Robot, rope dart and launching / recycling system and method thereof

Abstract

The cable dart comprises a cone body, and a cone tip and a cover plate are installed at the front end and the rear end of the cone body respectively. The cone tip is detachably installed on the cone body and is made of a hard material, a mooring hole used for being connected with a rope is formed in the cover plate, and an eccentric load assembly is arranged in the cone body; the eccentric load assembly comprises an internal motor and a power source used for supplying power, and an eccentric block is installed on an output shaft of the internal motor. The invention further discloses a cable dart launching / recycling system which comprises a mounting plate, and a cable dart launching assembly and a rope winding assembly are mounted on the mounting plate. The invention further discloses a robot and a cable dart launching / recovering method. According to the robot, the cable dart and the launching / recycling system and method of the cable dart, on the basis of the launching and recycling technology of the cable dart, the obstacle crossing capacity, the obstacle breaking capacity or the stable mooring capacity of the robot can be enhanced.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a robot, a dart and a launching / recovering system and a launching / recovering method thereof. Background Art

[0002] Mobile robot technology is becoming increasingly mature and is widely used in a variety of complex environments such as exploration, rescue, military reconnaissance, and field operations. These application environments often include natural or man-made obstacles such as high walls, woods, and deep ditches, or include operations such as high torque screwing and heavy-load movement, which place extremely high demands on the robot's ability to cross obstacles, break obstacles, and remain firmly tethered. Traditional robot obstacle crossing methods mostly rely on structures such as mechanical arms, tracks, or wheeled legs, which are incapable of dealing with extreme obstacles such as high walls and deep ditches. On the other hand, current mobile robots, including wheeled, legged, and tracked ones, can often only stabilize their posture by their own gravity, which does not meet the requirements and limits the high-load operation capability, thereby greatly limiting the scope of application of mobile robots. Therefore, developing an efficient and reliable obstacle crossing, obstacle breaking device, or stable tethering device has become an important research direction in the field of robotics. Summary of the invention

[0003] In view of this, the object of the present invention is to provide a robot, a dart cable and its launching / recovery system and launching / recovery method, based on the launching and recovering technology of the dart cable, so that the robot can enhance its ability to cross obstacles, break obstacles or stay firmly.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] The present invention first proposes a rope dart, comprising a vertebral body, wherein a cone tip and a cover plate are respectively installed at the front and rear ends of the vertebral body; the cone tip is detachably installed on the vertebral body and is made of a hard material, the cover plate is provided with a mooring hole for connecting with a rope, and an eccentric load assembly is provided in the vertebral body; the eccentric load assembly comprises an internal motor and a power supply for powering, the internal motor is coaxially arranged with the vertebral body, and an eccentric block is installed on the output shaft of the internal motor.

[0006] Furthermore, a motor control module and a signal receiving module are also provided in the vertebral body. The signal receiving module is used to receive motor control instructions, and the motor control module controls the internal motor action according to the motor control instructions.

[0007] Furthermore, the signal receiving module adopts a wireless communication receiving module, or the signal receiving module adopts a wired communication module, and a communication line connected to the signal receiving module is provided in the rope.

[0008] Furthermore, the cone tip is a pointed cone or a hammer.

[0009] The present invention also provides a dart launching / recovering system, comprising a mounting plate, on which a dart launching assembly and a rope winding assembly are mounted;

[0010] The dart launching assembly comprises a launching tube and a dart launching driving mechanism, wherein the launching tube is used to accommodate the dart as described above; the launching tube is fixedly mounted on the mounting plate; the dart launching driving mechanism comprises a rotating arm and a driving cylinder rotatably mounted on the mounting plate, the rear end of the rotating arm is rotatably engaged with the mounting plate via a first rotating shaft, the telescopic rod of the driving cylinder is rotatably engaged with the middle part of the rotating arm via a second rotating shaft, a launching wheel and a launching motor for driving the launching wheel to rotate are provided at the front end of the rotating arm; the first rotating shaft and the second rotating shaft are both perpendicular to the mounting plate, the axis of the launching wheel is inclined relative to the axis of the launching tube, and a notch is provided on the launching tube for exposing the contact portion between the dart and the launching wheel;

[0011] The rope winding mechanism includes a winding shaft for winding the rope and a winding motor installed on the mounting plate, one end of the winding shaft is installed on the mounting plate through a rotating support, and the other end is transmission-connected to the winding motor; the rope is connected to the mooring hole.

