Throwing robot with omnidirectional impact resistance

Abstract

The invention provides a throwing robot with omnidirectional impact resistance, relates to the field of robots, and comprises: a bearing platform of the throwing robot, which comprises a motor and a control system, wherein the motor is connected to a one-way groove capable of converting rotational motion into linear motion through gears and ratchets, and the extension of a wheel hub is indirectly controlled through the one-way groove. When the wheel hub contracts, the throwing robot is spherical, thereby improving its omnidirectional impact resistance; when the wheel hub is extended, the throwing robot is dumbbell-shaped, thereby enhancing the robot's movement ability; the wheel hub is connected to the motor through a non-contact magnetic gear, which not only isolates the impact force transmitted to the motor by the collision, but also enables the motor to have an overload protection function, so that the robot has a stronger impact resistance.

Description

Technical Field

[0001] The invention provides a throwing robot with omnidirectional impact resistance capability, and relates to the field of robots. Background Art

[0002] At present, there are two main types of throwing robots: one type mainly includes two-wheel dumbbell structures and spherical structures. This type of robot has a compact structure, light weight, and is easy to throw by hand, but its maneuverability and performance on complex ground passage are poor. In addition, due to its small size and limited energy, the robot's endurance time and wireless communication distance are short. The other type uses the same structure as the common four-wheeled and tracked mobile platforms, but its size is significantly larger and its resistance to falling impact is reduced. Compared with the first type of robot, the second type of robot is slightly heavier, but can still be thrown manually, and its maneuverability, load capacity, and obstacle crossing performance are improved. These two types of throwing robots can be thrown into the working environment by the operator and move within a certain range to complete designated detection or rescue tasks.

[0003] For the throwing detection robot, the design process needs to balance between mass and volume, obstacle crossing performance and impact resistance. Therefore, the performance of the throwing detection robot in terms of obstacle crossing, carrying and throwing needs to be comprehensively considered. At this stage, the mainstream throwing robots are mostly thrown manually, and the throwing height and distance are limited. The throwing height of the robot thrown by a drone generally does not exceed 20m. Moreover, the more impact-resistant the throwing robot is, the simpler its structure is, and the simpler the structure is, the weaker its obstacle crossing ability is. In the face of complex ground environments, the throwing robot cannot cross obstacles and cannot achieve the purpose of detection. Summary of the invention

[0004] In view of the above problems existing in the prior art, the present invention provides a throwing robot with omnidirectional impact resistance. The technical problem to be solved by the present invention is: to improve the omnidirectional impact resistance of the throwing robot through a magnetic gear set and a C60 wheel hub, and to improve the movement ability of the throwing robot through a retractable deformation structure.

[0005] In order to solve the above technical problems, the present invention is implemented through the following technical solutions:

[0006] A throwing robot with omnidirectional impact resistance comprises a buffer shell and a magnetic gear set. A C60 hub is arranged in the buffer shell. The C60 hub is glued to the buffer shell outwardly and connected to a rolling bearing inwardly. The rolling bearing is connected to a telescopic mechanism. The magnetic gear set consists of a pair of stators, an inner rotor and an outer rotor. The inner rotor and the stator are connected to the telescopic mechanism shell so that they can be telescoped together with the telescopic mechanism. The outer rotor is connected to the C60 hub so that the magnetic gear set can perform telescopic movement together with the telescopic mechanism.

[0007] As a preferred technical solution, the telescopic mechanism is connected to the gear set through a hollow shaft. The gear set includes two externally meshed driving wheels and a driven wheel. The driving wheel is connected to the motor, and the driven wheel is connected to the telescopic mechanism and the magnetic gear set through the hollow shaft to transmit the power of the motor to the C60 wheel hub.

[0008] As a preferred technical solution, the telescopic mechanism includes a first buckle, a second buckle under the first buckle, and a spring device between the buckles on both sides of the wheel hub. When the throwing robot contracts, the first buckle is buckled with the second buckle, and the spring device stores energy. When the second buckle drops to the point where the first buckle is not buckled, the spring device releases energy and the telescopic mechanism expands.

