Discus-throwing robot

Abstract

The present invention discloses a discus throwing robot, which includes a fuselage and a first driving member. The fuselage has a receiving cavity for accommodating discuses, and enables a plurality of discuses to be stacked vertically in sequence in the receiving cavity. A throwing hole communicating with the outside is formed on the cavity wall of the receiving cavity, and the throwing hole is aligned with the lowermost discus. The first driving member is arranged on the fuselage and is used to drive the lowermost discus to move out of the fuselage through the throwing hole. By using the first driving member to push the lowermost discus to move out of the fuselage through the throwing hole, a plurality of discuses are sequentially thrown onto the ground from bottom to top. Automatically throwing discuses by using the discus throwing robot is beneficial to saving manpower, avoiding manual back-and-forth handling of discuses, and safety accidents such as bruising and bumping during the handling of discuses, and has the characteristics of high operation efficiency and high operation safety.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a discus throwing robot. Background Art

[0002] Before the work permit of the substation is issued, it is necessary to surround the work site with a safety fence. The discus-type fence is a commonly used safety fence with the characteristics of simple structure and easy use. The discus-type fence includes a discus and a railing. When in use, the discus is first placed on the ground where the safety fence needs to be arranged, and then the railing is inserted into the discus, and an isolation net or isolation belt is pulled on the adjacent railing to form a closed safety fence. The existing safety fence setting method is: the operator first carries the discus to the corresponding position where the safety fence needs to be arranged, and then places the discus in sequence, and finally inserts the railing and installs the isolation net or isolation belt. The prior art has the following shortcomings: Due to the heavy weight of the discus, it is very physically demanding to manually arrange the discus, and the operating efficiency is low. Also, during the operation, safety accidents caused by being hit by the discus are prone to occur. Summary of the invention

[0003] The purpose of the embodiment of the present invention is to provide a discus throwing robot, which uses the robot to automatically throw the discus, with high operation efficiency and high operation safety.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A discus-delivering robot is provided, comprising a fuselage and a first driving member, wherein the fuselage has a accommodating cavity for accommodating discus, and a plurality of discus can be stacked in sequence in a vertical direction in the accommodating cavity, a delivery hole connected to the outside is provided on the cavity wall of the accommodating cavity, the delivery hole is directly opposite to the discus located at the bottom, and the first driving member is arranged on the fuselage, and the first driving member is used for driving the discus located at the bottom to move to the outside of the fuselage through the delivery hole.

[0006] Furthermore, an elastic layer is provided on the cavity wall of the accommodating cavity, the elastic layer abuts against the periphery of the discus, and the elastic layer can apply elastic force to the discus.

[0007] Furthermore, the first driving member includes a fixed part and a telescopic part, the fixed part is installed on a side of the fuselage away from the launching hole, and the telescopic part is arranged at an end of the fixed part facing the launching hole, and the telescopic part can extend into the accommodating cavity and push the discus to move toward the launching hole.

[0008] Further, the first driving member further includes a connecting portion disposed at an end of the telescopic portion away from the fixed portion. The connecting portion is provided with a receiving groove, and the opening of the receiving groove faces the discus. Part of the discus can be received in the receiving groove.

[0009] Further, it further includes a second driving member disposed above the first driving member. The second driving member includes a supporting portion for supporting the discus and enabling the lowermost discus to be spaced apart from other discuses.

[0010] Further, there are two supporting portions which are spaced apart in the vertical direction. The lowermost discus is the discus to be dropped, and the two discuses adjacent to the discus to be dropped are respectively supported by the two supporting portions.

[0011] Further, a bottom plate is provided at the bottom of the receiving cavity. The lowermost discus is placed on the bottom plate, and the bottom plate is elastically connected to the fuselage.

[0012] Further, a spring and a limiting member are provided between the bottom plate and the fuselage. When the discus is placed on the bottom plate, the bottom plate abuts against the limiting member. When no discus is placed on the bottom plate, the spring can drive the bottom plate to separate from the limiting member.

[0013] Further, the limiting member is coaxial with the bottom plate, and there are multiple springs which are spaced apart in the circumferential direction of the limiting member.

