Robot flexible vehicle body assembly and throwing robot

Abstract

The invention discloses a robot flexible vehicle body assembly and a throwing robot. The robot flexible vehicle body assembly comprises a first supporting body, a second supporting body and a mounting plate, and the first supporting body is provided with a first chamber; the first supporting body and the second supporting body are elastic, the second supporting body is provided with a second chamber, and the first chamber and / or the second chamber are / is used for installing a power assembly; mounting plates are arranged on the first supporting body and the second supporting body, the first supporting body and the second supporting body are both fixedly connected with the corresponding mounting plates, and the mounting plates are used for mounting wheel set assemblies; the side, away from the second supporting body, of the first supporting body and the side, away from the first supporting body, of the second supporting body are each provided with a transmission cavity, and the transmission cavities are used for installing transmission assemblies so as to be connected with the power assembly and the wheel set assembly. The vehicle body assembly has the advantages of being good in impact resistance and compact in structure, the size of a vehicle body can be reduced, the vehicle body assembly and other parts can be assembled and installed conveniently, and the miniaturization and microminiaturization design of the vehicle body is achieved.

Description

Technical Field

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

[0002] Faced with dangerous areas caused by disasters such as mine collapse accidents, dangerous gas accumulation and leakage, robots can first enter the disaster site and collect working environment information parameters and audio and video data in real time, and then send the collected information to the host computer for analysis and processing. The use of robots to scientifically and rationally formulate emergency rescue plans has received more widespread attention.

[0003] When launching a robot, it is necessary to throw the robot from a certain height to the ground and ensure that the robot can work normally and stably. However, the robot itself in the related technology adopts a rigid design, or the connection between the body and internal components adopts a rigid connection, which has poor impact resistance. After being thrown, the rigid structure will be damaged, affecting the normal and stable walking and information collection of the robot, and the reliability is relatively poor.

[0004] Due to the complex environment of emergency rescue sites and the poor road conditions for robots, robots are often required to enter small spaces to perform tasks such as personnel search and rescue, hazardous gas collection, audio and video collection, etc. If the robot body is too large, the robot will have poor maneuverability and poor traffic capacity. Considering various factors such as the body structure, installation of vehicle-mounted components, assembly and connection of the transmission system, the throwing robot disclosed in the relevant technology has a large body size, which makes it difficult to achieve miniaturization and micro-miniaturization, affecting the application of robots in emergency rescue. Summary of the invention

[0005] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0006] To this end, an embodiment of the present invention provides a robot flexible body assembly that has good impact resistance, a compact structure, can reduce the volume of the body, and is convenient for assembly and installation with other components.

[0007] An embodiment of the present invention further provides a throwing robot.

[0008] The robot flexible body assembly of the embodiment of the present invention includes:

[0009] a first support having a first chamber;

[0010] a second support body, wherein the first support body and the second support body are both elastic, the first support body and the second support body are arranged side by side and connected together along the width direction of the vehicle body component, the second support body has a second chamber, and the first chamber and / or the second chamber are used to install a power component;

[0011] A mounting plate, a side of the first support body away from the second support body and a side of the second support body away from the first support body are both provided with the mounting plate, the first support body and the second support body are both fixedly connected to the corresponding mounting plate, and a mounting portion is provided on the mounting plate, and the mounting portion is used to install the wheel assembly;

[0012] A side of the first support body away from the second support body and a side of the second support body away from the first support body both have a transmission cavity, and the transmission cavity is used to install a transmission assembly connecting a power assembly and a wheel assembly.

[0013] In the vehicle body assembly of the embodiment of the present invention, the first support body and the second support body are elastic and can form a flexible vehicle body structure, which can play a buffering role when thrown and landed, protecting the vehicle-borne components inside the vehicle body; after the vehicle-borne components such as the power component are assembled into the first chamber and the second chamber, they can not only be buffered and protected, but also the vehicle-borne components can be embedded in the first support body and the second support body, thereby improving the compactness of the assembly and reducing the gap between the components. The flexible vehicle body structure formed by the first support body and the second support body buffers the impact force, and the vehicle-borne components can be arranged in the vehicle body assembly by embedding, so that the volume of the vehicle body assembly is further reduced, and the assembly method of the vehicle-borne components and the vehicle body assembly can be redefined, which is convenient for the miniaturization and micro-miniaturization design of the vehicle body assembly.

[0014] Some of the vehicle-mounted components in the embodiment of the present invention can be assembled into the first chamber and the second chamber at the same time, and can connect the first support body and the second support body, thereby improving the overall structural stability and connection strength. The mounting plate can be used to install the wheel assembly, and the transmission assembly can be hidden between the mounting plate and the corresponding support body, so that its compactness is further improved, which not only improves the stability of the power transmission of the power assembly and the wheel assembly, but also enables the throwing robot to be further optimized in the direction of miniaturization and micro-miniaturization, making it more flexible in practical applications.

[0015] In some embodiments, it also includes a first clamping plate and a second clamping plate, the first support body has a first skirt on a side away from the second support body, the second support body has a second skirt on a side away from the first support body, the first clamping plate and the corresponding mounting plate are respectively arranged on both sides of the first skirt and connected to the first skirt, the second clamping plate and the corresponding mounting plate are respectively arranged on both sides of the second skirt and connected to the second skirt.