[0012] Furthermore, a control module and a power supply module are also installed on the mounting board; the control module includes a controller, a first motor control circuit for controlling the action of the launching motor, a second motor control circuit for controlling the action of the winding motor and a third control circuit for controlling the action of the driving cylinder; the controller is electrically connected to the first motor control circuit, the second motor control circuit and the third control circuit.

[0013] Furthermore, a motor control module and a signal receiving module are also provided in the vertebral body. The signal receiving module is used to receive a motor control instruction issued by the controller, and the motor control module controls the internal motor action according to the motor control instruction.

[0014] Furthermore, the signal receiving module adopts a wireless communication receiving module, and the controller is connected to a wireless communication transmitting module; or, the signal receiving module adopts a wired communication module, a communication line is provided in the rope, one end of the communication line is connected to the signal receiving module, and the other end is connected to the controller.

[0015] The present invention further proposes a robot, comprising a robot body, on which the dart launching / recovering system as described above is installed.

[0016] The present invention also proposes a dart launching / recovering method, including an obstacle crossing mode and an obstacle breaking mode;

[0017] When in obstacle crossing mode, the dart launching / recovering method comprises the following steps:

[0018] Step 1-1: After determining the shooting point, align the launch tube with the shooting point;

[0019] Step 1-2: Start the launch motor to drive the launch wheel to rotate;

[0020] Step 1-3: Start the drive cylinder, extend the telescopic rod of the drive cylinder and drive the rotating arm to rotate toward the launch tube until the launch wheel contacts the cable dart and drives the cable dart to be shot toward the shooting point; start the winding motor to drive the winding shaft to rotate forward and release the rope during the period from the start of the rotation of the rotating arm toward the launch tube to the moment when the tail end of the cable dart leaves the launch tube; after the cable dart is shot out of the launch tube, retract the telescopic rod of the drive cylinder and drive the rotating arm to rotate to the initial position away from the launch tube;

[0021] Step 1-4: After the dart is shot into the shooting point, the launching motor is stopped, and the winding motor is used to drive the winding shaft to reverse, and the robot is moved by the rope until the robot moves to the position and fixes the position, and then the winding motor is stopped;

[0022] Step 1-5: Start the internal motor to drive the eccentric block to rotate, causing the dart to vibrate and gradually loosen from the shooting point;

[0023] Step 1-6: Start the winding motor and drive the winding shaft to rotate in the opposite direction, and use the tension of the rope to make the dart detach from the shooting point and enter the launching tube;

[0024] When in the obstacle-breaking mode, the dart launching / recovering method comprises the following steps:

[0025] Step 2-1: After determining the shooting point, align the launch tube with the shooting point;

[0026] Step 2-2: Start the launch motor to drive the launch wheel to rotate;

[0027] Step 2-3: Start the drive cylinder, extend the telescopic rod of the drive cylinder and drive the rotating arm to rotate toward the launch tube until the launch wheel contacts the dart and drives the dart to be shot toward the shooting point; start the winding motor to drive the winding shaft to rotate forward and release the rope during the period from the start of the rotation of the rotating arm toward the launch tube to the moment when the tail end of the dart leaves the launch tube; after the dart is shot out of the launch tube, retract the telescopic rod of the drive cylinder and drive the rotating arm to rotate to the initial position away from the launch tube;

[0028] Step 2-4: After the dart is shot into the shooting point, the launching motor and the winding motor are stopped, and the internal motor is started to drive the eccentric block to rotate, so that the dart as a whole vibrates and gradually loosens from the shooting point;

[0029] Step 2-5: Start the winding motor and drive the winding shaft to rotate in the opposite direction, and use the tension of the rope to make the dart detach from the shooting point and enter the launching tube.

