CN101723002B - Elastic bow-shaped vehicle body ground robot - Google Patents
Elastic bow-shaped vehicle body ground robot Download PDFInfo
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- CN101723002B CN101723002B CN2009102374484A CN200910237448A CN101723002B CN 101723002 B CN101723002 B CN 101723002B CN 2009102374484 A CN2009102374484 A CN 2009102374484A CN 200910237448 A CN200910237448 A CN 200910237448A CN 101723002 B CN101723002 B CN 101723002B
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- vehicle body
- bow
- arculae
- car body
- ground robot
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Abstract
The invention provides an elastic bow-shaped vehicle body ground robot which comprises a vehicle body. The vehicle body comprises at least one pair of bow sheets, wherein the bow sheets are arranged in a back-to-back way, and the middle parts are fixed. Both ends of the bow sheets are respectively provided with a wheel. The wheels on the same side of the vehicle body are sleeved with a crawler. The vehicle body adopts the two bow sheets with a back-to-back arrangement way, and then the light structure with large size can be formed due to the characteristics of the bow sheets under the condition of satisfying appearance and dimension requirements. Under the condition of ensuring that the ground robot has basic size with certain length, width and height and achieve the same hardness and strength, the invention has the advantages of weight reduction of the vehicle body, and strengthening of motion property of the vehicle body. Due to the elasticity of the bow-shaped body, the crawler tensioning can be ensured, thus the tension structure is saved. When the vehicle body is subject to shock and falling, the impact force can be buffered, and the bow sheet-shaped vehicle body can perform the shock absorption function.
Description
Technical field
The present invention relates to ground robot, particularly a kind of elastic bow-shaped vehicle body ground robot.
Background technology
Along with the develop rapidly of computer technology and artificial intelligence technology, robot is greatly improved on the function and the hierarchy of skill.Robot can be divided into according to purposes: the robot of various uses such as under-water robot, space robot, aerial robot, ground robot, micro robot.
Existing ground robot substantially all is the housing main body of square aluminum, when satisfying certain length, width, height, can not satisfy the requirement of body weight and speed.The negative effect that brings is, the corresponding increase of body weight, and under same motor power, the moving velocity of robot must descend.If robot weight is too big, kinematic velocity is slowed down, obstacle climbing ability is poor, and load-carrying capacity is poor.
And the locomitivity of the ground crawler belt vehicle of ground robot is one of core technology of such mobile robot, and one of key that improves exercise performance is to alleviate the weight of robot.Robot is light, and that just can run is fast, dress many, and required motor power is little, and corresponding accumulator capacity also can reduce.Yet because the requirement of ground robot aspect cross country power, make ground robot must need certain length, width, highly, thereby, how making under the situation of ground robot volume basic fixed, the weight that alleviates ground robot just becomes key factor.
Summary of the invention
The purpose of the embodiment of the invention is the defective at above-mentioned prior art, a kind of elastic bow-shaped vehicle body ground robot is provided, it can guarantee that ground robot has under the situation of basic volume of certain length, width, height, have the car body of alleviating weight, strengthen the advantage of the exercise performance of car body.
The technical scheme taked of the embodiment of the invention is to achieve these goals: a kind of elastic bow-shaped vehicle body ground robot, comprise car body, described car body comprises the arculae of at least one pair of back-to-back setting and center fixed, two ends of described arculae respectively are provided with a wheel, are arranged with crawler belt on the wheel at described same arculae two ends.
In order to guarantee the parallel of front and back two wheels, described arculae is provided with guiding mechanism, and guiding mechanism is used to guide the direction of described wheel, guarantees aligning of front and back wheel, makes crawler belt energy normal rotation.
Concrete, described guiding mechanism is a pilot bar.
In order to realize the multi-track body construction, described car body comprises many to arculae, described every pair of arculae is formed a car body stress frame, described a plurality of car body stress frame lontitudinal series, form the multi-track body construction, set up motor by bolted connection and in the junction between the described adjacent car body stress frame.
The beneficial effect of the embodiment of the invention is: the car body of the square aluminium casing of ground robot compared to existing technology, car body of the present invention has adopted two arculae structures of back-to-back setting, because the characteristic of bowed shape, so satisfying under the condition of oad, can form the bigger lightweight construction of volume, therefore the present invention can guarantee that ground robot has the basic volume of certain length, width, height and reaches under the situation of identical hardness intensity, have the car body of alleviating weight, strengthen the advantage of the exercise performance of car body.Because the elasticity of toxoplasm itself, be subjected to impact at car body, when falling, can shock absorbing power, arculae shape car body can play the effect of damping.
Description of drawings
Fig. 1 is the integral structure plan sketch of the car body of the described ground robot of the embodiment of the invention;
Fig. 2 is the block diagram of Fig. 1.
Among the figure: 1 arculae, 2 fixed connection points, 3 wheels, 4 motors and retarder, 5 pilot bars, 6 crawler belts.