[0014] Further, it further includes a nose and a third driving member. The nose is disposed at the top of the fuselage, and the third driving member is disposed at the bottom of the fuselage. The nose includes a control unit, a vision unit, and a communication unit. The third driving member is electrically connected to the control unit, and the third driving member is used to drive the fuselage to move on the ground.

[0015] The beneficial effects of the present invention are as follows: By providing a receiving cavity on the fuselage and stacking a plurality of discuses vertically in the receiving cavity in sequence, and disposing a first driving member on one side of the fuselage away from the dropping hole, the first driving member is used to push the lowermost discus to move out of the fuselage through the dropping hole, so as to realize dropping a plurality of discuses onto the ground from bottom to top in sequence. Using the discus dropping robot to automatically drop the discus is beneficial to saving manpower, avoiding manual back-and-forth handling of the discus, and safety accidents such as bruising and bumping during the handling of the discus, and has the characteristics of high operation efficiency and high operation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described in detail below with reference to the drawings and embodiments.

[0017] Figure 1 This is a schematic diagram of the first perspective of the discus throwing robot according to an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the second perspective of the discus throwing robot according to an embodiment of the present invention.

[0019] Figure 3 This is a partial schematic diagram of the first driving member according to an embodiment of the present invention.

[0020] Figure 4 This is a partial cross-sectional view of the fuselage in the first state according to an embodiment of the present invention.

[0021] Figure 5 This is a partial cross-sectional view of the fuselage in the second state according to an embodiment of the present invention.

[0022] Figure 6 This is a cross-sectional view of the discus according to an embodiment of the present invention.

[0023] In the figure:

[0024] 1. Fuselage; 10. Accommodation cavity; 11. Shell; 12. Elastic layer; 13. Delivery hole; 14. Bottom plate; 15. Limiting member; 16. Spring; 17. Avoidance hole; 2. Second driving member; 21. Support portion; 3. Second driving member; 4. First driving member; 41. Telescopic portion; 42. Connecting portion; 5. Nose; 6. Power supply unit; 7. Discus; 71. Insertion hole. Detailed implementation manners

[0025] To make the technical problems solved by the present invention, the technical solutions adopted and the achieved technical effects clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present invention.

[0026] Such as Figure 1As shown, a discus delivery robot provided by the present invention is used to deliver a discus 7 to a set position. The discus 7 is used to install a railing, and an isolation net or isolation belt is set between adjacent railings to form a safety fence. The safety fence is used to surround the work site to play a role of safety isolation. The discus delivery robot includes a fuselage 1 and a first driving member 4. The fuselage 1 includes a shell 11, which plays an overall supporting role. The shell 11 is a hollow structure. A accommodating chamber 10 is arranged in the shell 11. The accommodating chamber 10 is used to accommodate the discus 7. The accommodating chamber 10 is cylindrical, and the diameter of the accommodating chamber 10 is matched with the discus 7 so that only one discus 7 can be accommodated in the radial direction of the accommodating chamber 10. A plurality of discus 7 are stacked in the accommodating chamber 10 in sequence along the vertical direction. A delivery hole 13 is provided on the cavity wall of the accommodating chamber 10, that is, the delivery hole 13 is opened on the shell 11, and the accommodating chamber 10 is connected to the outside through the delivery hole 13. The delivery hole 13 is located near the bottom of the accommodating chamber 10, so that the delivery hole 13 can be opposite to the discus 7 located at the bottom. The first driving member 4 is used to drive the discus 7, and the first driving member 4 is installed on the fuselage 1, and the first driving member 4 is located on the side of the fuselage 1 away from the delivery hole 13. The first driving member 4 drives the discus 7 located at the bottom to move to the outside of the fuselage 1 through the delivery hole 13, so as to achieve the delivery of the discus 3 to the ground. It can be understood that by placing the discus 7 in the accommodating chamber 10 in sequence along the vertical direction, when the discus 7 located at the bottom is pushed out of the delivery hole 13 by the first driving member 4, the discus 7 located above can automatically move downward under the action of gravity, so that the discus 7 located at the bottom of the remaining discus 3 in the accommodating chamber 10 can be opposite to the delivery hole 13. In this cyclic operation, a plurality of discus 7 are delivered to the ground from bottom to top.