[0016] In some embodiments, a sleeve assembly is further included, wherein the sleeve assembly has an inner cavity, the first chamber and the second chamber are both multiple in number, at least part of the first chamber and at least part of the second chamber are relatively connected to form an assembly cavity, and the sleeve assembly is arranged in the assembly cavity to connect the first support body and the second support body.

[0017] In some embodiments, the sleeve assembly includes a sleeve body and a first connecting member connected to each other, the sleeve body is inserted into the assembly cavity, one end of the sleeve body has an end plate, the first connecting member is arranged at the other end of the sleeve body, the end plate abuts against one of the first support body and the second support body, and the first connecting member abuts against the other of the first support body and the second support body.

[0018] In some embodiments, the first support body and the second support body are both made of rubber material;

[0019] And / or, it also includes a second connecting member, a plurality of corresponding connecting holes are provided between the first supporting body and the second supporting body, at least some of the connecting holes are embedded with embedded members, and the second connecting member is connected to the embedded members to fix the first supporting body and the second supporting body.

[0020] The throwing robot according to the embodiment of the present invention comprises:

[0021] A body component, wherein the body component is a robot flexible body component as described in any one of the above embodiments;

[0022] A drive system, the drive system includes a power component, a wheel assembly and a transmission component, the power component is arranged in the first chamber and / or the second chamber of the body component, the wheel assembly is connected to the mounting plate of the body component, and the transmission assembly is arranged in the transmission cavity and connected to the power component and the wheel assembly.

[0023] In some embodiments, the wheel assembly comprises:

[0024] axle;

[0025] A bearing seat, the bearing seat is fixedly connected to the mounting plate, and the wheel axle is assembled on the bearing seat;

[0026] A running wheel, the running wheel comprising a wheel hub and a wheel body, the wheel hub being connected to one end of the wheel axle, the wheel body being connected to the wheel hub, and the wheel body covering the circumference of the wheel hub and the axial end of the wheel hub away from the vehicle body assembly;

[0027] The wheel body and the bearing seat are both elastic, and both ends of the wheel body in the height direction of the vehicle body component protrude from the outer peripheral contour of the vehicle body component.

[0028] In some embodiments, the wheel body comprises a body segment and a spherical segment sequentially arranged along the axial direction of the wheel axle, a plurality of holes are formed on each of the body segment and the spherical segment, and the porosity of the spherical segment is greater than the porosity of the body segment;

[0029] And / or, the wheel body is made of rubber material, and the hardness of the wheel body is greater than 30 degrees and less than 60 degrees;

[0030] And / or, the bearing seat is a rubber bearing seat;

[0031] And / or, the wheel axle is a hollow shaft, the end of the wheel axle away from the body assembly has a flange, the wheel hub and the flange are fixedly connected, a first bearing is provided between the wheel axle and the bearing seat, and a second bearing is provided between the end of the wheel axle close to the body assembly and the corresponding first support body or second support body.

[0032] In some embodiments, the transmission assembly includes a driving wheel, a driven wheel and a tensioning wheel, the driving wheel is connected to the driving end of the power assembly, a plurality of the wheel assembly assemblies are arranged on the mounting plate on the same side of the body assembly, each of the wheel assembly assemblies is connected to the driven wheel, the driven wheels are synchronously driven by a first transmission member, and one of the driven wheels is connected to the driving wheel by a second transmission member, the tensioning wheel is connected to the mounting plate through a support member, the first transmission member and / or the second transmission member are connected to the tensioning wheel to tension the first transmission member and / or the second transmission member, the driving wheel is located between the two driven wheels, and the driving wheel is located in the middle of the winding path of the first transmission member;

[0033] The wheel axle is a stepped shaft, the wheel axle has a limiting shoulder, the driven wheel is mounted on the wheel axle, and the driven wheel is located in the transmission cavity, and a side of the driven wheel close to the bearing seat is in contact with the limiting shoulder.

[0034] In some embodiments, the power assembly includes a driver and an energy storage component, the energy storage component is used to supply power to the driver, the driver and the energy storage component are both arranged in the first chamber or the second chamber in the body assembly, the number of the driver and the transmission assembly are both multiple, the multiple wheel assembly assemblies located on the same side of the width direction of the body assembly are synchronously driven and connected to one of the drivers, and the wheel assembly assemblies located on different sides of the width direction of the body assembly are respectively connected to different drivers;

[0035] And / or, further comprising a detection component and a video module, wherein the detection component and the video module are arranged in the first chamber or the second chamber of the vehicle body component;

[0036] And / or, it also includes an electrical box, which is arranged on a side of the mounting plate away from the body assembly, the electrical box is located between the two wheel assembly assemblies, and the electrical box does not protrude from the outer peripheral contour of the throwing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic structural diagram of a robot flexible body assembly according to an embodiment of the present invention.

[0038] Figure 2 Schematic diagram of a first support and a second support in an embodiment of the present invention.

[0039] Figure 3 Schematic diagram of the first support body and the second support body at another viewing angle in an embodiment of the present invention.

[0040] Figure 4 Schematic cross-sectional view of a vehicle body assembly in an embodiment of the present invention.

[0041] Figure 5 It is a schematic diagram of the disassembly of the mounting plate, the clamping plate and the supporting body in the embodiment of the present invention.

[0042] Figure 6 Schematic diagram of a throwing robot according to an embodiment of the present invention.

[0043] Figure 7 It is a cross-sectional schematic diagram of a throwing robot according to an embodiment of the present invention.

