) is bonded and fixed inside the outer spherical shell (1); and a tire (2) is arranged on the outer surface of the open end of the outer spherical shell (1).

9. The opening and closing mechanism of the throwable spherical reconnaissance robot according to claim 5, characterized in that: The guide rod mounting hole (41) is constructed as a rectangular hole, and the longitudinal cross-section of the guide rod (5) matches the guide rod mounting hole (41).

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