[0027] Optionally, an elastic layer 12 is provided on the cavity wall of the accommodating cavity 10, and the elastic layer 12 is made of an elastic material. When the elastic layer 12 is subjected to an external force, it will be compressed and generate elastic force. The elastic layer 12 is cylindrical, and the inner diameter of the elastic layer 12 is smaller than the diameter of the discus 7. After the discus 7 is placed in the accommodating cavity 10, the elastic layer 12 abuts against the periphery of the discus 7, and the discus 7 deforms the elastic layer 12, and the elastic layer 12 generates an elastic force toward the axial direction of the accommodating cavity 10. When the discus 7 is placed, after the bottom discus 7 is pushed out by the first driving member 4, the upper discus 7 falls one by one. Under the elastic force of the elastic layer 12, it is helpful to slow down the falling speed of the discus 7, and avoid the discus 7 from causing a large impact on the bottom of the accommodating cavity 10. In this way, the fuselage 1 is prevented from being damaged due to a large impact, and the service life is improved.

[0028] Optionally, refer to Figure 1 and Figure 3As shown, the first driving member 4 can be a driving device that can be telescopic in a linear direction, such as a hydraulic cylinder, a gas cylinder, or an electric telescopic rod. In this embodiment, the first driving member 4 is an electric telescopic rod so as to be powered by a battery. The first driving member 4 includes a fixed portion and a telescopic portion 41, and the telescopic portion 41 can telescopically move relative to the fixed portion. The fixed portion is mounted on the side of the fuselage 1 away from the delivery hole 13. The first driving member 4 also includes a shell, and the fixed portion is fixedly mounted in the shell, the shell is connected to the shell body 11, and the shell and the shell body 11 are integrally formed. The telescopic portion 41 is arranged at one end of the fixed portion facing the delivery hole 13, and the telescopic portion 41 can pass through the avoidance hole 17 on the shell body 11 and extend to the inside of the accommodating chamber 10, so that the telescopic portion 41 can push the discus 7 to move toward the delivery hole 13. In order to enable the telescopic portion 41 to smoothly push the discus 7 to move, the first driving member 4 also includes a connecting portion 42, and the connecting portion 42 is arranged at one end of the telescopic portion 41 away from the fixed portion. The connecting portion is provided with a receiving groove, the notch of which faces the discus 7, and when the telescopic portion 41 moves toward the discus 7, part of the discus 7 can be received in the receiving groove. It is understandable that when the contact surface between the first driving member 4 and the discus 7 is small, it is easy to cause the contact position to deviate from the radial direction of the discus 7, causing the discus 7 to rotate around its own axis, and then the discus 7 cannot be smoothly pushed out. The purpose of setting the connecting portion 42 is to increase the contact surface between the first driving member 4 and the discus 7, so that the discus 7 can be smoothly contacted with the first driving member 4 and pushed. When the first driving member 4 pushes the discus 7, the side of the discus 7 away from the delivery hole 13 is received in the receiving groove. The thrust of the first driving member 4 is applied to the discus 7 through the contact surface between the entire receiving groove and the discus 7, which can prevent the discus 7 from rotating and enable the discus 7 to be smoothly pushed out.