[0044] Figure 8 Schematic diagram of a drive system in an embodiment of the present invention.

[0045] Fig. 9 Schematic diagram of a wheel assembly in an embodiment of the present invention.

[0046] Fig.10 It is a schematic diagram of the connection between the wheel assembly and the transmission assembly in an embodiment of the present invention.

[0047] Fig.11 Schematic diagram of the arrangement of the transmission assembly in an embodiment of the present invention.

[0048] Reference numerals:

[0049] 100. Throwing robot;

[0050] 1. Body assembly; 11. First support body; 111. First skirt; 112. First chamber; 12. Second support body; 121. Second skirt; 122. Second chamber; 13. Mounting plate; 14. First clamping plate; 15. Second clamping plate; 161. Sleeve body; 1611. End plate; 162. First connecting member; 17. Second connecting member; 18. Inlay; 19. Transmission chamber;

[0051] 2. Drive system;

[0052] 21. Power assembly; 211. Driver; 212. Energy storage component;

[0053] 22, wheel assembly; 221, wheel axle; 2211, flange; 2212, stop shoulder; 222, bearing seat; 223, wheel hub; 224, wheel body; 2241, body section; 2242, spherical section; 225, first bearing; 226, second bearing;

[0054] 23. Transmission assembly; 231. Driving wheel; 232. Driven wheel; 233. Tensioning wheel; 234. First transmission member; 235. Second transmission member;

[0055] 3. Video module;

[0056] 4. Electrical box. DETAILED DESCRIPTION

[0057] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0058] The following is combined with Figure 1-Figure 11 The structure and principle of the body components and throwing robot are explained in detail:

[0059] like Figure 1-Figure 5As shown, the robot flexible body assembly 1 of the embodiment of the present invention includes a first support body 11, a second support body 12 and a mounting plate 13. The first support body 11 and the second support body 12 are both elastic. The first support body 11 and the second support body 12 are arranged side by side and connected together along the width direction of the body assembly 1. The first support body 11 and the second support body 12 are connected together to form a main frame. Since the first support body 11 and the second support body 12 are both elastic, during the throwing process, both can withstand a large external force impact and achieve buffering through their own deformation to avoid the impact energy from causing destructive damage to the main frame. At the same time, the vehicle-mounted components arranged in the first support body 11 and the second support body 12 can also be protected to avoid the impact energy being directly transmitted to the vehicle-mounted components through the rigid structural parts. Optionally, the first support body 11 and the second support body 12 are both made of rubber material.

[0060] The first support body 11 has a first chamber 112, and the second support body 12 has a second chamber 122. The first chamber 112 and / or the second chamber 122 are used to install the power assembly 21. The power assembly 21 can be installed in the first chamber 112 or the second chamber 122. When the power assembly 21 has more components, they can be installed in the first chamber 112 and the second chamber 122 respectively. When the components in the power assembly 21 are large, the first chamber 112 and the second chamber 122 can be relatively arranged to form a larger chamber to facilitate the installation of the power assembly 21. Of course, since the throwing robot 100 also needs to undertake the task of information collection, and also needs to perform video detection, information transmission and other tasks, the relevant components can also be arranged in other first chambers 112 and / or second chambers 122.

[0061] In the embodiment of the present invention, the volume of the first support body and the second support body is the volume of the vehicle body. Chambers can be arranged in the first support body and the second support body according to the number and volume of vehicle-mounted components to be carried, so that they have higher adaptability. On the basis of this structure, performance upgrades and expansions can be achieved by adjusting the size of the chambers and optimizing their positions.

[0062] Furthermore, in the body assembly of the embodiment of the present invention, the first support body and the second support body are elastic and can form a flexible body structure, which can play a buffering role when thrown and landed, thereby protecting the vehicle-borne components inside the body; after the vehicle-borne components such as the power component are assembled into the first chamber and the second chamber, they can not only be protected by buffering, but also the vehicle-borne components can be embedded in the first support body and the second support body, thereby improving the compactness of the assembly and reducing the gap between the components. While the flexible body structure formed by the first support body and the second support body buffers the impact force, the vehicle-borne components can be arranged in the body assembly by embedding, thereby further reducing the volume of the body assembly, redefining the assembly method of the vehicle-borne components and the body assembly, and facilitating the miniaturization and micro-miniaturization design of the body assembly.

[0063] In the related art, the body length of the robot is usually above 300mm to 500mm, the body width is usually above 200mm to 350mm, and the body thickness is usually above 70 to 120mm. However, the embodiment of the present invention can control the body length of the body assembly to less than 200mm, the body width to less than 130mm, and the body thickness to less than 50mm while ensuring its performance remains unchanged.

[0064] For example, when the body assembly of the embodiment of the present invention is only equipped with a power assembly, a video module, and a gas detection module, the body length can be controlled at 180 mm, the body thickness can be controlled at 48 mm, and the body width can be controlled at 112 mm, thereby realizing the miniaturization of the body assembly and making it easier for the throwing robot to operate.

