Cylindrical object throwing structure and unmanned moving device

Abstract

The invention discloses a cylindrical object throwing structure and an unmanned mobile device, and relates to the technical field of backpack top, the structure can be arranged on a mobile platform, and is used for precisely throwing a cylindrical object in a certain size range to a target position. The structure is small in overall size and light in weight, and can meet the use requirements of the mobile platform under the condition that the load and the installation size are limited. And meanwhile, the structure is simple and reasonable, convenient to install and use, high in stability and weather resistance and capable of meeting the use requirements in special application scenes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of backpacking upper clothing, in particular to a cylindrical object throwing structure and an unmanned mobile device. BACKGROUND

[0002] An unmanned intelligent mobile chassis (including but not limited to a robot dog, a wheeled chassis, a tracked chassis, etc.) can provide professional services such as cargo transportation and distribution, postal express delivery, take-out meal delivery, mobile retail, environmental sanitation cleaning, security patrol, fire emergency, agricultural and garden operation, etc. after being equipped with a suitable upper clothing. The unmanned intelligent mobile chassis can throw objects to a target position after being equipped with an upper clothing having a throwing function.

[0003] However, the existing technology can realize throwing of cylindrical objects, but the existing technology has the disadvantages of large size and large weight. Due to the limited load and installation size of the unmanned intelligent mobile chassis, the cylindrical object throwing upper clothing with large size and large weight in the existing technology cannot meet the requirements of cooperation with the unmanned intelligent mobile chassis.

[0004] Therefore, how to provide a throwing device which can accurately throw cylindrical objects and has small size and light weight is an urgent technical problem to be solved by those skilled in the art. SUMMARY

[0005] In view of the above problems, the present application provides a cylindrical object throwing structure and an unmanned mobile device for overcoming the above problems or at least partially solving the above problems.

[0006] The present application provides the following solutions:

[0007] A cylindrical object throwing structure comprises:

[0008] A friction cavity, the friction cavity comprises a cavity structure open at both ends, the cavity structure is used for accommodating a thrown object and guiding a throwing direction of the thrown object; the cavity structure comprises a first notch, a second notch and a third notch, the first notch is located above the friction cavity to form a thrown object placing opening; the second notch and the third notch are located on the side surface of the friction cavity and are oppositely arranged;

[0009] A pair of friction throwing execution assemblies, the friction throwing execution assemblies comprise a rotary driver and a friction wheel; a pair of the friction throwing execution assemblies are respectively arranged on both sides of the friction cavity, and at least a part of the wheel surface of the friction wheel included in each of the pair of the friction throwing execution assemblies corresponds to the inner side of the friction cavity through the second notch and the third notch;

[0010] A push driving assembly is connected with the friction cavity.

[0011] The rotation driver is used to drive the friction wheels to rotate, so that after the push driving assembly pushes the projectile into the space between the two friction wheels via the rear end of the friction cavity, the two friction wheels in the rotating state accelerate the projectile to a target acceleration and then throw it out via the front end of the friction cavity, so that the projectile is thrown to a target position.

[0012] Preferably, the bottom of each rotation driver is provided with a base, and the two bases are connected with the friction cavity through a spacing adjustment assembly.

[0013] Preferably, the spacing adjustment assembly comprises a spacing adjustment spring.

[0014] Preferably, the bottom of each base is connected with a sliding support, so that the base and the rotation driver can be adjusted in position along the axial direction of the friction cavity.

[0015] Preferably, the rotation driver comprises an inner rotor frameless torque motor, the friction wheel comprises an outer rotor disc arranged on the rotor of the inner rotor frameless torque motor and friction rubber arranged outside the outer rotor disc.

[0016] Preferably, the inner rotor frameless torque motor is connected with a rotation speed detection sensor.

[0017] Preferably, the push driving assembly comprises a push motor and a push lead screw.

[0018] Preferably, the friction cavity is provided with a plurality of mounting supports, and the mounting supports are used to realize connection with an unmanned mobile chassis.

[0019] An unmanned mobile device comprises an unmanned mobile chassis body provided with the cylindrical object throwing structure.

[0020] Preferably, the unmanned mobile device further comprises a pitch angle adjustment assembly used to adjust the pitch angle of the cylindrical object throwing structure.

[0021] According to the specific embodiments of the present application, the following technical effects are provided:

[0022] The cylindrical object throwing structure and the unmanned mobile device provided by the embodiment of the present application can be arranged on a mobile platform, and is used for accurately throwing a cylindrical object within a certain size range to a target position. The overall size of the structure is small, and the weight is light, so that the requirements of the scene where the load and the installation size of the mobile platform are limited can be met. Meanwhile, the structure is simple and reasonable in structure, convenient to install and use, and strong in stability and weather resistance, so that the requirements of the scene where special applications are used can be met.