[0030] The beneficial effects of the present invention are:

[0031] The dart launching / recovering system of the present invention is provided with a dart launching assembly and a rope winding assembly. When launching, the launching wheel is first driven to rotate and the launching wheel has a sufficient rotation speed, and then the telescopic rod of the driving cylinder is used to drive the rotating arm to rotate, so that the launching wheel contacts and cooperates with the dart, and the friction between the launching wheel and the dart is used to make the dart obtain an initial axial velocity. At the same time, since the axis of the launching wheel is inclined relative to the axis of the dart, the dart can also have an angular momentum rotating around its axis, so that the flight posture of the dart after launching is more stable. During the launching process of the dart, the winding motor is used to drive the winding shaft to rotate forward and release the rope, so that the dart drives the rope to be shot into the launch target together. the dart is within the shooting point; after the dart is launched, the winding motor is used to drive the winding shaft to rotate in the opposite direction to wind the rope; when the rope is winding: if it is necessary to overcome obstacles, the pulling force of the rope can be used to drive the robot to move, and then the eccentric load component arranged in the dart is used to loosen the dart from the shooting point and finally the dart is recovered into the launching tube by the rope; if it is necessary to break obstacles, the eccentric load component arranged in the dart is first used to loosen the dart from the shooting point, and then the dart is recovered into the launching tube by the rope; in summary, the dart launching / recovering system of the present invention, based on the launching and recovering technology of the dart, enables the robot to enhance the ability of overcoming obstacles, breaking obstacles or firmly tethering.

[0032] The robot of the present invention can have the ability to cross obstacles, break obstacles or be tethered by installing a dart launching / recovering system on the robot body; by integrating an advanced dart launching component and a reliable rope winding component, the robot can quickly and accurately launch the dart to the target position, realize the function of crossing obstacles, breaking obstacles or firmly tethering, or realize the traction or support of the robot itself, so as to cross obstacles that are difficult to climb or cross directly. The dart recovery function ensures the efficient use of resources and the continuous working ability of the system. The present invention not only improves the robot's obstacle crossing ability and flexibility, but also significantly enhances the robot's survivability and operating efficiency in unknown or harsh environments.

[0033] The present invention also has the following advantages:

[0034] 1. Enable the robot to cope with complex terrain and obstacles such as high walls, deep trenches, glass doors and windows, and wooden boards. By automatically launching darts, the robot can cross obstacles, break obstacles, or be firmly moored, which greatly improves the robot's obstacle crossing ability, survivability, and large-load operation ability and adaptability in complex environments.

[0035] 2. The design of the dart is flexible and changeable. Cone tips, such as sharp cones and hammers, can be selected according to specific task requirements, so that the robot can take targeted countermeasures when facing different types of obstacles. It is suitable for robots of various types and specifications, enhancing flexibility and diversity.

[0036] 3. The automated launching, recovery and obstacle clearing process reduces manual intervention and improves work efficiency. During the launching process of the dart, the launching wheel and the axis of the dart are tilted. Under the action of the friction wheel, the dart not only gains forward momentum, but also gains angular momentum rotating around its own axis. According to the law of conservation of angular momentum, the dart is more stable during flight, and can hit or shoot into the target point more reliably.

[0037] 4. The automatic recovery function of the rigging dart ensures the efficient use and reuse of resources, avoids the loss or damage of rigging that may exist in traditional methods, and reduces the cost of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0039] Figure 1 It is a structural schematic diagram of the dart launching / recovering system of the present invention;

[0040] Figure 2 for Figure 1 Bottom view of

[0041] Figure 3 for Figure 1 axonometric drawing;

[0042] Figure 4 It is a schematic diagram of the structure when the launching wheel contacts the dart;

[0043] Figure 5 The schematic diagram of the structure of the dart cable is shown in FIG.

[0044] Figure 6 This is the schematic diagram of the control module.

[0045] Description of reference numerals:

[0046] 10-mounting plate; 101-bottom plate; 102-side plate; 11-launching tube; 111-notch; 12-rotating arm; 121-first rotating shaft; 122-second rotating shaft; 13-driving cylinder; 14-telescopic rod; 15-launching wheel; 16-launching motor; 17-winding shaft; 18-winding motor; 19-rotating support; 20-control module; 21-power module; 22-first motor control circuit; 23-second motor control circuit; 24-third motor control circuit; 25-wireless communication transmitting module; 26-controller;

[0047] 30-dart cable; 31-vertebral body; 32-cone tip; 33-cover plate; 34-internal motor; 35-power supply; 36-eccentric block; 37-motor control module; 38-signal receiving module;

[0048] 40-Rope. DETAILED DESCRIPTION

[0049] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0050] like Figure 1-4 As shown, the dart launching / recovering system of this embodiment includes a mounting plate 10, on which a dart launching assembly and a rope winding assembly are mounted. Specifically, the mounting plate 10 of this embodiment includes a bottom plate 101, and side plates 102 are respectively provided on both sides of the bottom plate 101 to meet the installation requirements of different components.

