CN117885104A - Throwing robot with ejection function - Google Patents

Abstract

The invention discloses a throwing robot with an ejection function, which belongs to the field of robots and comprises a camera, a controller, a driving wheel, a machine seat, a driving device, a light supplementing seat, a shell, a microphone, a battery pack, a light supplementing lamp and an antenna, wherein the shell is cylindrical, and the camera is fixed on one side of the shell; the machine seat is fixed in the shell, the battery pack and the antenna are both arranged on the machine seat, the light supplementing seat is fixed on the shell and is opposite to the camera, and the light supplementing lamp and the microphone are both arranged on the light supplementing seat; the driving device is arranged at two ends of the machine base; the driving wheels are arranged on the driving device and symmetrically positioned at two ends of the machine base; the controller is installed on the frame and is connected with the camera, the microphone, the battery pack, the light supplementing lamp, the antenna and the driving device respectively, and the directional ejection device is obliquely installed on the shell, so that the technical problem that the existing equipment falls into a pit and cannot get rid of poverty is solved, and the controller is mainly applied to reconnaissance in special environments.

Description

Throwing robot with ejection function

Technical Field

The invention belongs to the technical field of police equipment, and particularly relates to a throwing robot with an ejection function.

Background

Patent application number: 202222116900.5 discloses a robot, especially a throwing robot, including the camera, microphone, group battery, light filling lamp and antenna, still include: the shell is cylindrical, and the camera is fixed on one side of the shell; the machine seat is fixed in the machine shell, and the battery pack and the antenna are both arranged on the machine seat; the light supplementing seat is fixed on the shell and is arranged opposite to the camera, and the light supplementing lamp and the microphone are both arranged on the light supplementing seat; the driving device is arranged at two ends of the machine base; the driving wheels are arranged on the driving device and are symmetrically positioned at two ends of the machine base; the controller is arranged on the machine base and is respectively connected with the camera, the microphone, the battery pack, the light supplementing lamp, the antenna and the driving device; the directional tail fin is fixed on the shell. The throwing robot can resist the vertical falling impact of 9M height and the horizontal throwing impact of 36M, and has the advantages of light weight, convenience in carrying, capability of remotely transmitting video and audio in real time and convenience in use.

The above patent is the product of the applicant, and the above equipment is very convenient in the use, but has following defects, when the robot drops into the pit in the walking process, especially when the pit is deeper and the periphery is perpendicular pit surface, the robot will be stranded in the pit, can not carry out normal work, and the applicant has carried out certain improvement and upgrading to the product, makes the product can still get rid of the trouble when going through the pit and continue to work.

Disclosure of Invention

In order to solve the technical problems in the background technology, the invention provides a throwing robot with a catapulting function, which adopts the following technical scheme:

the throwing robot with the ejection function comprises a camera, a controller, a driving wheel, a machine base, a driving device, a light supplementing seat, a machine shell, a microphone, a battery pack, a light supplementing lamp and an antenna, wherein the machine shell is cylindrical, and the camera is fixed on one side of the machine shell; the machine seat is fixed in the shell, the battery pack and the antenna are both installed on the machine seat, the light supplementing seat is fixed on the shell and is opposite to the camera, and the light supplementing lamp and the microphone are both installed on the light supplementing seat; the driving device is arranged at two ends of the stand; the driving wheels are arranged on the driving device and symmetrically positioned at two ends of the machine base; the controller is arranged on the machine base and is respectively connected with the camera, the microphone, the battery pack, the light supplementing lamp, the antenna and the driving device.

The invention has the core improvement that a directional ejection device is obliquely arranged on a shell, the directional ejection device is used for self-rescue when a robot falls in a pit, the directional ejection device comprises an inclined tube, the inclined tube is fixedly arranged on the shell, a fixing piece is arranged at the upper part in the inclined tube, a sliding groove and a driving motor are symmetrically arranged on the fixing piece left and right, the driving motor is connected with a controller, a gear is fixedly connected with an output shaft of the driving motor, a rack is movably connected in the sliding groove, the outer side of the rack is fixedly connected with a fixing rod, the gear is meshed with the rack, a guide tube is sleeved on the outer ring of the inclined tube, the lower part of the guide tube is fixedly connected with a guide seat, a spring is arranged at the lower part of the fixing piece, the spring is fixed between the fixing piece and the guide seat, fixing holes are respectively arranged on the inclined tube and the guide tube, the fixing holes are corresponding in positions, and the fixing rod fixes the inclined tube and the guide tube through the fixing holes.