[0023] Of course, implementing any product of the present application does not necessarily require achieving all the advantages described above at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0025] Figure 1 is a structural schematic diagram of a cylindrical object throwing structure provided by the embodiment of the present application;

[0026] Figure 2 is a bottom view of the cylindrical object throwing structure provided by the embodiment of the present application;

[0027] Figure 3 is a sectional view of the rotating driver provided by the embodiment of the present application.

[0028] In the drawings: friction cavity 1, friction throwing execution assembly 2, rotating driver 21, inner rotor frameless torque motor 211, rotor 2111, friction wheel 22, outer rotating disc 221, friction rubber 222, base 23, spacing adjustment assembly 24, sliding support 25, rotating speed detection sensor 26, mounting support 27, pushing driving assembly 3, pushing motor 31, pushing lead screw 32, thrown object 4. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0030] Referring to Figure 1 , Figure 2 , Figure 3 , a cylindrical object throwing structure provided by the embodiment of the present application, like Figure 1 ,Figure 2 , Figure 3 As shown, the structure may include:

[0031] The friction cavity 1 includes a cavity structure that is open at both the front and rear ends. The cavity structure is used to accommodate the projectile 4 and guide the throwing direction of the projectile 4. The cavity structure includes a first notch, a second notch, and a third notch. The first notch is located on the top of the friction cavity 1 and is used to form a placement opening for the projectile 4. The second notch and the third notch are both located on the side of the friction cavity 1 and are arranged opposite to each other.

[0032] A pair of friction throwing actuators 2, each comprising a rotary driver 21 and a friction wheel 22; the pair of friction throwing actuators 2 are respectively disposed on both sides of the friction cavity 1, and at least a portion of the wheel surface of the friction wheel 22 included in each pair of friction throwing actuators 2 extends to the inner side of the friction cavity 1 via the second notch and the third notch respectively;

[0033] Push drive component 3, which is connected to the friction cavity 1;

[0034] The rotary driver 21 is used to drive the friction wheel 22 to rotate so that after the push drive assembly 3 pushes the projectile 4 between the two friction wheels 22 via the rear end of the friction cavity 1, the two rotating friction wheels 22 accelerate the projectile 4 to the target acceleration and then throw it out from the front end of the friction cavity 1, so that the projectile 4 is thrown to the target position.

[0035] The cylindrical object throwing structure provided in this application embodiment can be deployed on the upper structure of a mechanical dog or other mobile chassis for throwing cylindrical objects. This structure can be used for the targeted throwing of fire extinguishers. The purpose is to align the throwing structure with the target after detecting a fire source or other target object and adjust the pitch angle using an external structure. The friction wheels 22 on both sides are accelerated to a certain speed by the rotary driver 21, and the lower push drive assembly 3 pushes the cylindrical object into the friction cavity 1. The friction wheels 22 accelerate the object to the target acceleration, after which it is thrown from the front end to the target location.

[0036] To facilitate the installation of a pair of friction throwing actuators 2 and to adjust the spacing between them as needed, this embodiment of the application provides a base 23 at the bottom of each rotary driver 21, and the two bases 23 are connected to the friction cavity 1 via a spacing adjustment component 24.

[0037] In a specific implementation, in order to ensure that the distance between the two friction throwing execution assemblies 2 after adjustment can be kept at a certain distance, and at the same time, the distance between the two friction throwing execution assemblies 2 can be fine-tuned after the throwing object 4 enters, the embodiment of the present application can be that the distance adjustment assembly 24 comprises a distance adjustment spring. The distance adjustment spring can ensure that the distance between the two friction throwing execution assemblies 2 can be fine-tuned, so that the throwing object 4 can smoothly enter the two friction throwing execution assemblies 2, and at the same time, under the action of the distance adjustment spring, the two friction throwing execution assemblies 2 can provide sufficient pressure to the throwing object, thereby increasing the friction between the friction wheel 22 and the throwing object 4. The distance between the two friction wheels 22 can be automatically centered and adjusted by the tension spring.

[0038] In order to adjust the front and rear positions of the friction wheel 22, the embodiment of the present application can be provided that the bottom of each base 23 is connected with a sliding support 25, so that the base 23 and the rotary driver 21 can be adjusted in position along the axial direction of the friction cavity 1.

[0039] The rotary driver 21 provided by the embodiment of the present application can adopt various forms. For example, in one implementation, the rotary driver 21 provided by the embodiment of the present application can comprise an inner rotor frameless torque motor 211, the friction wheel 22 comprises an outer rotating disc 221 arranged on the rotor 2111 of the inner rotor frameless torque motor 211 and a friction rubber 222 arranged outside the outer rotating disc 221.

[0040] In order to obtain the rotating speed of the rotary driver 21 in real time, the embodiment of the present application can be provided that the inner rotor frameless torque motor 211 is connected with a rotating speed detection sensor 26.

[0041] Further, the pushing driving assembly 3 comprises a pushing motor 31 and a pushing lead screw 32.