[0065] In the embodiment of the present invention, a mounting plate 13 is provided on the side of the first support body 11 away from the second support body 12 and on the side of the second support body 12 away from the first support body 11. The first support body 11 and the second support body 12 are fixedly connected to the corresponding mounting plates 13. A mounting portion is provided on the mounting plate 13, and the mounting portion is used to install the wheel assembly 22. In order to ensure that the throwing robot 100 can walk normally and stably, the number of wheel assemblies 22 in the embodiment of the present invention is at least 4, and at least two wheel assemblies 22 are arranged on each mounting plate 13. For example, 2, 3 or 4 wheel assemblies 22 are arranged on each mounting plate 13. The mounting plate 13 can be a metal plate so that it has sufficient rigidity to ensure that the positions of multiple wheel assemblies 22 on the same side of the body assembly 1 are relatively fixed, thereby improving stability.

[0066] The first support body 11 of the embodiment of the present invention has a transmission cavity 19 on one side away from the second support body 12 and on one side away from the first support body 11. The transmission cavity 19 is used to install the transmission assembly 23 to connect the power assembly 21 and the wheel assembly 22. The transmission cavity 19 provides an installation space for the transmission assembly 23, which can hide the transmission assembly 23 between the mounting plate 13 and the corresponding support body (the first support body 11 and the second support body 12), thereby preventing the transmission assembly 23 from being directly impacted by the outside, and improving the stability and reliability of the drive system.

[0067] In the embodiment of the present invention, some vehicle-mounted components can be assembled into the first chamber and the second chamber at the same time, and can connect the first support body and the second support body, thereby improving the overall structural stability and connection strength. The mounting plate can be used to install the wheel assembly, and the transmission assembly can be hidden between the mounting plate and the corresponding support body, so that its compactness is further improved, which not only improves the stability of the power transmission of the power assembly and the wheel assembly, but also enables the throwing robot to be further optimized in the direction of miniaturization and micro-miniaturization, making it more flexible in practical applications.

[0068] Compared with the robot structure in the related technology, the present application is committed to optimizing the miniaturization of the robot and the flexible structure of the robot body, so that it better meets the performance requirements of the throwing robot and meets the deployment and application in high-risk emergency scenarios. It also provides technical support for the development of the throwing robot towards miniaturization and micro-miniaturization, breaking through the bottlenecks currently faced by throwing robots and improving the robot's adaptability in complex disaster environments.

[0069] The body is the main structure of the robot with the largest volume. The body assembly of the embodiment of the present invention fully utilizes the elastic flexible structure and chamber structure of the first support body and the second support body, and achieves a large-scale volume reduction compared to the body in the related art, and achieves improved buffering and assembly performance.

[0070] Optionally, the main body of the first support body 11 and the second support body 12 excluding the first chamber and the second chamber may be a solid structure made of rubber, or a honeycomb or other porous structure made of rubber to improve its elasticity.

[0071] When fixing the mounting plate 13, since the mounting plate 13 is a rigid component, and the first support body 11 and the second support body 12 are elastic components, if the two are directly connected by connecting parts such as bolts, it is easy to cause local parts of the first support body 11 and the second support body 12 to be deformed after being squeezed by the connecting parts, and even cause serious damage. Therefore, the robot flexible body assembly 1 of the embodiment of the present invention also includes a first clamping plate 14 and a second clamping plate 15, and has a first skirt 111 on the side of the first support body 11 away from the second support body 12, and has a second skirt 121 on the side of the second support body 12 away from the first support body 11, the first clamping plate 14 and the corresponding mounting plate 13 are respectively arranged on both sides of the first skirt 111 and connected to the first skirt 111, and the second clamping plate 15 and the corresponding mounting plate 13 are respectively arranged on both sides of the second skirt 121 and connected to the second skirt 121.

[0072] That is, the first skirt 111 is fastened to the mounting plate 13 and the first clamping plate 14 on both sides thereof by bolts and other connecting parts, and the first clamping plate 14 and the mounting plate 13 are directly contacted and connected with the connecting parts, thereby preventing the first skirt 111 from being damaged, and improving the structural stability of the mounting plate 13 and the first support body 11. Similarly, the second skirt 121 is also fastened to the mounting plate 13 and the second clamping plate 15 on both sides thereof by bolts and other connecting parts, and the second skirt 121 is pressed between the mounting plate 13 and the second clamping plate 15 as a whole, thereby preventing the second skirt 121 from being damaged, and improving the structural stability of the mounting plate 13 and the first support body 11.

[0073] In order to ensure the structural stability of the body assembly 1, the first support body 11 and the second support body 12 can be connected by multiple connecting parts such as long bolts. Specifically, the body assembly 1 of the embodiment of the present invention also includes a second connecting part 17, and the second connecting part 17 can be a long bolt. A plurality of groups of corresponding connecting holes are provided between the first support body 11 and the second support body 12. In order to reduce the difficulty of assembly and improve the stability of the structure after assembly, an embedded part 18 is embedded in at least part of the connecting holes or all of the connecting holes. The second connecting part 17 is connected to the embedded part 18 to fix the first support body 11 and the second support body 12. For example, the embedded part 18 is a threaded tube with an internal threaded hole, and the long screw can be directly screwed and fixed in the threaded tube.

[0074] If the power assembly 21 and other vehicle-mounted components are directly arranged in the first support body 11 and the second support body 12, they cannot play a good protective support effect, and it is easy to cause the power assembly 21 to move relative to the first support body 11 and the second support body 12, and the stability is poor. The vehicle body assembly 1 of the embodiment of the present invention also includes a sleeve assembly, which has an inner cavity, and the number of the first chamber 112 and the second chamber 122 are both multiple. At least part of the first chamber 112 and at least part of the second chamber 122 are relatively connected to form an assembly cavity, and the sleeve assembly is arranged in the assembly cavity to connect the first support body 11 and the second support body 12. The sleeve assembly can not only provide an assembly space with better stability, but also improve the connection strength of the first support body 11 and the second support body 12, so that the two are more stable.