The working principle of the invention is as follows: the spring initial state is compressed in the inclined tube, when the robot drops in the pit and can't climb out, remove the robot to one side of pit, then through driving motor drive rack motion, the rack drives the dead lever and shifts out from the fixed orifices, the spring needs to resume to initial state this moment, need deformation, whole robot is separated down inclined tube and stand pipe at the spring this moment, the robot is thrown out from the pit this moment, the inclined tube is equivalent to the effect of the directional fin of original throwing robot again this moment, be used for continuing to keep the camera of robot to keep ascending position, the convenience shoots the picture.

The driving device comprises a motor, a connecting shaft and a driving gear, wherein the motor is fixed at the end part of the machine base, the driving gear is fixed on the motor, the driving gear is meshed with the driven gear, the connecting shaft is rotatably arranged at the end part of the machine base, one end of the connecting shaft is connected with the driven gear, and the other end of the connecting shaft is connected with the driving wheel.

Preferably: the connecting shaft is rotatably arranged on the shaft sleeve.

Preferably: the sealing device also comprises a sealing ring, wherein the sealing ring is arranged on the end cover and is used for sealing the end cover and the shell.

Preferably: the driving wheel is a rubber wheel and comprises a hub, the hub is connected with the driving device, the hub is provided with spokes, and the spokes are arranged on the hub and are coaxial with the hub; the spoke is provided with driving sheets which are arranged in an annular array, and the driving sheets are provided with a group of anti-skid devices which are used for skid prevention.

Preferably: the hub is provided with a driving groove, and the driving groove is movably inserted into the end part of the shell.

Preferably: aviation plug and switch, aviation plug and switch install on the light filling seat and all be connected with the controller.

Preferably: the antenna comprises a 2.5G antenna and a 433 antenna, and the 2.5G antenna and the 433 antenna are respectively arranged at two ends of the base.

The invention has the following beneficial effects: the structure of the invention is improved to solve the technical problem that the throwing robot cannot get rid of the trapping when encountering the pit, and the invention has simple structure and unique design, can ensure that the throwing robot still works normally after getting rid of the trapping, can make the robot work in a harsher environment, and is suitable for comprehensive popularization and application.

Drawings

FIG. 1 is a perspective view of a prior art structure;

FIG. 2 is a prior art internal block diagram;

FIG. 3 is a partial block diagram of a prior art enclosure;

FIG. 4 is a block diagram of a prior art light supplementing lamp section;

FIG. 5 is a partial block diagram of a prior art drive wheel;

FIG. 6 is a partial block diagram of a remote control;

FIG. 7 is a front view of the present invention;

FIG. 8 is a perspective view of the present invention;

FIG. 9 is a block diagram of a directional ejection device of the present invention;

FIG. 10 is an enlarged view of a portion of FIG. 9 at A;

fig. 11 is a view showing the state of the invention after ejection.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Example 1

As shown in fig. 1-11:

a throwing robot with a catapulting function comprises a camera 83, a microphone 56, a battery pack 3, a light supplementing lamp 52, an antenna 81, a machine shell 1, a machine base 2, a light supplementing seat 51, a driving device, a driving wheel 7, a controller 4 and a directional catapulting device. The shell 1 is cylindrical and made of aluminum alloy, and the surface of the shell is black and anodized or sprayed with black paint.

The frame 2 is the cylinder that aluminum alloy or engineering plastics made, and the both ends of frame 2 are connected with casing 1 through the screw, are equipped with a plurality of fixed slots on the frame 2, and drive arrangement, controller 4 and group battery 3 all install in the fixed slot, and the fixed slot both facilitates the installation spare part, can lighten weight simultaneously.

The camera 83 is mounted on a photographing seat 84, and the photographing seat 84 is fixed to the casing 1 by a screw and is located at the center of the casing 1. The camera 83 is connected with the controller 4 for gather video information, and the controller 4 adopts singlechip control, and the controller 4 is connected with group battery 3, and group battery 3 is 12V800 mA's lithium cell. The antenna 81 includes 2.5G and 433 antennas, and the 2.5G and 433 antennas are respectively installed at both ends of the housing 2 and pass through the casing 1, and the antenna 81 is connected with the controller 4. The antenna 81 is used for transmission of graphics and audio and for controlling the throwing robot.