[0009] As a preferred technical solution, the second buckle of the telescopic mechanism is hinged to the telescopic piece, the telescopic piece is placed in a first flange with four one-way grooves, and the first flange is fixed to the bearing platform to ensure that the telescopic piece can only perform one-way movement of rising and falling.

[0010] As a preferred technical solution, the expansion piece has a second flange with four Archimedean spiral openings outside the expansion piece, the expansion piece and the second flange are connected by set screws, and the second flange has a ratchet mechanism connected to the gear set through a hollow shaft. The rotation of the ratchet is used to control the descent of the expansion piece, thereby indirectly controlling the extension movement of the expansion mechanism.

[0011] As a preferred technical solution, the magnetic gear set is made of aluminum alloy, the stator is made of 8 iron sheets as the magnetization power source, and the inner rotor and the outer rotor are made of 4 N-pole and 4 S-pole strong magnets arranged alternately.

[0012] As a preferred technical solution, the balancing tail is composed of a three-stage spring telescopic structure. When the throwing robot is in a retracted state, the balancing tail is completely wrapped by the telescopic mechanism shell. At this time, the balancing tail stores elastic potential energy. When the throwing robot is in an extended state, the elastic potential energy of the balancing tail is released and the balancing tail pops out. When the C60 wheel hub rotates, the balancing tail contacts the ground, providing a torque in the opposite direction of rotation of the C60 wheel hub, thereby making the throwing robot move forward.

[0013] Compared with the prior art, the throwing robot with omnidirectional impact resistance has the following advantages:

[0014] 1. The throwing robot designed in this technical solution has omnidirectional impact resistance and does not need posture control in the air. The buffer shell and C60 wheel hub completely cover the bearing platform, which provides better protection for internal components.

[0015] 2. In this technical solution, the power transmission is changed to contactless transmission through the magnetic gear set, which isolates the impact between the wheel hub and the transmission system, making the throwing robot more impact-resistant.

[0016] 3. In this technical solution, an innovative telescopic mechanism is adopted to make the throwing robot take a spherical shape when throwing, with good impact resistance, and take a dumbbell shape when exercising, with better athletic ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Front view of the throwing robot in contracted and extended states;

[0018] Figure 2 Schematic diagram of the three-dimensional structure of the throwing robot without a buffer shell;

[0019] Figure 3 Schematic diagram of the explosion structure of the throwing robot;

[0020] Figure 4 A cross-sectional view of the internal structure of the throwing robot;

[0021] Figure 5 An isometric cutaway view of the internal structure of the throwing robot;

[0022] Figure 6 Schematic diagram of the three-dimensional structure of the magnetic gear set of the throwing robot;

[0023] Figure 7 Schematic diagram of the three-dimensional structure of the telescopic mechanism of the throwing robot;

[0024] Figure 8 The tightening and popping-out states of the balance tail of the throwing robot;

[0025] In the figure, 1-buffer housing; 2-C60 wheel hub; 3-magnetic gear set; 4-telescopic mechanism; 5-gear set; 6-control system; 7-balance tail; 8-carrying platform; 9-motor; 10-battery; 11-PCB board; 12-clip; 13-second clip; 14-spring device; 15-telescopic sheet; 16-first flange; 17-second flange; 18-setting screw; 19-ratchet; 20-stator; 21-inner rotor; 22-outer rotor; 23-telescopic mechanism housing; 24-rolling bearing; 25-iron sheet; 26-strong magnet; 27-three-stage spring mechanism; 28-hollow shaft; 29-statator bearing. DETAILED DESCRIPTION

[0026] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0027] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the throwing robot with omnidirectional impact resistance includes: a buffer shell 1, a C60 wheel hub 2, a magnetic gear set 3, a telescopic mechanism 4, a gear set 5, a control system 6 and a balance tail 7. The control system 6 includes a carrying platform 8, a motor 9, a battery 10 and a PCB board 11.