The specific embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
As shown in Figures 1 and 2, the described a kind of elastic bow-shaped vehicle body ground robot of the embodiment of the invention comprises car body, and car body comprises that the centre of 1, two arculae of arculae of two back-to-back settings is a fixed connection point 2.Form the stress frame of car body after two arculae center fixed, each fixes a wheel 3 end points of each arculae 1, and wherein the wheel 3 of front end is connected with motor and retarder 4.Crawler belt 6 is enclosed within on the wheel 3 of car body homonymy, and the external tooth on the wheel 3 drives the internal tooth on the crawler belt 6, and crawler belt 6 is rotated.Crawler belt 6 can be used as the bowstring of arculae 1 simultaneously.Arculae 1 can form the stretching device of crawler belt 6 automatically, to crawler belt 6 tensionings, has saved special stretching device.So body construction of the present invention is simple.
Wherein, arculae 1 is a light elastic material, is reaching under the identical hardness strength condition, adopts plastics or aluminum material all can.Arc material is not limited thereto, and also comprises the material that other can be made this shape and can reach effect of the present invention.The stress frame of the arculae type car body that the light-duty elastomeric material of embodiment of the invention employing symmetry is made, thus car body weight alleviated, strengthened the exercise performance of car body.
As shown in Figures 1 and 2, parallel for two wheels 3 before and after guaranteeing, arculae 1 is provided with guiding mechanism, and guiding mechanism is a pilot bar 5 in this example.Guiding mechanism is used to guide the direction of described wheel 3, and the wheel 3 before and after guaranteeing aligns, and makes crawler belt 6 energy normal rotation.
Referring to Fig. 1, a pair of arculae can form a stress frame, and several stress frame lontitudinal series form four crawler belts, six crawler belts, multi-track body construction, and the driving that increases other car body according to actual conditions in the junction is a motor.
What car body of the present invention used is thermoplastic plastic or aluminum elasticity arculae, with traditional square aluminium casing contrast in because the characteristic of bowed shape satisfies under the condition of oad, can form the bigger lightweight construction of volume.Because the elasticity of toxoplasm itself can guarantee crawler tensioning, has saved stretching device.And be subjected to impacting at car body, when falling, in the time of can shock absorbing power, toxoplasm can play the effect of damping.Arculae has certain intensity and hardness, can guarantee crawler tensioning, the car body normal operation when guaranteeing the stressed distortion of car body, bump.
Above-described embodiment, the present invention specific embodiment a kind of more preferably just, the common variation that those skilled in the art carries out in the technical solution of the present invention scope and replacing all should be included in protection scope of the present invention.
Claims (4)
1. elastic bow-shaped vehicle body ground robot, comprise car body, it is characterized in that: described car body comprises the arculae of at least one pair of back-to-back setting and center fixed, and two ends of described arculae respectively are provided with a wheel, is arranged with crawler belt on the wheel at described same arculae two ends.
2. elastic bow-shaped vehicle body ground robot according to claim 1 is characterized in that: described arculae is provided with guiding mechanism, and guiding mechanism is used to guide the direction of described wheel.
3. elastic bow-shaped vehicle body ground robot according to claim 2 is characterized in that: described guiding mechanism is a pilot bar.
4. according to the described elastic bow-shaped vehicle body ground robot of the arbitrary claim of claim 1-3, it is characterized in that: described car body comprises many to arculae, described every pair of arculae is formed a car body stress frame, described a plurality of car body stress frame lontitudinal series, form the multi-track body construction, set up motor by bolted connection and in the junction between the stress frame of described adjacent car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102374484A CN101723002B (en) | 2009-11-06 | 2009-11-06 | Elastic bow-shaped vehicle body ground robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102374484A CN101723002B (en) | 2009-11-06 | 2009-11-06 | Elastic bow-shaped vehicle body ground robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101723002A CN101723002A (en) | 2010-06-09 |
| CN101723002B true CN101723002B (en) | 2011-06-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009102374484A Expired - Fee Related CN101723002B (en) | 2009-11-06 | 2009-11-06 | Elastic bow-shaped vehicle body ground robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101723002B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101007548A (en) * | 2007-01-29 | 2007-08-01 | 北京理工大学 | Small-sized four-peddrail mobile robot driving device |
| CN101168371A (en) * | 2007-11-16 | 2008-04-30 | 哈尔滨工业大学 | Pedrail type self-reconstruction mini robot |
-
2009
- 2009-11-06 CN CN2009102374484A patent/CN101723002B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101007548A (en) * | 2007-01-29 | 2007-08-01 | 北京理工大学 | Small-sized four-peddrail mobile robot driving device |
| CN101168371A (en) * | 2007-11-16 | 2008-04-30 | 哈尔滨工业大学 | Pedrail type self-reconstruction mini robot |
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| Publication number | Publication date |
|---|---|
| CN101723002A (en) | 2010-06-09 |
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| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110622 Termination date: 20181106 |