Throwable self-propelled reconnaissance ball
By designing a throwable self-propelled reconnaissance ball, the existing reconnaissance robots are solved in the problem of excessive size and poor secrecy in reconnaissance tasks in urban building areas, and the reconnaissance effect of compactness, portability and high secrecy is achieved.
Patent Information
- Application Number
- CN202422154741.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-03
- Publication Date
- 2025-06-06
- Estimated Expiration
- 2034-09-03
AI Technical Summary
The existing reconnaissance robots have problems such as being too large and having poor secrecy in reconnaissance tasks in urban building areas, making it difficult to effectively complete reconnaissance and information acquisition tasks.
A throwable self-propelled reconnaissance ball is designed. The ball shell consists of two hemispheres on the left and right, and is closed and opened by rotary snaps. It has a built-in drive mechanism, tail support mechanism and camera assembly, which can quickly roll, advance, and turn, and shoot at night or in dim environments.
It realizes the compactness, portability and high secretness of the reconnaissance ball, and can effectively complete the reconnaissance and information acquisition tasks, especially in urban building areas and night environments.
Smart Images
Figure CN222946892U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of sports robots, in particular to a throwable self-propelled reconnaissance ball. Background Art
[0002] The main function of military robots is to perform dangerous tasks instead of humans, such as unmanned remote-controlled cars, mechanical dogs, drones, etc. They can replace humans to enter dangerous or harsh environments to perform reconnaissance tasks.
[0003] As the world develops faster, the scope of modernization construction continues to expand, covering more and more areas, which has led to a gradual increase in the proportion of investigation tasks in urban building areas. Such areas have some significant characteristics, such as complex and diverse structures, and most of them have narrow spaces, making it difficult for personnel to reach the locations where effective investigation is required. At the same time, when facing unfamiliar areas, it is not advisable to rashly send personnel to conduct investigations.
[0004] In view of these situations, robots are needed to complete the reconnaissance and search work. However, common reconnaissance robots often have many problems, such as being too large, inconvenient to carry and transport, and having poor stealth, which makes them easy to be discovered, thus affecting the reconnaissance effect. Utility Model Content
[0005] In view of the problems existing in the prior art, the utility model discloses a throwable self-propelled reconnaissance ball. The technical solution adopted is that the ball shell is composed of two left and right hemispheres, and each hemisphere is fixedly overlapped with three layers of shells, namely, an anti-skid rolling shell, a protective buffer shell, and a buckle locking shell, from the outside to the inside, which can effectively protect the internal components and avoid damage to the internal components caused by the impact after being thrown to the ground. The ball shell is used as a rolling component in the open state, and the whole can roll quickly under the drive of the internal driving mechanism. The circumferential wall of the anti-skid rolling shell is provided with an anti-skid pattern, which rolls in direct contact with the ground to ensure its passability on different contact surfaces. The circular opening circumference of the buckle locking shell is evenly provided with locking buckles, and the locking buckles are in a U-shaped hook structure. After the two hemispheres are closed, the locking buckle hooks on the two hemispheres can be buckled together through relative rotation, so that the two hemispheres are spliced into a complete spherical ball shell. When it needs to be opened, the two hemispheres only need to be rotated in opposite directions to disengage the locking buckles that are buckled with each other. A driving mechanism is fixedly installed along the center position between the two hemispheres, and the driving mechanism includes a driving shell, and two guide shafts are symmetrically fixedly connected in the upper inner cavity of the driving shell, and the output shaft and the spring are slidably sleeved on the guide shaft, one end of the spring presses on the end of the guide shaft, and the other end presses on the output shaft, the outer end of the output shaft is fixedly connected to the two hemispheres of the spherical shell, and the output shaft is slidably inserted in the inner cavity of the driving shell. When the two hemispheres of the spherical shell are manually closed, the output shaft will be pressed into the driving shell and the spring will be compressed. In the closed state, the output shaft shrinks in the driving shell and compresses the spring. After the two hemispheres are rotated in the opposite direction to disengage the locking buckles that are buckled with each other, the elastic force of the spring acts. When the spherical shell is used, the two hemispheres of the spherical shell will open quickly; a driven wheel is installed on the circumferential wall of the output shaft by sliding buckles, and the driven wheel slides along the axial direction of the output shaft and is fixed by circumferential buckles. Two motors are symmetrically fixed in the inner cavity of the lower part of the driving shell, and the rotating shafts of the motors are respectively fixedly connected with driving wheels. A synchronous belt is installed between the driven wheels and the driving wheels on the same side. When the spherical shell is opened, the driving wheel is driven by the motor, and the driving wheel drives the driven wheel through the synchronous belt, so that the driven wheel drives the output shaft to rotate, so that the output shaft drives the two hemispheres of the spherical shell to rotate respectively, so that the whole device can roll on the ground. The rotation speed of the two hemispheres is controlled by the motor, so that the forward and turning movements of the reconnaissance ball can be realized. A camera assembly is installed in the inner cavity of the spherical shell on the upper part of the driving shell for obtaining audio and video, which is convenient for reconnaissance and obtaining on-site information. A tail support mechanism is fixedly connected to the lower part of the driving shell to provide stable support for the reconnaissance ball, so that it can maintain a balanced state during movement and avoid flipping out of control.