[0028] like Figure 3 , Figure 4 and Figure 5 As shown, the throwing robot with omnidirectional impact resistance, the gear set 5 includes an externally meshed driving wheel and a driven wheel, the driving wheel is connected to the motor 9, the driven wheel is connected to the hollow shaft 28, the hollow shaft 28 and the driven wheel are clearance-fitted, so that the hollow shaft 28 can be extended and retracted along the axis of the driven wheel, the stator bearing 29 and the inner rotor 21 of the magnetic gear set 3 are installed on the hollow shaft 28, the power of the motor 9 is transmitted to the magnetic gear set 3 through the gear set 5 and the hollow shaft 28, and then the power is transmitted to the C60 wheel hub 2 through the magnetic gear set 3.

[0029] like Figure 3 and Figure 4 As shown, the throwing robot with omnidirectional impact resistance, the telescopic mechanism 4 is composed of four telescopic units storing elastic potential energy, and the telescopic mechanism 4 can make the throwing robot have two states: throwing and moving. The extension and contraction are positioned by four pairs of buckle components, the buckle components include a first buckle 12, a second buckle 13 is provided under the first buckle 12, and a spring device 14 is provided between the buckle components on both sides of the C60 wheel hub 2. When the throwing robot is contracted, the first buckle 12 is buckled with the second buckle 13, and the spring device 14 stores energy. When the second buckle 13 drops to a point where it is not buckled with the first buckle 12, the spring device 14 releases energy and the telescopic mechanism stretches.

[0030] like Figure 4 and Figure 5 As shown, the throwing robot with omnidirectional impact resistance, the magnetic gear set 3 is composed of a pair of stators 20, an inner rotor 21 and an outer rotor 22; the inner rotor 21 is installed on the hollow shaft 28, the stator 20 is fixedly connected to the telescopic mechanism housing 23, and the stator 20 is installed on the hollow shaft 28 through a stator bearing 29, the outer rotor 22 is connected to the C60 hub 2, and the C60 hub 2 is connected to the telescopic mechanism housing 23 through a bearing 24; when the telescopic mechanism 4 is extended and retracted, the outer rotor 22 and the stator 20 will be driven to extend and retract together, and the stator 20 will drive the hollow shaft 28 to extend and retract together through the rolling bearing 29, thereby indirectly driving the inner rotor 21 installed on the hollow shaft 28 and the ratchet mechanism 19 to extend and retract together, so that the magnetic gear set 3 can perform telescopic movement together with the telescopic mechanism 4.

[0031] like Figure 4 and Figure 5 As shown, in the throwing robot with omnidirectional impact resistance, the second buckle 13 of the telescopic mechanism is hinged with the telescopic piece 15. The telescopic piece 15 is placed in a first flange 16 with four one-way grooves. The first flange 16 is fixedly connected to the bearing platform 8 to ensure that the telescopic piece 15 can only perform one-way movement of rising and falling. There is a second flange 17 with four Archimedean spiral openings outside the telescopic piece 15. The telescopic piece 15 and the second flange 17 are connected by a set screw 18. There is a ratchet mechanism 19 in the second flange 17. The ratchet mechanism 19 is installed on the hollow shaft 28. The hollow shaft 28 is installed on the driven wheel of the gear set 5 with a clearance fit. The gear set 5 drives the hollow shaft 28, thereby driving the ratchet 19 to rotate, indirectly controlling the rise and fall of the telescopic piece 15. When the telescopic piece 15 descends, the telescopic mechanism 4 is relaxed. The hollow shaft 28 and the ratchet mechanism 19 are extended, driving the ratchet mechanism 19 to extend together. At this time, the ratchet mechanism 19 is separated from the second flange 17, and the rotation of the motor 9 will not transmit power to the second flange 17, and the throwing robot enters a moving state; the throwing robot is manually compressed into a spherical shape, and the ratchet mechanism 19 shrinks into the second flange 17 along with the telescopic mechanism. The telescopic sheet 15 is indirectly controlled to rise by controlling the motor 9, so that the first buckle 12 and the second buckle 13 are buckled. At this time, the telescopic mechanism 4 shrinks, causing the throwing robot to enter a contracted state.