[0042] In order to facilitate the connection of the structure with the mobile platform, the embodiment of the present application can be provided that the friction cavity 1 is provided with a plurality of mounting supports 27, and the plurality of mounting supports 27 are used to realize the connection with the unmanned mobile chassis. The unmanned chassis can be any one of a robot dog, a wheeled chassis, a tracked chassis, etc.

[0043] The action flow of the cylindrical object throwing structure provided by the embodiment of the present application is as follows:

[0044] After discovering the fire source or other target object, the throwing structure is aligned with the target and the pitch angle is adjusted through the external structure. The two friction wheels 22 are accelerated to a certain rotating speed by the rotary driver 21, and the lower pushing driving assembly 3 pushes the cylindrical object into the friction cavity, and then the cylindrical object is accelerated to a target acceleration by the friction wheel 22 and is thrown out from the front end, so as to be thrown to the target position.

[0045] In summary, the application provides a cylindrical object throwing structure, which can be arranged on a mobile platform, for accurately throwing a cylindrical object within a certain size range to a target position. The structure has a small overall size and light weight, and can meet the requirements of use in scenarios where the load and installation size of the mobile platform are limited. At the same time, the structure is simple and reasonable in structure, easy to install and use, and has strong stability and weather resistance, and can meet the requirements of use in special application scenarios.

[0046] The application also provides an unmanned mobile device, which comprises an unmanned mobile chassis body provided with the cylindrical object throwing structure.

[0047] Further, the pitch angle adjusting assembly is used to adjust the pitch angle of the cylindrical object throwing structure.

[0048] It should be noted that, in this document, the relationship terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

[0049] From the above description of the embodiments, those skilled in the art can clearly understand that the application can be implemented by means of software plus a necessary general hardware platform. Based on such understanding, the technical solutions of the application can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in the various embodiments or some parts of the embodiments.

[0050] The various embodiments described in this specification are presented as examples of the application. Each example is provided by way of best mode, and variations of or additions to these examples can be possible. For example, the various embodiments described in this specification can be combined in different combinations. Further, other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. For example, to implement a system embodiment, one can implement a method embodiment and one or more system modules to perform the method embodiment. Each of the various embodiments can be implemented alone or in combination with any other embodiments. It is therefore intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

[0051] Any modification, equivalent replacement, improvement, and the like made within the spirit and principle of the application shall fall within the scope of the protection of the application.

Claims

1. A cylindrical object throwing structure, characterized in that, include: A friction cavity includes a cavity structure open at both the front and rear ends. The cavity structure is used to accommodate a projectile and guide the throwing direction of the projectile. The cavity structure includes a first notch, a second notch, and a third notch. The first notch is located above the friction cavity and is used to form a placement port for the projectile. The second notch and the third notch are both located on the side of the friction cavity and are arranged opposite to each other. A pair of friction throwing actuators, each comprising a rotary driver and a friction wheel; the pair of friction throwing actuators are respectively disposed on both sides of the friction cavity, and at least a portion of the wheel surface of the friction wheel included in each pair of friction throwing actuators extends to the inner side of the friction cavity through the second notch and the third notch respectively; A push-drive component, which is connected to the friction cavity; The rotary driver is used to drive the friction wheels to rotate so that after the push drive assembly pushes the projectile between the two friction wheels via the rear end of the friction cavity, the two rotating friction wheels accelerate the projectile to the target acceleration and then throw it out from the front end of the friction cavity, so that the projectile is thrown to the target position.

2. The cylindrical object launching structure according to claim 1, characterized in that, Each of the rotary actuators has a base at its bottom, and the two bases are connected to the friction cavity via a spacing adjustment assembly.

3. The cylindrical object launching structure according to claim 2, characterized in that, The spacing adjustment assembly includes a spacing adjustment spring.

4. The cylindrical object launching structure according to claim 2, characterized in that, Each of the bases is connected to a sliding bracket at its bottom, so that the base and the rotary drive can be adjusted in position along the axial direction of the friction cavity.

5. The cylindrical object launching structure according to claim 1, characterized in that, The rotary drive includes an inner rotor frameless torque motor, and the friction wheel includes an outer turntable disposed on the rotor of the inner rotor frameless torque motor and friction rubber disposed on the outer side of the outer turntable.

6. The cylindrical object launching structure according to claim 5, characterized in that, The frameless torque motor with an inner rotor is connected to a speed detection sensor.

7. The cylindrical object launching structure according to claim 1, characterized in that, The push drive component includes a push motor and a push screw.

8. The cylindrical object launching structure according to claim 1, characterized in that, The friction cavity is provided with several mounting brackets, which are used to connect with the unmanned mobile chassis.

9. An unmanned mobile device, characterized in that, It includes an unmanned mobile chassis body, wherein the unmanned mobile chassis body is provided with a cylindrical object throwing structure as described in any one of claims 1 to 8.

10. The unmanned mobile device according to claim 9, characterized in that, It also includes a pitch angle adjustment component, which is used to adjust the pitch angle of the cylindrical object throwing structure.

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