The light supplementing seat 51 is fixed on the casing 1 through screws, and the light supplementing seat 51 is located above the camera 83. The light supplementing seat 51 is provided with a switch, an aviation plug 54, a microphone 56 and a light supplementing lamp 52, the switch, the aviation plug 54, the microphone 56 and the light supplementing lamp 52 are all connected with the controller 4, wherein the light supplementing lamps 52 are five, the array is arranged on the light supplementing seat 51, and the light supplementing lamps 52 are infrared LED lamp beads. The light supplement lamp 52 is disposed opposite to the camera 83. One side of the light supplementing lamp 52 may be further provided with a photosensitive sensor 53 for automatically controlling the on/off of the light supplementing lamp 52, and the infrared light supplementing makes the camera 83 clearly see the front even in a dark environment.

The directional ejection device comprises an inclined tube 10, the inclined tube 10 is fixedly arranged on a machine shell 1, a fixing piece 15 is arranged on the upper portion in the inclined tube 10, a sliding groove 17 and a driving motor 18 are symmetrically arranged on the fixing piece 15 in a left-right mode, a gear 19 is fixedly connected to an output shaft of the driving motor 18, a rack 16 is movably connected in the sliding groove 17, a fixing rod 15 is fixedly connected to the outer side of the rack 16, the gear 19 is meshed with the rack 16, a guide tube 12 is sleeved on the outer ring of the inclined tube 10, a guide seat 13 is fixedly connected to the lower portion of the guide tube 12, a spring 11 is arranged on the lower portion of the fixing piece 15, the spring 11 is fixed between the fixing piece 15 and the guide seat 13, fixing holes are formed in the inclined tube 10 and the guide tube 12, the fixing rods 15 are corresponding in positions, and the inclined tube 10 and the guide tube 12 are fixed through the fixing holes.

The aviation plug 54 is used for charging. The microphone 56 is used to collect audio in the field and transmit the audio to the rear terminal device 9 via the antenna 81. The switches comprise a power switch 55 and a frequency-pairing switch 57, the frequency-pairing switch 57 being used for frequency-pairing connection with the terminal device 9. The driving device includes a motor 61, a driving gear 62, a driven gear 66, a connecting shaft 67, an end cover 64, a shaft sleeve 63 and a seal ring 65. The motor 61 is fixed in the fixed slots at two ends of the stand 2, the shaft of the motor 61 is provided with a driving gear 62, and the driving gear 62 is positioned at two ends of the stand 2. The two ends of the machine base 2 are also provided with gear grooves 21, the driven gear 66 is positioned in the gear grooves 21, the modulus of the driven gear 66 is larger than that of the driving gear 62, the driven gear 66 is meshed with the driving gear 62, and the driven gear 66 and the machine base 2 are coaxially arranged. The end covers 64 are fixed on two sides of the machine base 2 through screws and are symmetrically arranged, sealing rings 65 are arranged on the outer circular surfaces of the end covers 64, and the sealing rings 65 are used for sealing the end covers 64 and the machine shell 1 to realize water resistance. The shaft sleeve 63 is mounted on the end cover 64, the connecting shaft 67 is movably inserted on the shaft sleeve 63, one end of the connecting shaft 67 is fixed on the driven gear 66, and the other end is fixed on the driving wheel 7. Both motors 61 are connected to the controller 4 to realize forward, backward and steering. The end cap 64 may be made of aluminum alloy or engineering plastic. The driving wheel 7 is the rubber wheel, the driving wheel 7 includes wheel hub 71, spoke 72 and driving piece 75, wheel hub 71 and connecting axle 67 fixed connection, spoke 72 sets up on wheel hub 71, and set up with wheel hub 71 coaxial line, annular array is equipped with a plurality of little spokes 73 and big spoke 74 on the spoke 72, the diameter of big spoke 74 is greater than the diameter of little spoke 73, and the width is also greater than little spoke 73, driving piece 75 is fixed at the tip of big spoke 74, driving piece 75 is L shape, be equipped with antiskid 751 on the driving piece 75, driving piece 75 that annular array set up on driving piece 75 upper portion forms circular shape wheel. The driving piece 75 and the large spoke 74 have good damping effect, impact force can be effectively buffered after the throwing robot throws, the throwing robot is protected, meanwhile, the friction force with the ground can be guaranteed due to good wear resistance. The driving wheel 7 made of rubber is also light in weight. The throwing robot is controlled by the terminal device 9, as shown in fig. 6, two ends of the terminal device 9 are respectively provided with an antenna, namely a 2.5G antenna and a 433 antenna, so that real-time images and audio sent back by the throwing robot can be received remotely, and a command is sent to the throwing robot. The terminal equipment 9 is provided with a 3.5int display screen for displaying images, and image information captured by the throwing robot can be observed in real time through the display screen; a status panel is arranged below the display screen, and the electric quantity of the throwing robot is displayed; four throwing robots are connected with the indicator lights below the electric quantity display, each controller 4 can respectively control four front-end robots, the connected indicator lights can display the robots currently connected with the corresponding frequency bands, and the operation staff can observe and control conveniently; an indicator light is arranged on the right side and is used for displaying the electric quantity indication of the front-end robot, the indicator light is green, and when the electric quantity of the throwing robot is lower than 20%, a red light prompt is lighted; the WiFi mark is a terminal frequency matching switch which can be matched with a frequency matching switch on the throwing robot, the switching mark is a terminal power switch and is used for a remote switch of the throwing robot, and the throwing robot can be turned on or turned off by long-time pressing of the key; the lower part is a control rod for controlling the movement of the throwing robot, including forward, backward, left and right turning and the like; three sockets are arranged on the left side edge at the lowest part, and the sockets are respectively from top to bottom: the video output interface can output the video to other displays; a charging interface for charging the storage battery in the terminal device 9 by using a charger; the audio output interface can be externally connected with a headset or other audio players to listen to the audio collected by the front end.