[0006] As a preferred solution of the utility model, the camera assembly includes a frame fixedly connected to the upper part of the drive housing, a radio microphone is installed on the front of the frame, the radio microphone has an IP protection level, and can effectively obtain sound information, a servo is installed on the side of the frame, and a camera is installed on the output shaft of the servo, and the pitch angle of the camera can be controlled by the servo, so as to facilitate the shooting of videos in different positions. The protective reinforcement of the camera can effectively avoid collisions with internal components. The camera adopts a high-definition lens and is equipped with an infrared light to give it a night vision effect, so that shooting can be achieved at night or in dim environments. The camera is located on the front of the frame, and the overall modular design is convenient for later maintenance.
[0007] As a preferred scheme of the utility model, the tail support mechanism includes a base fixedly connected to the lower part of the driving shell, and two support rods are rotatably connected to the base through two rotating pins, and the upper ends of the two support rods are respectively installed with torsion springs and shaft sleeves in the middle, and the torsion springs and the shaft sleeves are respectively passed through the rotating pins, and the two ends of the torsion spring are respectively pressed on the support rod and the base, and the lower end of the support rod is rotatably connected with a tail support plate through the rotating pin, and the middle part of the support rod is passed through the rotating pin. The two support rods are parallel to each other, and the end of the rotating pin is provided with a buckle groove, and a retaining spring is installed to axially fix the rotating pin. With the support of two mutually parallel support rods, the tail support plate can move with the support rods in a state of being parallel to the base, thereby realizing the extension and retraction of the tail support plate relative to the spherical shell. When the spherical shell is in an open state, the tail support plate unfolds and extends to the outside of the spherical shell under the elastic force of the torsion spring, and can be supported on the ground. When the spherical shell needs to be closed, the tail support plate can be pressed to fold it to a position that fits the base, thereby shrinking it into the inside of the spherical shell. At this time, the torsion spring is compressed, and then the two hemispheres of the spherical shell can be pressed closed. Under the elastic force of the torsion spring, the tail support plate will press against the inner wall of the spherical shell. When the spherical shell is opened, the tail support plate automatically pops out and unfolds.
[0008] Beneficial effects of the utility model: the utility model designs a spherical motion structure, the spherical shell is composed of two hemispheres, which can be closed by rotating the buckle, and can be opened by reverse rotation, which is easy to operate. The driving mechanism, tail support mechanism and camera assembly are designed inside, and the driving mechanism can drive the two hemispheres of the spherical shell to rotate, so that the spherical shell acts as a roller to move the entire device under the drive of the motor, and the tail support mechanism can be supported on the ground, playing a balancing and supporting role for the reconnaissance ball, ensuring its stability during movement, and it can be folded and retracted into the inside of the spherical shell, ensuring that the overall structure is foldable and compact. The overall size is small and light, which is easy to carry and put into the target area. Audio and video information can be obtained through the camera assembly, which can effectively complete the reconnaissance and information acquisition tasks. BRIEF DESCRIPTION OF THE DRAWINGS
[0009] Figure 1 This is a schematic diagram of the overall structure of the utility model in an expanded state;
[0010] Figure 2 This is a schematic diagram of the closed state of the buckle locking housing of the utility model;
[0011] Figure 3 This is a cross-sectional view of the internal structure of the utility model;
[0012] Figure 4 This is a schematic diagram of the tail support mechanism of the utility model in an expanded state;
[0013] Figure 5 This is a schematic diagram of the camera assembly structure of the utility model;
[0014] Figure 6 It is a schematic diagram of the disassembled state of the tail support mechanism of the utility model.