[0051] Specifically, in this embodiment, the dart launching assembly includes a launching tube 11 and a dart launching driving mechanism, and the launching tube 11 is used to accommodate the dart 30. The launching tube 11 is fixedly mounted on the mounting plate 10. The dart launching driving mechanism of this embodiment includes a rotating arm 12 and a driving cylinder 13 that is rotatably mounted on the mounting plate 10, the rear end of the rotating arm 12 is rotatably matched with the mounting plate 10 through a first rotating shaft 121, the telescopic rod 14 of the driving cylinder 13 is rotatably matched with the middle part of the rotating arm 12 through a second rotating shaft 122, and the front end of the rotating arm 12 is provided with a launching wheel 15 and a launching motor 16 for driving the launching wheel 15 to rotate. Specifically, the first rotating shaft 121 and the second rotating shaft 122 of this embodiment are both perpendicular to the mounting plate 10, the axis of the launching wheel 15 is inclined relative to the axis of the launching tube 11, and a notch 111 is provided on the launching tube 11, and the notch 111 is used to expose the contact portion between the dart 30 and the launching wheel 15, so that the dart 30 and the launching wheel 15 can be in contact and matched when the rotating arm 12 is rotated. In this embodiment, the driving cylinder 13 is an electric cylinder.

[0052] The rope winding mechanism of this embodiment includes a winding shaft 17 for winding the rope 30 and a winding motor 18 installed on the mounting plate 10. One end of the winding shaft 17 is installed on the mounting plate 10 through a rotating support 19, and the other end is transmission-connected to the winding motor 18.

[0053] like Figure 5As shown, the cable dart 30 of this embodiment includes a vertebral body 31, and the front and rear ends of the vertebral body 31 are respectively installed with a cone tip 32 and a cover plate 33; the cone tip 32 is detachably installed on the vertebral body 31 and is made of hard material, and the cover plate 33 is provided with a mooring hole (not shown in the figure) for connecting with the rope 40, that is, the rope 40 is connected with the mooring hole. An eccentric load assembly is provided in the vertebral body 31 of this embodiment, and specifically, the eccentric load assembly includes an internal motor 34 and a power supply 35 for power supply, the internal motor 34 is coaxially arranged with the vertebral body 31, and an eccentric block 36 is installed on the output shaft of the internal motor 34. The internal motor 34 is started to drive the eccentric block 36 to rotate around the axis of the vertebral body 31, and the centrifugal force generated by the eccentric block 36 can drive the vertebral body 31 and the entire cable dart 30 to vibrate.

[0054] In this embodiment, a control module 20 and a power supply module 21 for power supply are also installed on the mounting plate 10. Specifically, the control module includes a controller 26, a first motor control circuit 22 for controlling the action of the launching motor 16, a second motor control circuit 23 for controlling the action of the winding motor 18, and a third control circuit 19 for controlling the action of the driving cylinder 13; the controller 26 is electrically connected 24 to the first motor control circuit 22, the second motor control circuit 23, and the third control circuit. In this way, the controller 26 can automatically control the launching motor 16, the winding motor 18, and the driving cylinder 13 to perform corresponding actions through the first motor control circuit 22, the second motor control circuit 23, and the third control circuit. , To achieve the technical purpose of automatic launching and automatic recovery of the dart 30.

