A protective device for a throwing robot

Abstract

The present invention relates to the technical field of throwing robots, and specifically to a protective device for a throwing robot, comprising a robot main body assembly, wherein the robot main body assembly is provided with a mechanical arm adjustment mechanism, wherein the mechanical arm adjustment mechanism is provided with an automatic lifting machine assembly and a fixing plate; wherein the automatic lifting machine assembly is provided with a monitoring mechanism, wherein the monitoring mechanism is provided with a first monitoring assembly and a second monitoring assembly. The throwing robot in the present application is easy to move and monitor, and the mechanical arm structure facilitates the adjustment of the monitoring components to achieve multi-angle monitoring operations. At the same time, the protective guardrail can be controlled to unfold for convenient protective operations, and the protective guardrail can rotate synchronously with the camera to enhance the protective capability of the protective guardrail and fully separate impurities from the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of throwing robots, in particular to a protective device for the throwing robot. Background Art

[0002] There are two main types of drop robots. The first type primarily includes two-wheeled dumbbell and spherical structures. These robots are compact, lightweight, and easy to throw by hand, but their maneuverability and ability to navigate complex terrain are limited. Due to their small size and limited energy, their endurance and wireless communication range are also short. The second type uses the same structure as common four-wheeled and tracked mobile platforms, but is significantly larger and less resistant to drops and impacts. Compared to the first type, the second type is slightly heavier but can still be thrown manually, offering improved maneuverability, payload capacity, and obstacle-crossing capabilities. Both types of drop robots can be thrown into the work environment by an operator and move within a certain range to complete designated detection or rescue missions. The design process for drop detection robots requires a balance between mass and size, as well as obstacle-crossing performance and impact resistance. Therefore, comprehensive consideration is required for the performance of drop detection robots in terms of obstacle crossing, carrying capacity, and throwing. Currently, mainstream drop robots are mostly manually thrown, with limited height and distance. Robots dropped by drones generally do not exceed a height of 20 meters. Moreover, the more impact-resistant a throwing robot is, the simpler its structure is, and the simpler the structure is, the weaker its obstacle-crossing ability is. Faced with a complex ground environment, the throwing robot will not be able to achieve the purpose of detection because it cannot cross obstacles.

[0003] The throwing robot with omnidirectional impact resistance, disclosed in publication number CN115592682B, comprises: a carrying platform for the throwing robot, which includes a motor and a control system; the motor is connected to a one-way slot that can convert rotational motion into linear motion through gears and ratchets; the extension of the wheel hub is indirectly controlled by the one-way slot; when the wheel hub is retracted, the throwing robot becomes spherical, thereby improving its omnidirectional impact resistance; when the wheel hub is extended, the throwing robot becomes dumbbell-shaped, thereby enhancing the robot's mobility; the wheel hub and the motor are connected by a non-contact magnetic gear, which not only isolates the impact force transmitted to the motor by the collision, but also enables the motor to have an overload protection function, so that the robot has stronger impact resistance.

[0004] In the above technical solution, by setting a hub solution, the throwing robot can be formed into a spherical shape to improve impact resistance, facilitate throwing, and better protect the motor through non-contact magnetic gears. However, it cannot fully protect the monitoring equipment, and it cannot effectively isolate debris and the robot during movement to effectively protect the throwing robot, so it needs to be improved. Summary of the Invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a protective device for a throwing robot.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A protective device for a throwing robot, comprising a robot main body assembly, a mechanical arm adjustment mechanism provided on the robot main body assembly, and an automatic lifting machine assembly and a fixing plate provided on the mechanical arm adjustment mechanism;

[0008] The automatic lifting machine assembly is provided with a monitoring mechanism, and the monitoring mechanism is provided with a first monitoring component and a second monitoring component;

[0009] The fixed plate is provided with a linkage adjustment mechanism, the linkage adjustment mechanism is provided with a notch, a gear shaft is rotatably connected in the notch, the gear shaft is connected to the linkage adjustment mechanism, a guardrail telescopic mechanism is provided on one side of the gear shaft, the guardrail telescopic mechanism is provided with a support plate, a double-sided gear condition is slidably installed in the support plate, a double-sided gear condition is slidably installed on one side of the support plate, a reverse extension mechanism is provided on both sides of the double-sided gear condition, a plurality of sliding members are provided on the reverse extension mechanism, and the double-sided gear condition and the plurality of sliding members are all connected to the guardrail telescopic mechanism;

[0010] A transverse axis is fixed on one side of the double-sided tooth condition, and arc frames are fixed on the opposite side walls in the notch. Both ends of the transverse axis are slidably mounted on the two arc frames.