When the device works, the throwing robot and the terminal equipment 9 are taken out, the power switch 55, the frequency-matching switch 57 and the terminal frequency-matching switch of the terminal equipment 9 of the throwing robot are turned on, the throwing robot is matched with the terminal equipment 9, when the green light corresponding to the panel of the terminal equipment 9 is turned on, the display screen is successfully matched, the throwing robot is thrown to a proper position at the moment, and then the control is performed by using the control rod on the terminal equipment 9. The throwing robot can be thrown manually or by adopting an unmanned aerial vehicle, can be thrown to an area beyond 35m and immediately starts working, is driven by a more powerful and quieter motor to enable the throwing robot to pass through silently in various scenes, and can transmit real-time video and audio on site to terminal equipment held by an operator for display in a wireless manner, so that a user can acquire video and audio scout information in real time in a building or in the wild. The application of engineering plastics and alloy materials is beneficial to the formation of lighter, firm and durable, and the vertical falling impact of 9M height and the horizontal throwing impact of 36M can be resisted; through exquisite structural design, provide powerful protective capability for the product, have certain dustproof, waterproof, protection against shock ability, can bear unexpected immersion water deep 30M department and reach 5 minutes, can replace the staff to go to various scenes to real-time transmission is on terminal equipment's the display screen, makes the staff can long-range reconnaissance to the place ahead situation, conveniently formulates suitable scheme to various scenes. The throwing robot is dumbbell-like in appearance, is made of rubber, engineering plastics and aluminum alloy, and is light in overall structure; the two independent motors are driven, the driving force is large and quieter, and the running sound is only 22 dB at the distance of 6M; simultaneously, the image and audio transmission can be carried out, the audio is unidirectional audio, and the terminal can only be connected at the rear end; the infrared function is also matched, so that the infrared light can be clearly seen in dark environment; a battery is arranged in the machine for running, and although the battery is limited by the size, the super-large capacity battery cannot be used, the self weight is reduced, better driving force is provided, and the operational endurance of more than 1 hour is still provided through the use of engineering plastic materials and excellent structural design; the wireless transmission module is provided, so that images and audios can be transmitted to a display screen of the rear terminal equipment in real time, 120M transmission distance can be realized under the condition of outdoor visibility, and 80M transmission distance can be realized under the indoor complicated invisible environment.