[0055] In the preferred implementation of this embodiment, a motor control module 37 and a signal receiving module 38 are also provided in the vertebral body 31. The signal receiving module 38 is used to receive the motor control instructions issued by the controller 26, and the motor control module 37 controls the internal motor 34 according to the motor control instructions. Specifically, the signal receiving module 38 can adopt a wireless communication receiving module, and correspondingly, the controller 26 is also connected with a wireless communication transmitting module 25; of course, the signal receiving module 38 can also adopt a wired communication module, in which case a communication line can be set in the rope 40, one end of the communication line is connected to the signal receiving module 38, and the other end is connected to the control module 21. In this way, the controller 26 can control the internal motor 34 through the motor control module 37. In this embodiment, the signal receiving module 38 adopts a wireless communication receiving module, and the controller 26 is connected with a wireless communication transmitting module 25.

[0056] Specifically, according to different usage scenarios, the cone tip 32 can be replaced. For example, the cone tip 32 can be a pointed cone or a hammer, etc., which will not be described in detail.

[0057] The dart launching / recovering system of this embodiment is provided with a dart launching assembly and a rope winding assembly. When launching, the launching wheel 15 is first driven to rotate and the launching wheel 15 has a sufficient rotation speed, and then the telescopic rod 14 of the driving cylinder 13 is used to drive the rotating arm 12 to rotate, so that the launching wheel 15 contacts and cooperates with the dart 30, and the friction between the launching wheel 15 and the dart 30 is used to make the dart 30 obtain an initial axial velocity. At the same time, since the axis of the launching wheel 15 is inclined relative to the axis of the dart 30, the dart 30 can also have an angular momentum rotating around its axis, so that the flight posture of the dart 30 after launching is more stable. During the launching process of the dart 30, the winding motor 18 is used to drive the winding shaft. 17 rotates forward and releases the rope 40, so that the rope dart 30 drives the rope 40 to be shot into the shooting point; after the rope dart 30 is shot, the winding motor 18 is used to drive the winding shaft 17 to rotate in the opposite direction to wind up the rope 40; when the rope 40 is wound: if it is necessary to cross obstacles, the pulling force of the rope 40 can be used to drive the robot to move, and then the eccentric load component set in the rope dart 30 is used to loosen the rope dart 30 from the shooting point and finally the rope 40 is used to recover the rope dart 30 into the launch tube 11; if it is necessary to break obstacles, the eccentric load component set in the rope dart 30 is first used to loosen the rope dart 30 from the shooting point, and then the rope 40 is used to recover the rope dart 30 into the launch tube 11. In summary, the rope dart launching / recovering system of this embodiment, based on the launching and recovering technology of the rope dart 30, enables the robot to enhance its ability to cross obstacles, break obstacles or be firmly moored.

[0058] Specifically, the present embodiment further proposes a robot, including a robot body, on which the dart launching / recovering system as described above in the present embodiment is installed.

[0059] The specific implementation of the dart launching / recovering method of this embodiment is described in detail below in conjunction with the above-mentioned dart launching / recovering system of this embodiment.

[0060] The dart launching / recovering method of this embodiment includes an obstacle crossing mode and an obstacle breaking mode.

[0061] Specifically, when in obstacle crossing mode, the dart launching / recovering method includes the following steps.

[0062] Step 1-1: After determining the shooting point, align the launch tube 11 with the shooting point.

[0063] Step 1-2: Start the launching motor 16 to drive the launching wheel 15 to rotate so that the launching wheel 15 has a set rotation speed.

[0064] Step 1-3: Start the drive cylinder 13, so that the telescopic rod 14 of the drive cylinder 13 extends and drives the rotating arm 12 to rotate toward the launch tube 11, until the launch wheel 15 contacts the cable dart 30 and drives the cable dart 30 to be shot toward the shooting point. Specifically, during the time period from the start of the rotation of the rotating arm 12 toward the launch tube 11 to the time when the tail end of the cable dart 30 leaves the launch tube 11, start the winding motor 18 to drive the winding shaft 17 to rotate forward and release the rope 40, so that after the cable dart 30 is launched from the launch tube 11, it can be shot toward the shooting point with the rope 40. In addition, after the cable dart 30 is shot out from the launch tube 11, the telescopic rod 14 of the drive cylinder 13 is retracted and the rotating arm 12 is driven to rotate to the initial position away from the launch tube 11.

[0065] Step 1-4: After the dart 30 is shot into the shooting point, the launching motor 16 is stopped, and the winding motor 18 is used to drive the winding shaft 17 to reverse, and the pulling force of the rope 40 is used to move the robot until the robot moves into position and fixes the position, and then the winding motor 18 is stopped to achieve the technical purpose of the robot moving over obstacles.