[0011] Compared with the existing technology, the throwing robot in this application is easy to move and monitor, and the mechanical arm structure can facilitate the adjustment of the monitoring components to achieve multi-angle monitoring operations. At the same time, it can control the deployment of the protective guardrail to facilitate protective operations, and the protective guardrail can rotate synchronously with the camera to enhance the protective capability of the protective guardrail and fully separate impurities from the robot.

[0012] Preferably, the robotic arm adjustment mechanism includes moving wheels installed on both sides of the robot main body assembly, an automatic turntable assembly is installed on the upper end of the robot main body assembly, the automatic lifting machine assembly and the fixed plate are both installed on the upper end of the robot main body assembly, the fixed plate is arranged on one side of the automatic lifting machine assembly, and the fixed plate is arranged at the lower end of the monitoring mechanism.

[0013] Furthermore, the robot main body assembly is the main structure of the throwing robot. The two moving wheels connected to the robot main body assembly can form a two-wheel dumbbell-structured throwing robot. At the same time, the two moving wheels can be rotated by controlling the internal components of the robot main body assembly, so as to effectively complete the operation of the throwing robot. In actual production and preparation, the design of the center of gravity of the robot main body assembly, the automatic turntable assembly and the automatic lifting machine assembly is fully considered to ensure that the center of gravity is located in the middle of the robot main body assembly away from one end of the automatic lifting machine assembly, so that the automatic lifting machine assembly is located at the upper end when in use. At the same time, the automatic turntable assembly and the internal components of the robot main body assembly cooperate to enable the automatic turntable assembly to rotate to a certain extent; at the same time, the automatic lifting machine assembly adopts a liftable structure to adjust the height of the first monitoring assembly and the second monitoring assembly. The internal structure and operation principle of the robot main body assembly, the moving wheels, the automatic turntable assembly and the automatic lifting machine assembly all adopt existing technologies.

[0014] Preferably, the monitoring mechanism includes two mounting members installed on one side of the automatic lifting machine assembly, a mounting frame assembly is commonly installed on the two mounting members, a rotating member is rotatably sleeved on the mounting frame assembly, and the rotating member is fixed to one side of the connecting plate assembly;

[0015] The mounting frame assembly and the connecting plate assembly are connected to each other in a mutually rotatable manner with a first electric telescopic rod;

[0016] The first monitoring component is installed at the upper end of the connecting plate component, a controller component is installed at the lower end of the connecting plate component away from the mounting frame component, a second monitoring component is installed at the lower end of the controller component away from the connecting plate component, and the first monitoring component is arranged at the lower end of the second monitoring component.

[0017] Furthermore, the extension and retraction of the first electric telescopic rod can make the connecting plate assembly and the rotating part rotate with the mounting frame assembly as the axis, which is convenient for adjusting the shooting angle of the first monitoring assembly and the second monitoring assembly. The rotation of the automatic turntable assembly can adjust the orientation of the first monitoring assembly and the second monitoring assembly. The lifting and lowering of the automatic lifting machine assembly can effectively adjust the shooting height of the first monitoring assembly and the second monitoring assembly. The above can form a mechanical arm structure for adjusting the shooting conditions of the first monitoring assembly and the second monitoring assembly, which is convenient for monitoring operations. The first monitoring assembly and the second monitoring assembly can be set with different monitoring lenses according to actual conditions, such as a combination of a telephoto lens and a wide-angle lens. The wide-angle lens can expand the field of view, and the telephoto lens can monitor the remote situation. The controller assembly can be connected to the first monitoring assembly and the second monitoring assembly, which is convenient for uploading the captured information images.

[0018] Preferably, the linkage adjustment mechanism includes a movable plate slidably mounted on the upper end of the fixed plate, an elastic reverse thrust mechanism is mounted in the movable plate, a tooth plate member is provided on the elastic reverse thrust mechanism, and the tooth plate member is meshed with the lower end of the gear shaft member;

[0019] A second driving telescopic rod is installed on the fixed plate, a piston rod of the second driving telescopic rod is located at the lower end of the movable plate, and a piston rod end of the second driving telescopic rod is connected to the elastic reverse thrust mechanism.