[0032] like Figure 6 As shown, the throwing robot with omnidirectional impact resistance, the magnetic gear set 3 is made of aluminum alloy with small magnetic leakage, the stator is composed of 8 iron sheets 25 as the magnetization power source, and the two rotors are staggered by 4 N-pole and 4 S-pole strong magnets 26. By magnetizing the middle iron sheet, a staggered magnetic field is generated, thereby playing the role of transmitting torque. Because it is a non-contact magnetic gear set 3, it also plays the role of isolating impact.

[0033] like Figure 2 , Figure 4 and Figure 5 As shown, the throwing robot with omnidirectional impact resistance has the C60 hub 2 glued to the buffer shell 1 outwardly and connected to the bearing 24 inwardly, and the bearing 24 is fixed to the telescopic mechanism shell 23. During the collision, the impact force is buffered by the buffer shell 1 and isolated by the C60 hub 2, so that most of the impact force acts on the telescopic shell 23, thereby isolating the impact force of the bearing platform 8. Because the buffer shell 1 and the C60 hub 2 are generally spherical and cover the entire throwing robot platform, they can play an omnidirectional impact resistance role.

[0034] like Figure 2 and Figure 8As shown, the throwing robot has omnidirectional impact resistance, and the balancing tail 7 is composed of a three-stage spring telescopic structure 27. When the throwing robot is in the contracted state, the balancing tail 7 is completely wrapped by the telescopic mechanism shell 23. At this time, the balancing tail 7 stores elastic potential energy. When the throwing robot is in the extended state, the elastic potential energy of the balancing tail 7 is released, and the balancing tail 7 pops out. When the C60 wheel hub 2 rotates, the balancing tail 7 contacts the ground, providing a torque opposite to the rotation direction of the C60 wheel hub 2, thereby moving the throwing robot forward.

[0035] It is worth pointing out that the method given here is only a specific implementation of the present invention. Obviously, the described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Claims