[0066] Step 1-5: Start the internal motor 34 to drive the eccentric block 36 to rotate, so that the dart 30 vibrates and gradually loosens from the shooting point.

[0067] Step 1-6: Start the winding motor 18 and drive the winding shaft 17 to rotate in the opposite direction, and use the pulling force of the rope 40 to make the dart 30 detach from the shooting point and enter the launching tube 11, so as to achieve the technical purpose of recovering the dart 30.

[0068] Specifically, when in the obstacle breaking mode, the dart launching / recovering method includes the following steps.

[0069] Step 2-1: After determining the shooting point, align the launch tube 11 with the shooting point;

[0070] Step 2-2: Start the launching motor 16 to make the launching wheel 15 have a set rotation speed.

[0071] Step 2-3: Start the drive cylinder 13, so that the telescopic rod 14 of the drive cylinder 13 extends and drives the rotating arm 12 to rotate toward the launch tube 11, until the launch wheel 15 contacts the cable dart 30 and drives the cable dart 30 to be shot toward the shooting point. Specifically, in the time period from the start of the rotation of the rotating arm 12 toward the launch tube 11 to the moment when the tail end of the cable dart 30 leaves the launch tube 11, start the winding motor 18 to drive the winding shaft 17 to rotate forward and release the rope 40, so that the cable dart 30 can be shot toward the shooting point with the rope 40 after being launched from the launch tube 11. In addition, after the cable dart 30 is shot out from the launch tube 11, the telescopic rod 14 of the drive cylinder 13 is retracted and the rotating arm 12 is driven to rotate to the initial position away from the launch tube 11.

[0072] Step 2-4: After the dart 30 is shot into the shooting point, the launching motor 15 and the winding motor 18 are stopped, and the internal motor 34 is started to drive the eccentric block 36 to rotate, so that the dart 30 as a whole vibrates and gradually loosens from the shooting point, thereby achieving the technical purpose of breaking the obstacle.

[0073] Step 2-5: Start the winding motor 18 and drive the winding shaft 17 to rotate in the opposite direction, and use the pulling force of the rope 40 to make the dart 30 detach from the shooting point and enter the launching tube 11, so as to achieve the technical purpose of recovering the dart 30.

[0074] The above-described embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or changes made by those skilled in the art based on the present invention are within the protection scope of the present invention. The protection scope of the present invention shall be subject to the claims.

Claims

1. A dart cable, characterized in that: It comprises a vertebral body, wherein a cone tip and a cover plate are respectively installed at the front and rear ends of the vertebral body; the cone tip is detachably installed on the vertebral body and is made of hard material, the cover plate is provided with a mooring hole for connecting with a rope, and an eccentric load assembly is arranged in the vertebral body; the eccentric load assembly comprises an internal motor and a power supply for power supply, and an eccentric block is installed on the output shaft of the internal motor.

2. The dart cable according to claim 1, characterized in that: The vertebral body is also provided with a motor control module and a signal receiving module. The signal receiving module is used to receive motor control instructions, and the motor control module controls the internal motor action according to the motor control instructions.

3. The dart cable according to claim 1, characterized in that: The signal receiving module adopts a wireless communication receiving module, or the signal receiving module adopts a wired communication module, and a communication line connected to the signal receiving module is arranged in the rope.

4. The dart cable according to claim 1, characterized in that: The cone tip is a pointed cone or a hammer.

5. A dart launching / retrieving system, characterized in that: It comprises a mounting plate, on which a dart launching assembly and a rope winding assembly are mounted; The dart launching assembly comprises a launching tube and a dart launching driving mechanism, the launching tube is used to accommodate the dart according to any one of claims 1 to 4; the launching tube is fixedly mounted on the mounting plate; the dart launching driving mechanism comprises a rotating arm and a driving cylinder rotatably mounted on the mounting plate, the rear end of the rotating arm is rotatably engaged with the mounting plate via a first rotating shaft, the telescopic rod of the driving cylinder is rotatably engaged with the middle part of the rotating arm via a second rotating shaft, a launching wheel and a launching motor for driving the launching wheel to rotate are provided at the front end of the rotating arm; the first rotating shaft and the second rotating shaft are both perpendicular to the mounting plate, the axis of the launching wheel is inclined relative to the axis of the launching tube, and a notch is provided on the launching tube for exposing the contact portion between the dart and the launching wheel; The rope winding mechanism includes a winding shaft for winding the rope and a winding motor installed on the mounting plate, one end of the winding shaft is installed on the mounting plate through a rotating support, and the other end is transmission-connected to the winding motor; the rope is connected to the mooring hole.