[0029] Optionally, refer to Figure 2As shown in the figure, the discus throwing robot further includes a second driving member 2. The second driving member 2 is arranged above the first driving member 4, and the second driving member 2 is used to support the discus 7 located above the throwing hole 13. The second driving member 2 is an electric telescopic rod, and the second driving member includes a fixing part and a supporting part 21, and the supporting part 21 can telescopically move relative to the fixing part. The discus 7 at the bottommost (this discus 7 is opposite to the throwing hole 13) is the discus to be thrown, and the supporting part 21 is used to support the discus 7 located above the discus to be thrown, so that the discus to be thrown can be spaced from the other discuses 7 above it, and further the discuses 7 above cannot exert a downward pressure on the discus to be thrown, which is beneficial to the discus to be thrown being smoothly pushed out by the first driving member 4. Specifically, there are four second driving members 2 in total, and the four second driving members 2 are divided into two groups in pairs. The first group and the second group are respectively arranged on opposite sides of the fuselage 1. The first group and the second group are distributed along the first direction, the first driving member 4 and the throwing port 13 are distributed along the second direction, and the first direction is perpendicular to the second direction. The two second driving members 2 in each group are arranged at intervals in the vertical direction, and the two second driving members 2 in each group are respectively used to support the two discuses 7 adjacent to the upper part of the discus to be thrown. It can be understood that several discuses 7 are successively the first, the second, the third,... the Nth from bottom to top. Among them, the first discus 7 is the discus to be thrown, and the two second driving members 2 in each group are respectively used to support the second and the third discuses 7. When throwing the discus 7, the two second driving members 2 respectively extend to the lower parts of the second and the third discuses 7. After the discus to be thrown is pushed out, the lower second driving member 2 contracts, so that the second discus 7 falls to the position of the discus to be thrown, that is, the second discus 7 falls and is opposite to the throwing hole 13. Then the lower second driving member 2 extends, and the upper second driving member 2 contracts, and the third discus 7 and all the discuses 7 above it fall, so that the third discus 7 falls onto the lower second driving member 2. Finally, the upper second driving member 2 extends, so that the two second driving members 2 respectively support the third and the fourth discuses 7. By operating in this cycle, all the discuses 7 fall onto the position of the discus to be thrown in turn.

[0030] It should be noted that in this embodiment, the structure of the discus 7 is as Figure 6 shown. The discus 7 has a conical structure. The bottom surface of the discus 7 is horizontally arranged, the top surface is inclined, and a plug hole 71 for inserting a railing is opened on the top surface. After several discuses 7 are stacked together, there is a gap between the bottom surface of the upper discus 7 and the top surface of the lower discus 7 among two adjacent discuses 7, and this gap can be used to insert the supporting part 21 of the second driving member 2.

[0031] Optionally, referring to Figure 4 and Figure 5As shown, a bottom plate 14 is provided at the bottom of the accommodating chamber 10, and the discus 7 at the bottom is placed on the bottom plate 14, that is, the discus to be placed is placed on the bottom plate 14. The bottom plate 14 is spaced from the bottom of the accommodating chamber 10, and a spring 16 and a stopper 15 are provided between the bottom plate 14 and the bottom of the accommodating chamber 10. The stopper 16 is coaxially arranged with the bottom plate 14, and the stopper 16 is installed at the bottom of the accommodating chamber 10, and the two ends of the spring 15 are respectively connected to the bottom of the bottom plate 14 and the bottom of the shell 11. There are multiple springs 15, and the multiple springs 15 are spaced along the circumferential direction of the stopper 16 to make the bottom plate 14 and the shell 11 elastically connected. In the first state, the discus 7 is placed on the bottom plate 14, and the bottom plate 14 is driven to approach the bottom of the accommodating chamber 10 and abut against the stopper 16 under the action of the gravity of the discus 7, and the discus 7 can be directly opposite to the placement hole 13. During the descent of the bottom plate 14, the spring 15 can reduce the impact of the bottom plate 14 on the bottom of the housing 11 caused by the rapid descent. In the second state, the discus 7 is pushed out by the first driving member 4, and the spring 15 drives the bottom plate 14 to move upward and separate the bottom plate 14 from the stop member 15.

[0032] Optionally, refer to Figure 1 As shown, the discus delivery robot also includes a head 5, a third driving member 3 and a power supply unit 6. The power supply 6 is installed on the fuselage 1, and the power supply unit 6 is a battery for providing electric energy. The third driving member 3 includes a wheel set, and the third driving member 3 is arranged at the bottom of the fuselage 1. The third driving member 3 is used to drive the entire discus delivery robot to move on the ground. The head 5 includes a control unit, a visual unit and a communication unit, and the control unit is used to control the movement of each component on the discus delivery robot. The visual unit is used for image detection of the external environment and provides data for the walking of the discus delivery robot. The communication unit is used for remote communication to realize remote control of the discus delivery robot. In actual use, the discus delivery robot can automatically walk according to the set route by establishing a laying path model of the discus 7, and then deliver the discus 7 at the set position to realize the automatic delivery of the discus 7.