[0075] On the premise of meeting the requirements of miniaturization, micro-miniaturization design and impact resistance of the vehicle body, the sleeve assembly in the embodiment of the present invention provides a stable assembly space, which has better protection performance, and some components in the power assembly can be assembled in the inner cavity of the sleeve assembly. Therefore, the sleeve assembly in the embodiment of the present invention not only improves the connection strength of the vehicle body assembly, but also provides an assembly space. The assembly space can be specifically designed and optimized according to the volume of the vehicle-mounted components, so that the performance of the vehicle body assembly is further improved.

[0076] Furthermore, the sleeve assembly includes a sleeve body 161 and a first connecting member 162 that are connected to each other. The sleeve body 161 is inserted into the assembly cavity. One end of the sleeve body 161 has an end plate 1611. The first connecting member 162 is arranged at the other end of the sleeve body 161. The end plate 1611 abuts against one of the first support body 11 and the second support body 12, and the first connecting member 162 abuts against the other of the first support body 11 and the second support body 12.

[0077] The sleeve body 161 plays a supporting and connecting role. The first connecting member 162 can be a threaded sleeve with an internal thread. When the sleeve body 161 and the first connecting member 162 are connected, the end plate 1611 and the first connecting member 162 can abut against the outer sides of the first support body 11 and the second support body 12, thereby avoiding the separation of the first support body 11 and the second support body 12.

[0078] like Figure 6-Figure 11 As shown, the throwing robot 100 of the embodiment of the present invention includes a body component 1 and a drive system 2, the body component 1 is a robot flexible body component as in any one of the above embodiments; the drive system 2 includes a power component 21, a wheel assembly 22 and a transmission component 23, the power component 21 is arranged in the first chamber 112 and / or the second chamber 122 of the body component 1, the wheel assembly 22 is connected to the mounting plate of the body component 1, and the transmission component 23 is arranged in the transmission cavity 19 and is connected to the power component 21 and the wheel assembly 22.

[0079] The beneficial effects achieved by the throwing robot in the embodiment of the present invention include the beneficial effects achieved by the body assembly in the above-mentioned embodiment, so they are not described in detail.

[0080] The embodiment of the present invention improves the overall stability and compactness by designing the body component 1 as a flexible frame structure and combining the drive system 2 with the flexible frame structure. In the actual application process, the throwing robot 100 in the embodiment of the present invention can improve the impact resistance of the body component 1 and ensure the stable operation of the drive system 2, so that the throwing robot 100 can perform the work task normally. More importantly, the embodiment of the present invention can be miniaturized and micro-designed to make the assembly between components more compact. The embodiment of the present invention can ensure that the emergency rescue function is the same as that of the robot in the related technology, while reducing the volume of the robot by at least 1 / 3, and the impact resistance of the structure and the structural stability between the components are also improved, which provides a new idea for the development of robots in the field of emergency rescue, breaks through the research and development bottleneck in the related technology, and has a broader application prospect and practical significance.

[0081] The wheel assembly 22 in the embodiment of the present invention includes a wheel axle 221, a bearing seat 222 and a running wheel, the bearing seat 222 is fixedly connected to the mounting plate 13, and the wheel axle 221 is assembled on the bearing seat 222; the running wheel includes a wheel hub 223 and a wheel body 224, the wheel hub 223 is connected to one end of the wheel axle 221, the wheel body 224 is connected to the wheel hub 223, the wheel body 224 is covered on the circumference of the wheel hub 223 and the end of the wheel hub 223 axially away from the body assembly 1; the wheel body 224 and the bearing seat 222 are both elastic, and both ends of the wheel body 224 in the height direction of the body assembly 1 protrude from the outer peripheral contour of the body assembly 1.

[0082] When the throwing robot 100 lands, no matter at what angle it lands, it can ensure that the wheel body 224 contacts the ground first, the wheel body 224 deforms first and achieves buffering, and then the impact force is transmitted to the bearing seat 222 through the wheel axle 221, and the bearing seat 222 can also undergo a certain elastic deformation and achieve buffering, and finally the impact force will be diffused to the body assembly 1 through the mounting plate 13, which greatly improves the stability of the drive system 2 and other vehicle-mounted components in the throwing robot 100 and avoids damage due to large impacts.

[0083] Optionally, the bearing seat 222 is a rubber bearing seat 222, and the wheel body 224 is made of rubber material.

[0084] Furthermore, the wheel body 224 in the embodiment of the present invention includes a main body section 2241 and a spherical section 2242 arranged in sequence along the axial direction of the wheel axle 221, and a plurality of holes are provided on the main body section 2241 and the spherical section 2242, and the porosity of the spherical section 2242 is greater than the porosity of the main body section 2241. The design of the spherical section 2242 facilitates the safe and stable landing of the throwing robot 100 at different landing angles, and also facilitates the transmission of force. When falling and colliding, the impact energy is first absorbed by the wheel body 224, and then transmitted to the bearing seat 222 supporting the wheel axle 221, and then the impact energy is dispersed to the first support body 11 and the second support body 12, effectively dispersing and buffering the force.