When the throwing robot falls into the pit, the robot is thrown out of the pit through the directional ejection device, the initial state of the spring 11 is compressed in the inclined tube 10, when the robot falls into the pit and cannot climb out, the robot is moved to one side of the pit, then the rack 16 is driven by the driving motor 18 to move, the rack 16 drives the fixing rod 15 to move out of the fixing hole, at the moment, the spring 11 is required to be restored to the initial state, deformation is required, at the moment, the whole robot is separated from the inclined tube 10 and the guide tube 12 under the action of the spring 11, the robot is thrown out of the pit, at the moment, the inclined tube 10 is equivalent to the action of the directional tail fin of the original throwing robot, and the camera 83 of the robot is kept at the upward position continuously, so that pictures can be shot conveniently.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (8)

1. The throwing robot with the ejection function comprises a camera (83), a controller (4), a driving wheel (7), a machine base (2), a driving device, a light supplementing seat (51), a machine shell (1), a microphone (56), a battery pack (3), a light supplementing lamp (52) and an antenna (81), wherein the machine shell (1) is cylindrical, and the camera (83) is fixed on one side of the machine shell (1); the base (2) is fixed in the shell (1), the battery pack (3) and the antenna (81) are both installed on the base (2), the light supplementing seat (51) is fixed on the shell (1) and is opposite to the camera (83), and the light supplementing lamp (52) and the microphone (56) are both installed on the light supplementing seat (51); the driving devices are arranged at two ends of the machine base (2); the driving wheels (7) are arranged on the driving device and symmetrically positioned at two ends of the machine base (2); the controller (4) is arranged on the machine base (2) and respectively connected with the camera (83) and the microphone

(56) The battery pack (3), the light supplementing lamp (52), the antenna (81) and the driving device are connected, and is characterized in that,

the directional ejection device is obliquely arranged on the shell (1), the directional ejection device comprises an inclined tube (10), the inclined tube (10) is fixedly arranged on the shell (1), a fixing piece (15) is arranged on the upper portion in the inclined tube (10), a sliding groove (17) and a driving motor (18) are symmetrically arranged on the fixing piece (15), a gear (19) is fixedly connected to an output shaft of the driving motor (18), a rack (16) is movably connected in the sliding groove (17), a fixing rod (15) is fixedly connected to the outer side of the rack (16), the gear (19) is meshed with the rack (16), a guide tube (12) is sleeved on the outer ring of the inclined tube (10), a guide seat (13) is fixedly connected to the lower portion of the guide tube (12), a spring (11) is arranged on the lower portion of the fixing piece (15), the spring (11) is fixed between the fixing piece (15) and the guide seat (13), and the inclined tube (10) and the guide tube (12) are respectively provided with a fixing hole and a position corresponding to each other, and the fixing rod (15) is fixedly connected with the guide tube (12) through the fixing hole (10).

2. A throwing robot according to claim 1, characterized in that the driving means comprises a motor (61), a connecting shaft (67) and a driving gear (62), the motor (61) is fixed at the end of the machine base (2), the driving gear (62) is fixed on the motor (61), the driving gear (62) is meshed with a driven gear (66), the connecting shaft (67) is rotatably mounted at the end of the machine base (2), one end of the connecting shaft (67) is connected with the driven gear (66), and the other end is connected with the driving wheel (7).

3. A throwing robot according to claim 2, further comprising end caps (64) and a sleeve (63), wherein the end caps (64) are fixed to both ends of the stand (2), the sleeve (63) is fixed to the end caps (64), and the connecting shaft (67) is rotatably mounted to the sleeve (63).

4. A throwing robot according to claim 3, further comprising a sealing ring (65), the sealing ring (65) being mounted on the end cap (64) for sealing the end cap (64) with the casing (1).

5. A throwing robot according to claim 1, characterized in that the driving wheel (7) is a rubber wheel, the

The driving wheel (7) comprises a hub (71), the hub (71) is connected with the driving device, a spoke (72) is arranged on the hub (71), and the spoke (72) is arranged on the hub (71) and is coaxially arranged with the hub (71); the spoke (72) is provided with driving sheets (75) which are arranged in an annular array, and the driving sheets (75) are provided with a group of anti-skid devices (75-1).

6. A throwing robot according to claim 5, wherein the hub (71) is provided with a driving slot (76), and the driving slot (76) is movably inserted into the end of the casing (1).

7. A throwing robot according to any one of claims 1 to 7, further comprising: aviation plug (54) and switch, aviation plug (54) and switch install on light filling seat (51) and all be connected with controller (4).

8. A throwing robot according to any one of claims 1 to 7, wherein the antenna (81) comprises a 2.5G antenna and a 433 antenna, the 2.5G antenna and 433 antenna being mounted at respective ends of the stand (2).