[0015] In the figure: 1 ball shell, 101 anti-skid rolling shell, 102 protective buffer shell, 103 buckle locking shell, 1031 locking buckle, 2 camera assembly, 201 frame, 202 radio microphone, 203 camera, 204 infrared light, 205 high-definition lens, 206 servo, 3 driving mechanism, 301 output shaft, 302 spring, 303 driven wheel, 304 synchronous belt, 305 driving wheel, 306 guide shaft, 307 motor, 308 driving shell, 4 tail support mechanism, 401 base, 402 torsion spring, 403 rotating pin, 404 bushing, 405 support rod, 406 retaining spring, 407 tail support plate. DETAILED DESCRIPTION
[0016] Example 1
[0017] like Figures 1 to 6As shown, the utility model is a throwable self-propelled reconnaissance ball, the ball shell 1 is composed of two left and right hemispheres, each hemisphere is fixedly overlapped from the outside to the inside with a three-layer shell of an anti-skid rolling shell 101, a protective buffer shell 102, and a buckle locking shell 103, which can effectively protect the internal components and avoid damage to the internal components due to the impact after being thrown to the ground. The ball shell 1 is used as a rolling component in the open state, and the whole can roll quickly under the drive of the internal driving mechanism 3. The circumferential wall of the anti-skid rolling shell 101 is provided with an anti-skid The buckle locking shell 103 has a circular opening circumference evenly provided with locking buckles 1031, and the locking buckles 1031 are in a U-shaped hook structure. After the two hemispheres are closed, the locking buckles 1031 on the two hemispheres can be hooked together through relative rotation, so that the two hemispheres are spliced into a complete spherical shell 1. When it needs to be opened, the two hemispheres only need to be rotated in opposite directions to disengage the locking buckles 1031 that are buckled with each other. A driving mechanism 3 is fixedly installed along the center position between the two hemispheres, and the driving mechanism 3 includes a driving shell 308. Two guide shafts 306 are symmetrically fixedly connected in the upper inner cavity of the driving shell 308. The output shaft 301 and the spring 302 are slidably sleeved on the guide shaft 306. One end of the spring 302 presses on the end of the guide shaft 306, and the other end presses on the output shaft 301. The outer end of the output shaft 301 is fixedly connected to the two hemispheres of the ball shell 1, and the output shaft 301 is slidably inserted in the inner cavity of the driving shell 308. When the two hemispheres of the ball shell 1 are manually closed, the output shaft 301 will be pressed into the driving shell 308, and the spring 302 will be compressed. In the closed state, the output shaft 301 shrinks in the driving shell 308 and compresses the spring 302. After the two hemispheres are rotated in the opposite direction to disengage the locking buckles 1031 that are buckled with each other, the elastic force of the spring 302 Under the action, the two hemispheres of the spherical shell 1 will open quickly; a driven wheel 303 is installed on the circumferential wall of the output shaft 301 by a sliding buckle, and the driven wheel 303 slides along the axial direction of the output shaft 301 and is fixed by a circumferential buckle. Two motors 307 are symmetrically fixedly installed in the inner cavity of the lower part of the driving shell 308, and driving wheels 305 are fixedly connected to the rotating shafts of the motors 307 respectively. A synchronous belt 304 is installed for transmission cooperation between the driven wheels 303 and the driving wheels 305 on the same side. When the spherical shell 1 is in the open state, the driving wheel 305 is driven by the motor 307, and the driving wheel 305 drives the driven wheel 303 through the synchronous belt 304, so that the driven wheel 303 drives the output shaft 301 to rotate, so that the output shaft 301 drives the two hemispheres of the spherical shell 1 to rotate respectively, so that the whole device can roll on the ground, and the rotation speed of the two hemispheres is controlled by the motor 307, so as to realize the forward and turning movements of the reconnaissance ball.
[0018] The upper part of the driving housing 308 is provided with a camera assembly 2 in the inner cavity of the ball shell 1. The camera assembly 2 includes a frame 201 fixedly connected to the upper part of the driving housing 308. A radio microphone 202 is installed on the front of the frame 201. The radio microphone 202 has an IP65 protection level and can effectively obtain sound information. A servo 206 is installed on the side of the frame 201. A camera 203 is installed on the output shaft of the servo 206. The camera 203 is located on the front of the frame 201. The servo 206 can control the pitch angle of the camera 203, so as to facilitate the shooting of videos at different positions. The protection reinforcement of the camera 203 can effectively avoid the collision of internal components. The camera 203 uses a high-definition lens 205 and is equipped with an infrared lamp 204, so that it has a night vision effect, can realize shooting at night or in a dim environment, is used for the acquisition of audio and video, and is convenient for investigation and acquisition of on-site information. The overall modular design is convenient for later maintenance.