1. A throwing robot with omnidirectional impact resistance, Features: The invention comprises a buffer shell (1) and a magnetic gear set (3). A C60 wheel hub (2) is arranged in the buffer shell (1). The C60 wheel hub (2) is glued to the buffer shell (1) outwardly and connected to a rolling bearing (24) inwardly. The rolling bearing (24) is connected to a telescopic mechanism (4). The magnetic gear set (3) is composed of a pair of stators (20), an inner rotor (21) and an outer rotor (22). The inner rotor (21) and the stator (20) are connected to a telescopic mechanism shell (23) so that they can be telescopic together with the telescopic mechanism (4). The outer rotor (22) is connected to the C60 wheel hub (2). The telescopic mechanism (4) is connected to a gear set (5) via a hollow shaft (28). The gear set (5) comprises an outer gear. The driving wheel and the driven wheel are connected, the driving wheel is connected to the motor (9), the driven wheel is connected to the hollow shaft (28), the hollow shaft (28) and the driven wheel are clearance-matched, so that the hollow shaft (28) can be extended and retracted along the axis of the driven wheel, the stator bearing (29) and the inner rotor (21) of the magnetic gear set (3) are installed on the hollow shaft (28), the power of the motor (9) is transmitted to the magnetic gear set (3) through the gear set (5) and the hollow shaft (28), and the power is then transmitted to the C60 wheel hub (2) through the magnetic gear set (3); the telescopic mechanism (4) is composed of four telescopic units storing elastic potential energy, and the telescopic mechanism (4) can enable the throwing robot to have two states: throwing and moving; the extension and contraction are controlled by the four The buckle assembly is positioned, the buckle assembly comprises a first buckle (12), a second buckle (13) is provided below the first buckle (12), a spring device (14) is provided between the buckle assemblies on both sides of the C60 wheel hub (2), when the throwing robot is retracted, the first buckle (12) is engaged with the second buckle (13), the spring device (14) stores energy, when the second buckle (13) is lowered to a position where it is not engaged with the first buckle (12), the spring device (14) releases energy, and the telescopic mechanism (4) is extended; the stator (20) is fixedly connected to the telescopic mechanism housing (23), and the stator (20) is mounted on the hollow shaft (28) via a stator bearing (29), and the C60 wheel hub (2) is connected to the telescopic mechanism housing (23) via a rolling bearing (24). 23); when the telescopic mechanism (4) is extended or retracted, it drives the outer rotor (22) and the stator (20) to extend or retract together, and the stator (20) drives the hollow shaft (28) to extend or retract together through the stator bearing (29), thereby indirectly driving the inner rotor (21) mounted on the hollow shaft (28) to extend or retract, so that the magnetic gear set (3) can perform telescopic movement together with the telescopic mechanism (4); the throwing robot also includes a balancing tail (7), when the throwing robot is in an extended state, the elastic potential energy of the balancing tail (7) is released, and the balancing tail (7) pops out, and when the C60 wheel hub (2) rotates, the balancing tail (7) contacts the ground, providing a torque in the opposite direction of the rotation of the C60 wheel hub (2), so that the throwing robot moves forward.

2. A throwing robot with omnidirectional impact resistance according to claim 1, Features: The second buckle (13) of the telescopic mechanism is hinged to the telescopic piece (15), the telescopic piece (15) is placed in a first flange (16) having four one-way grooves, the first flange (16) is fixedly connected to the bearing platform (8), and ensures that the telescopic piece (15) can only perform one-way movement of rising and falling; the telescopic piece (15) is provided with a second flange (17) having four Archimedean spiral openings outside, the telescopic piece (15) and the second flange (17) are connected by a set screw (18), the second flange (17) has a ratchet mechanism (19), the ratchet mechanism (19) is mounted on the hollow shaft (28), the hollow shaft (28) is mounted on the driven wheel of the gear set (5) by a clearance fit, and the gear set (5) drives the hollow shaft (28) , thereby driving the ratchet mechanism (19) to rotate, and indirectly controlling the rise and fall of the telescopic piece (15); when the telescopic piece (15) falls, the telescopic mechanism (4) stretches, driving the hollow shaft (28) and the ratchet mechanism (19) to stretch together; at this time, the ratchet mechanism (19) is separated from the second flange (17), and the rotation of the motor (9) does not transmit power to the second flange (17), and the throwing robot enters a moving state; the throwing robot is manually compressed into a spherical shape, and the ratchet mechanism (19) shrinks into the second flange (17) along with the telescopic mechanism, and the telescopic piece (15) is indirectly controlled to rise by controlling the motor (9), so that the first buckle (12) and the second buckle (13) are buckled, and at this time, the telescopic mechanism (4) shrinks, causing the throwing robot to enter a contracted state.

3. A throwing robot with omnidirectional impact resistance according to claim 1, Features: The magnetic gear set (3) is made of aluminum alloy, the stator is composed of 8 iron sheets (25) as a magnetization power source, and the inner rotor (21) and the outer rotor (22) are composed of 4 N-pole and 4 S-pole strong magnets (26) arranged alternately.

4. A throwing robot with omnidirectional impact resistance according to claim 1, Features: The balancing tail (7) is composed of a three-stage spring telescopic structure (27). When the throwing robot is in a retracted state, the balancing tail (7) is completely wrapped by the telescopic mechanism shell (23), and at this time, the balancing tail (7) stores elastic potential energy.

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