[0085] The embodiment of the present invention can reasonably optimize the elasticity and stiffness of different sections by setting holes on the wheel body 224 and controlling the volume ratio of the holes in different sections, thereby better meeting performance requirements.

[0086] Optionally, the hardness of the wheel body 224 is greater than 30 degrees and less than 60 degrees; when the hardness of the wheel body 224 is less than 30 degrees, although the elasticity of the wheel body 224 is better, the friction coefficient between the wheel body 224 and the ground is greater. The robot's motion performance test shows that the wheel body 224 with a hardness less than 30 degrees is not suitable for achieving differential in-situ turning. When the hardness of the wheel body 224 is greater than 60 degrees, the friction coefficient between the wheel body 224 and the ground is relatively small, and it is easy to achieve various motion requirements of the robot, but at this time the wheel body 224 has poor elasticity and poor impact resistance. After comprehensive testing and consideration, the hardness of the wheel body 224 of the embodiment of the present invention is greater than 30 degrees and less than 60 degrees. Preferably, the hardness of the wheel body 224 is 45 to 55 degrees, which can meet the impact resistance requirements and the driving requirements of the robot.

[0087] For example, the hardness of the wheel body 224 is 45 degrees, 48 ​​degrees, 50 degrees, or 55 degrees.

[0088] The wheel axle 221 in the embodiment of the present invention is a hollow shaft, and the end of the wheel axle 221 away from the body assembly 1 has a flange 2211, the wheel hub 223 and the flange 2211 are fixedly connected, a first bearing 225 is provided between the wheel axle 221 and the bearing seat 222, and a second bearing 226 is provided between the end of the wheel axle 221 close to the body assembly 1 and the corresponding first support body 11 or second support body 12, so that part of the axial impact force borne by the wheel axle 221 can be directly transmitted to the first support body 11 or the second support body 12, and the structure of the wheel axle 221 is more stable after being supported by the first bearing 225 and the second bearing 226.

[0089] The embodiment of the present invention adopts a hollow shaft design, which is convenient for qualitative collision force analysis and can also perform strength verification on the axle 221. It is suitable for force analysis of complex geometric structures and diverse materials, and then calculates the impact resistance of the robot to ensure the overall performance of the throwing robot 100. The axle 221 and the hub 223 are connected by a flange 2211, which can ensure the structural rigidity between the two, facilitate the effective transmission of the impact force carried by the wheel body 224 to the axle 221, and ensure the structural stability between the axle 221 and the hub 223.

[0090] Of course, a rubber bearing seat 222 corresponding to the second bearing 226 may also be provided on the first support body 11 and the second support body 12 to facilitate assembly and installation.

[0091] Optionally, the first bearing 225 and the second bearing 226 are plastic bearings.

[0092] During the casting process, the impact energy first acts on the wheel hub 223 through the wheel body 224 at the side end. Then, the impact energy is transmitted to the wheel axle 221 through the wheel hub 223, and acts on the first bearing 225, so that the bearing seat 222 will be impacted by the first bearing 225 and compressed and deformed; after the bearing seat 222 is compressed and deformed, the wheel axle 221 moves toward the direction close to the vehicle body component 1, and transmits the force to the first support body 11 and the second support body 12 through the second bearing 226, and finally disperses the impact energy to the vehicle body.

[0093] The transmission assembly 23 of the embodiment of the present invention includes a driving wheel 231, a driven wheel 232 and a tensioning wheel 233. The driving wheel 231 is connected to the driving end of the power assembly 21. A plurality of wheel assembly assemblies 22 are arranged on the mounting plate 13 on the same side of the vehicle body assembly 1. A driven wheel 232 is connected to each wheel assembly 22. The driven wheels 232 are synchronously driven by a first transmission member 234, and one of the driven wheels 232 is connected to the driving wheel 231 through a second transmission member 235. The tensioning wheel 233 is connected to the mounting plate 13 through a support member. The first transmission member 234 and / or the second transmission member 235 are connected to the tensioning wheel 233 to tension the first transmission member 234 and / or the second transmission member 235, so as to ensure that the first transmission member 234 and / or the second transmission member 235 are tensioned to avoid separation from the driving wheel 231 or the driven wheel 232 and the corresponding transmission member. The driving wheel 231 is located between the two driven wheels 232, and the driving wheel 231 is located in the middle of the winding path of the first transmission member 234. By designing the arrangement positions of the driving wheel 231, the driven wheel 232 and the first transmission member 234, the overall structure can be made more compact so that it can be arranged in the transmission cavity 19.

[0094] The transmission assembly of the embodiment of the present invention can be arranged in the transmission cavity, and the integration of the transmission assembly can be achieved by utilizing the cavity structure on the first support body. The components have good compactness, and when thrown and landed, the impact force can be diffused to the body assembly through the force transmission between the wheel body, the wheel axle, and the bearing seat, thereby reducing the relative displacement between the transmission assembly and the wheel assembly. The only component protruding outside the circumferential contour of the body assembly is the wheel body, which ensures the robot's ability to pass on complex terrain while improving the integration of the drive system and the body assembly, thereby enabling the miniaturization of the throwing robot for emergency rescue.