[0019] The lower part of the driving housing 308 is fixedly connected to a tail support mechanism 4, and the tail support mechanism 4 includes a base 401 fixedly connected to the lower part of the driving housing 308, and two support rods 405 are rotatably connected to the base 401 through two rotating pins 403, and the upper ends of the two support rods 405 are respectively installed with torsion springs 402 and shaft sleeves 404 in the middle, and the torsion springs 402 and the shaft sleeves 404 are respectively connected to the rotating pins 403, and the two ends of the torsion spring 402 are respectively pressed on the support rods 405 and the base 401, and the lower end of the support rod 405 is rotatably connected to a tail support plate 407 through the rotating pin 403, and the middle part of the support rod 405 is connected to the rotating pin 403 with the shaft sleeve 404, and the two support rods 405 are parallel to each other, and the end of the rotating pin 403 is provided with a buckle groove, and a retaining spring 406 is installed to axially fix the rotating pin 403. With the support of two mutually parallel support rods 405, the tail support plate 407 can move the support rods 405 while maintaining parallelism with the base 401, thereby realizing the extension and retraction of the tail support plate 407 relative to the spherical shell 1. When the spherical shell 1 is in the open state, the tail support plate 407 is unfolded and extended to the outside of the spherical shell 1 under the elastic force of the torsion spring 402, and can be supported on the ground. When the spherical shell 1 needs to be closed, the tail support plate 407 can be pressed to fold it to a position that fits the base 401, thereby shrinking it into the spherical shell 1. At this time, the torsion spring 402 is compressed, and then the two hemispheres of the spherical shell 1 can be pressed closed. Under the elastic force of the torsion spring 402, the tail support plate 407 will press against the inner wall of the spherical shell 1. When the spherical shell 1 is opened, the tail support plate 407 automatically pops out and unfolds, supporting the ground, providing stable support for the reconnaissance ball, allowing it to maintain a balanced state during movement and avoid flipping out of control.
[0020] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.
[0021] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.
[0022] Components not described in detail herein are prior art.
[0023] Although the specific embodiments of the present invention are described in detail above, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in this field without departing from the purpose of the present invention, and modifications or deformations without creative labor are still within the scope of protection of the present invention.
Claims
1. A throwable self-propelled reconnaissance ball, characterized in that: The invention comprises a spherical shell (1), wherein the spherical shell (1) is composed of two left and right hemispheres, each of which is fixedly overlapped from the outside to the inside with three layers of shells, namely, an anti-skid rolling shell (101), a protective buffer shell (102), and a snap-on locking shell (103), and a driving mechanism (3) is fixedly installed along the center position between the two hemispheres, and the driving mechanism (3) comprises a driving shell (308), and two guide shafts (306) are symmetrically fixedly connected in the upper inner cavity of the driving shell (308), and an output shaft (301) and a spring (302) are slidably sleeved on the guide shaft (306), one end of the spring (302) presses against the end of the guide shaft (306), and the other end presses against the output shaft (301), and the outer end of the output shaft (301) is fixedly connected to the two ends of the spherical shell (1). On the hemisphere, the output shaft (301) is slidably inserted into the inner cavity of the drive housing (308), a driven wheel (303) is slidably buckled on the circumferential wall of the output shaft (301), the driven wheel (303) slides along the axial direction of the output shaft (301) and is fixed by circumferential buckles, two motors (307) are symmetrically fixedly installed in the lower inner cavity of the drive housing (308), driving wheels (305) are fixedly connected to the rotating shafts of the motors (307), and a synchronous belt (304) is installed between the driven wheels (303) and the driving wheels (305) on the same side for transmission cooperation, a camera assembly (2) is installed in the inner cavity of the ball shell (1) on the upper part of the drive housing (308), and a tail support mechanism (4) is fixedly connected to the lower part of the drive housing (308).
2. A throwable self-propelled reconnaissance ball according to claim 1, characterized in that: The circumferential wall of the anti-skid rolling housing (101) is provided with an anti-skid pattern.
3. The throwable self-propelled reconnaissance ball according to claim 1, characterized in that: The circular opening circumference of the buckle locking housing (103) is evenly provided with locking buckles (1031), and the locking buckles (1031) are in a U-shaped hook structure.
4. The throwable self-propelled reconnaissance ball according to claim 1, characterized in that: The camera assembly (2) comprises a frame (201) fixedly connected to the upper part of the drive housing (308); a radio microphone (202) is installed on the front of the frame (201); a steering gear (206) is installed on the side of the frame (201); a camera (203) is installed on the output shaft of the steering gear (206); the camera (203) uses a high-definition lens (205) and is equipped with an infrared lamp (204); and the camera (203) is located on the front of the frame (201).
5. The throwable self-propelled reconnaissance ball according to claim 1, characterized in that: The tail support mechanism (4) comprises a base (401) fixedly connected to the lower part of the driving housing (308); two support rods (405) are rotatably connected to the base (401) via two rotating pins (403); torsion springs (402) and shaft sleeves (404) are respectively installed in the middle of the upper ends of the two support rods (405); the torsion springs (402) and the shaft sleeves (404) are respectively connected to the rotating pins (403); and the two ends of the torsion springs (402) are respectively connected to the top of the rotating pins (403). The support rod (405) and the base (401) are pressed on the support rod (405), the lower end of the support rod (405) is rotatably connected to the tail support plate (407) through the rotating pin (403), the middle part of the support rod (405) is connected with the shaft sleeve (404) on the rotating pin (403), the two support rods (405) are parallel to each other, the end of the rotating pin (403) is provided with a buckle groove, and a retaining spring (406) is installed to axially fix the rotating pin (403).