6. The dart launching / retrieving system according to claim 5, characterized in that: A control module and a power supply module are also installed on the mounting board; the control module includes a controller, a first motor control circuit for controlling the action of the launching motor, a second motor control circuit for controlling the action of the winding motor, and a third control circuit for controlling the action of the driving cylinder; the controller is electrically connected to the first motor control circuit, the second motor control circuit, and the third control circuit.

7. The dart launching / retrieving system according to claim 6, characterized in that: The vertebral body is also provided with a motor control module and a signal receiving module. The signal receiving module is used to receive a motor control instruction issued by the controller, and the motor control module controls the internal motor action according to the motor control instruction.

8. The dart launching / retrieving system according to claim 7, characterized in that: The signal receiving module adopts a wireless communication receiving module, and the controller is connected to a wireless communication transmitting module; or, the signal receiving module adopts a wired communication module, a communication line is arranged in the rope, one end of the communication line is connected to the signal receiving module, and the other end is connected to the controller.

9. A robot, characterized in that: It comprises a robot body, on which is mounted a dart launching / recovering system as claimed in any one of claims 5 to 8.

10. A dart launching / retrieving method, characterized in that: Including obstacle crossing mode and obstacle breaking mode; When in obstacle crossing mode, the dart launching / recovering method comprises the following steps: Step 1-1: After determining the shooting point, align the launch tube with the shooting point; Step 1-2: Start the launch motor to drive the launch wheel to rotate; Step 1-3: Start the drive cylinder, extend the telescopic rod of the drive cylinder and drive the rotating arm to rotate toward the launch tube until the launch wheel contacts the cable dart and drives the cable dart to be shot toward the shooting point; start the winding motor to drive the winding shaft to rotate forward and release the rope during the period from the start of the rotation of the rotating arm toward the launch tube to the moment when the tail end of the cable dart leaves the launch tube; after the cable dart is shot out of the launch tube, retract the telescopic rod of the drive cylinder and drive the rotating arm to rotate to the initial position away from the launch tube; Step 1-4: After the dart is shot into the shooting point, the launching motor is stopped, and the winding motor is used to drive the winding shaft to reverse, and the robot is moved by the rope until the robot moves to the position and fixes the position, and then the winding motor is stopped; Step 1-5: Start the internal motor to drive the eccentric block to rotate, causing the dart to vibrate and gradually loosen from the shooting point; Step 1-6: Start the winding motor and drive the winding shaft to rotate in the opposite direction, and use the tension of the rope to make the dart detach from the shooting point and enter the launching tube; When in the obstacle-breaking mode, the dart launching / recovering method comprises the following steps: Step 2-1: After determining the shooting point, align the launch tube with the shooting point; Step 2-2: Start the launch motor to drive the launch wheel to rotate; Step 2-3: Start the drive cylinder, extend the telescopic rod of the drive cylinder and drive the rotating arm to rotate toward the launch tube until the launch wheel contacts the dart and drives the dart to be shot toward the shooting point; start the winding motor to drive the winding shaft to rotate forward and release the rope during the period from the start of the rotation of the rotating arm toward the launch tube to the moment when the tail end of the dart leaves the launch tube; after the dart is shot out of the launch tube, retract the telescopic rod of the drive cylinder and drive the rotating arm to rotate to the initial position away from the launch tube; Step 2-4: After the dart is shot into the shooting point, the launching motor and the winding motor are stopped, and the internal motor is started to drive the eccentric block to rotate, so that the dart as a whole vibrates and gradually loosens from the shooting point; Step 2-5: Start the winding motor and drive the winding shaft to rotate in the opposite direction, and use the tension of the rope to make the dart detach from the shooting point and enter the launching tube.

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