[0095] When the wheel axle 221 is a smooth axis, the driven wheel 232 will move after being squeezed by the second bearing 226. After the impact force ends, the bearing seat 222 recovers its deformation, and the driven wheel 232 after moving will be pressed and contacted with the bearing or the mounting plate, generating a large friction force. In the embodiment of the present invention, the wheel axle 221 is a stepped axis, and the wheel axle 221 has a limiting shoulder 2212. The driven wheel 232 is installed on the wheel axle 221. The driven wheel 232 is located in the transmission cavity 19. The side of the driven wheel 232 close to the bearing seat 222 abuts against the limiting shoulder 2212, which can limit the movement of the driven wheel 232 and ensure the transmission structure stability of the wheel assembly 22.

[0096] The power component 21 of the embodiment of the present invention includes a driver 211 and an energy storage component 212. The energy storage component 212 is used to supply power to the driver 211. The driver 211 and the energy storage component 212 are both arranged in the first chamber 112 or the second chamber 122 in the body component 1. When the driver 211 and the energy storage component 212 are larger in size, they can be arranged in an assembly cavity formed by the first chamber 112 and the second chamber 122. The number of drivers 211 and transmission components 23 in the embodiment of the present invention is multiple. Multiple wheel assemblies 22 located on the same side of the width direction of the body component 1 are synchronously driven and connected to one of the drivers 211. The wheel assemblies 22 located on different sides of the width direction of the body component 1 are respectively connected to different drivers 211, which can realize flexible movements of the throwing robot 100 and improve maneuverability and adaptability to complex terrain.

[0097] The driver 211 may be a motor, the energy storage component 212 may be a rechargeable battery, the driving wheel 231 and the driven wheel 232 may be pulleys, the first transmission member 234 and the second transmission member 235 may be synchronous belts, and the impact resistance effect may be improved through synchronous belt transmission connection.

[0098] Since the throwing robot 100 needs to be remotely controlled to walk and needs to detect and observe the site environment, the throwing robot 100 in the embodiment of the present invention also includes a detection component and a video module 3, and the detection component and the video module 3 are arranged in the first chamber 112 or the second chamber 122 of the body assembly 1.

[0099] The video module 3 can be a camera, which is installed with a 15° upward and 15° downward viewing angle, so that there is a camera on the front and back sides of the robot to capture the correct image. The embodiment of the present invention can also embed the camera into the rubber body (the first support body 11 and the second support body 12) for fixed installation. Compared with adding a servo gimbal to provide the camera with pitch movement, it is more suitable for the application characteristics of the throwing robot.

[0100] The detection module may be a gas detection module, and the throwing robot 100 is placed in a mine to detect dangerous gases.

[0101] The motor, battery, video module 3, detection module and other vehicle-mounted components of the embodiment of the present invention can be embedded in a special cavity on the rubber module. After the first support body 11 and the second support body 12 are connected, they will not be thrown out of the vehicle body due to impact, nor will they be easily damaged by direct impact.

[0102] The embodiment of the present invention is also provided with an electrical box 4, which is arranged on the side of the mounting plate 13 away from the body assembly 1, and the electrical box 4 is located between the two wheel assembly assemblies 22, and the electrical box 4 does not protrude from the outer peripheral contour of the throwing robot 100, thereby ensuring that the electrical box 4 will not be directly impacted.

[0103] After throwing tests and scene simulation tests, the throwing robot in the embodiment of the present invention can meet the requirements of the following performance parameters: (1) The throwing height is ≥3m, and the movement and monitoring functions can be maintained normally after falling.

[0104] (2) The net weight of the structure is ≤2.5kg.

[0105] (3) Load capacity ≥ 1kg.

[0106] (4) Climbing ability ≥ 20°.

[0107] (5) Comprehensive endurance ≥ 0.5h.

[0108] (6) Maximum movement speed ≥ 0.5m / s.

[0109] (7) Real-time monitoring and transmission of on-site video, CH4, O2, and CO.

[0110] The above performance parameters are close to the upper limit of the capabilities of most throwing robots in the related art, and the throwing robots in the related art have a high failure rate. However, the throwing robot in the embodiment of the present invention can achieve the above performance parameters while also having room for further improvement and can greatly reduce the failure rate. In terms of the ability to travel through a narrow space, this embodiment can achieve greater advantages, so that its practicality is further improved.

[0111] The throwing robot of the embodiment of the present invention has achieved significant breakthroughs in miniaturization and impact resistance. Compared with robots in related technologies, it can greatly improve the deployment efficiency and monitoring flexibility of the robot in complex and dangerous environments, and has irreplaceable application prospects in the field of emergency monitoring.

[0112] The throwing robot of the embodiment of the present invention can solve the deficiencies of current emergency rescue robots in terms of miniaturization and impact resistance, can be used in more harsh environments, and better meet the urgent needs of emergency detection tasks.

[0113] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0114] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0115] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0116] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0117] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0118] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A robot flexible body assembly, characterized in that: include: a first support having a first chamber; a second support body, wherein the first support body and the second support body are both elastic, the first support body and the second support body are arranged side by side and connected together along the width direction of the vehicle body component, the second support body has a second chamber, and the first chamber and / or the second chamber are used to install a power component; A mounting plate, a side of the first support body away from the second support body and a side of the second support body away from the first support body are both provided with the mounting plate, the first support body and the second support body are both fixedly connected to the corresponding mounting plate, and a mounting portion is provided on the mounting plate, and the mounting portion is used to install the wheel assembly; A side of the first support body away from the second support body and a side of the second support body away from the first support body both have a transmission cavity, and the transmission cavity is used to install a transmission assembly connecting a power assembly and a wheel assembly.