[0033] The beneficial effects of this embodiment are as follows: by arranging a receiving chamber 10 on the fuselage 1, and stacking a plurality of discuses 7 in the receiving chamber 10 in sequence along the vertical direction, a first driving member 4 is arranged on the side of the fuselage 1 away from the delivery hole 13, and the first driving member 4 is used to push the discus 7 located at the bottom to move to the outside of the fuselage 1 through the delivery hole 3, so as to achieve the delivery of a plurality of discuses 7 from bottom to top to the ground in sequence. Automatic delivery of the discus 7 by the discus delivery robot is conducive to saving manpower, avoiding manual back and forth transportation of the discus 7, and safety accidents such as being hit or bumped when carrying the discus 7, and has the characteristics of high operation efficiency and high operation safety.

[0034] The above content is only a preferred embodiment of the present invention. For those of ordinary skill in the art, based on the idea of the present invention, there will be changes in the specific implementation manner and application scope. The content of this specification should not be construed as a limitation to the present invention.

Claims

1. A discus throwing robot, It is characterized in that The invention comprises a fuselage and a first driving member, wherein the fuselage has a receiving cavity for receiving discus, and a plurality of discus can be stacked in the receiving cavity in sequence along the vertical direction, a delivery hole connected to the outside is opened on the cavity wall of the receiving cavity, and the delivery hole is directly opposite to the discus located at the bottom, and the first driving member is arranged on the fuselage, and the first driving member is used to drive the discus located at the bottom to move to the outside of the fuselage through the delivery hole; The first driving member includes a fixed portion and a telescopic portion, wherein the fixed portion is installed on a side of the body away from the delivery hole, and the telescopic portion is arranged at an end of the fixed portion facing the delivery hole, and the telescopic portion can extend into the accommodating cavity and push the discus to move toward the delivery hole; The first driving member further comprises a connecting portion, which is arranged at one end of the telescopic portion away from the fixed portion, and the connecting portion is provided with a receiving groove, the notch of the receiving groove faces the discus, and part of the discus can be received in the receiving groove.

2. The discus throwing robot according to claim 1, It is characterized in that An elastic layer is arranged on the cavity wall of the accommodating cavity, the elastic layer abuts against the periphery of the discus, and enables the elastic layer to apply elastic force to the discus.

3. The discus throwing robot according to claim 1, It is characterized in that It also includes a second driving member, which is arranged above the first driving member. The second driving member includes a supporting portion, and the supporting portion is used to support the discus and allow the discus located at the bottom to be spaced apart from the other discus.

4. The discus throwing robot according to claim 3, It is characterized in that There are two supporting parts, which are spaced apart in the vertical direction. The discus located at the bottom is the discus to be dropped, and the two discus adjacent to the discus to be dropped are supported by the two supporting parts respectively.

5. The discus throwing robot according to claim 1, It is characterized in that A bottom plate is provided at the bottom of the accommodating cavity, the discus located at the bottom is placed on the bottom plate, and the bottom plate is elastically connected to the fuselage.

6. The discus throwing robot according to claim 5, It is characterized in that A spring and a limiting member are provided between the bottom plate and the fuselage. When the discus is placed on the bottom plate, the bottom plate abuts against the limiting member. When the discus is not placed on the bottom plate, the spring can drive the bottom plate to separate from the limiting member.

7. The discus throwing robot according to claim 6, It is characterized in that The limiting member is coaxial with the bottom plate, and there are a plurality of springs, which are distributed at intervals along the circumferential direction of the limiting member.

8. The discus throwing robot according to claim 1, It is characterized in that It further includes a machine head and a third driving member. The machine head is disposed on the top of the fuselage, and the third driving member is disposed on the bottom of the fuselage. The machine head includes a control unit, a vision unit and a communication unit. The third driving member is electrically connected to the control unit, and the third driving member is used to drive the fuselage to move on the ground.

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