2. The robot flexible body assembly according to claim 1, characterized in that: It also includes a first clamping plate and a second clamping plate, the first support body has a first skirt on a side away from the second support body, the second support body has a second skirt on a side away from the first support body, the first clamping plate and the corresponding mounting plate are respectively arranged on both sides of the first skirt and connected to the first skirt, the second clamping plate and the corresponding mounting plate are respectively arranged on both sides of the second skirt and connected to the second skirt.

3. The robot flexible body assembly according to claim 1, characterized in that: It also includes a sleeve assembly, which has an inner cavity, the first chamber and the second chamber are both multiple in number, at least part of the first chamber and at least part of the second chamber are relatively connected to form an assembly cavity, and the sleeve assembly is arranged in the assembly cavity to connect the first support body and the second support body.

4. The robot flexible body assembly according to claim 3, characterized in that: The sleeve assembly includes a sleeve body and a first connecting member that are connected to each other. The sleeve body is inserted into the assembly cavity. One end of the sleeve body has an end plate. The first connecting member is arranged at the other end of the sleeve body. The end plate abuts against one of the first support body and the second support body. The first connecting member abuts against the other of the first support body and the second support body.

5. The robot flexible body assembly according to any one of claims 1 to 4, characterized in that: The first support body and the second support body are both made of rubber material; And / or, it also includes a second connecting member, a plurality of corresponding connecting holes are provided between the first supporting body and the second supporting body, at least some of the connecting holes are embedded with embedded members, and the second connecting member is connected to the embedded members to fix the first supporting body and the second supporting body.

6. A throwing robot, characterized in that: include: A body component, wherein the body component is a robot flexible body component as claimed in any one of claims 1 to 5; A drive system, the drive system includes a power component, a wheel assembly and a transmission component, the power component is arranged in the first chamber and / or the second chamber of the body component, the wheel assembly is connected to the mounting plate of the body component, and the transmission assembly is arranged in the transmission cavity and connected to the power component and the wheel assembly.

7. The throwing robot according to claim 6, characterized in that: The wheel assembly comprises: axle; A bearing seat, the bearing seat is fixedly connected to the mounting plate, and the wheel axle is assembled on the bearing seat; A running wheel, the running wheel comprising a wheel hub and a wheel body, the wheel hub being connected to one end of the wheel axle, the wheel body being connected to the wheel hub, and the wheel body covering the circumference of the wheel hub and the axial end of the wheel hub away from the vehicle body assembly; The wheel body and the bearing seat are both elastic, and both ends of the wheel body in the height direction of the vehicle body component protrude from the outer peripheral contour of the vehicle body component.

8. The throwing robot according to claim 7, characterized in that: The wheel body comprises a main body section and a spherical surface section which are sequentially arranged along the axial direction of the wheel shaft, and a plurality of holes are formed on each of the main body section and the spherical surface section, and the porosity of the spherical surface section is greater than that of the main body section; And / or, the wheel body is made of rubber material, and the hardness of the wheel body is greater than 30 degrees and less than 60 degrees; And / or, the bearing seat is a rubber bearing seat; And / or, the wheel axle is a hollow shaft, the end of the wheel axle away from the body assembly has a flange, the wheel hub and the flange are fixedly connected, a first bearing is provided between the wheel axle and the bearing seat, and a second bearing is provided between the end of the wheel axle close to the body assembly and the corresponding first support body or second support body.

9. The throwing robot according to claim 7, characterized in that: The transmission assembly comprises a driving wheel, a driven wheel and a tensioning wheel, the driving wheel is connected to the driving end of the power assembly, a plurality of wheel assembly assemblies are arranged on the mounting plate on the same side of the body assembly, each of the wheel assembly assemblies is connected to the driven wheel, the driven wheels are synchronously driven by a first transmission member, and one of the driven wheels is connected to the driving wheel by a second transmission member, the tensioning wheel is connected to the mounting plate through a support member, the first transmission member and / or the second transmission member are connected to the tensioning wheel to tension the first transmission member and / or the second transmission member, the driving wheel is located between the two driven wheels, and the driving wheel is located in the middle of the winding path of the first transmission member; The wheel axle is a stepped shaft, the wheel axle has a limiting shoulder, the driven wheel is mounted on the wheel axle, and the driven wheel is located in the transmission cavity, and a side of the driven wheel close to the bearing seat is in contact with the limiting shoulder.

10. The throwing robot according to any one of claims 6 to 9, characterized in that: The power assembly includes a driver and an energy storage component, the energy storage component is used to supply power to the driver, the driver and the energy storage component are both arranged in the first chamber or the second chamber in the body assembly, the number of the driver and the transmission assembly are both multiple, the multiple wheel assembly assemblies located on the same side of the width direction of the body assembly are synchronously driven and connected to one of the drivers, and the wheel assembly assemblies located on different sides of the width direction of the body assembly are respectively connected to different drivers; And / or, further comprising a detection component and a video module, wherein the detection component and the video module are arranged in the first chamber or the second chamber of the vehicle body component; And / or, it also includes an electrical box, which is arranged on a side of the mounting plate away from the body assembly, the electrical box is located between the two wheel assembly assemblies, and the electrical box does not protrude from the outer peripheral contour of the throwing robot.

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