[0020] Furthermore, the distance between the movable plate and the fixed plate can be adjusted by extending and retracting the piston rod of the second driving telescopic rod. When not in use, the movable plate and the fixed plate can mostly overlap. At this time, the second protective plate member and multiple first protective plate members will conflict with each other in turn and overlap with the movable plate, which helps to reduce the overall volume and facilitate carrying and throwing operations. After the throwing is completed, the piston rod of the second driving telescopic rod can be controlled to extend, and the elastic reverse thrust mechanism can be used to control the moving direction of the tooth plate member through the second driving telescopic rod, so that the tooth plate member drives the gear shaft member meshing with it to rotate, so that the second protective plate member and the first protective plate member can be rotated to a direction perpendicular to the movable plate, and during the rotation process, the second protective plate member and multiple first protective plate members can also be unfolded to expand the protection range.

[0021] Preferably, the elastic reverse thrust mechanism includes a partition member slidably mounted in the movable plate, the end of the piston rod of the second driving telescopic rod is fixedly connected to the partition member, one side of the lower end of the movable plate and one side of the lower end of the partition member are both provided with a notch, the tooth plate member is slidably mounted in the notch, both sides of the partition member are rotatably connected to the first oblique rod, one end of the first oblique rod is rotatably connected to the sliding frame, and the sliding frame is slidably mounted on the side wall of the movable plate away from the fixed plate;

[0022] The side of the sliding frame connected to the first oblique rod is rotatably connected to the second oblique rod, and the opposite ends of the two second oblique rods are rotatably connected to the two sides of the tooth plate respectively;

[0023] Spring members are fixed on both sides of the movable plate and the two first oblique rods, and the four spring members are fixedly connected to the partition member.

[0024] Furthermore, the extension of the piston rod of the second driving telescopic rod can push the movable plate and the fixed plate to separate. When the positions of the movable plate and the fixed plate are fixed, the piston rod of the second driving telescopic rod can continue to extend, so that the partition member moves toward the side wall of the end of the movable plate away from the fixed plate, which can enable the first oblique rod to push the sliding frame to move. At this time, the two sliding frames will move relative to each other, and the movement of the sliding frame can cause the second oblique rod to deflect and rotate, so that the second oblique rod rotates in a direction perpendicular to the sliding frame. The movement of the second oblique rod can cause the gear plate member to move toward the direction of the fixed plate, so that the gear plate member can drive the gear shaft member to rotate;

[0025] When the second piston rod that drives the telescopic rod contracts, the spring part will quickly push the partition part and the first oblique rod to restore their original state, so that the sliding frame and the second oblique rod can operate, and the tooth plate part can drive the gear shaft part to rotate, so that the first protective plate part and the second protective plate part can operate in a direction parallel to the movable plate.

[0026] Preferably, the guardrail telescopic mechanism includes a second protective plate member, which is fixedly connected to the gear shaft member, and a plurality of first protective plate members are evenly spaced on both sides of the second protective plate member. The lower ends of the second protective plate member and the first protective plate member are both provided with plug-in interfaces, and a movable shaft is fixed in the plug-in interface at the lower end of the second protective plate member, and the two ends of the movable shaft are respectively slidably mounted on the two plug-in interfaces on both sides of the second protective plate member;

[0027] A plug-in component is slidably mounted on two adjacent first protective plates, and two ends of the plug-in component are respectively located in two plug-in interfaces at the lower ends of the two adjacent first protective plates;

[0028] The second protective plate and the plurality of first protective plate members are each provided with a lifting opening, wherein the opening direction of the lifting opening is perpendicular to the opening direction of the plug port;

[0029] The lifting openings on the plurality of first protection plate members are respectively slidably connected to the plurality of sliding members.

[0030] Furthermore, the second protective plate has the same structural specifications as the first protective plate. When arranged, the number of first protective plates on both sides of the second protective plate can be made the same, so as to facilitate uniform deployment.

[0031] During actual production and preparation, the installation of the connectors can be set so that the two connectors located at the outermost ends are at the highest position in the plug interface, and the two connectors fixed to the second protective plate are at the lowest position in the plug interface. The multiple connectors on both sides of the second protective plate are arranged in a stepped manner downward and inward, and the horizontal heights of the multiple connectors overlap with the horizontal height of the plug interface. This method enables the connector to be inserted into multiple plug interfaces, helps to move toward the middle, and can cause the two first protective plates to collide with each other, thereby fully reducing the overall size after folding.

[0032] Preferably, the reverse extension mechanism includes two gear parts rotatably connected to both sides of the support plate, the two gear parts are respectively engaged with the two sides of the double-sided gear condition, the double-sided gear condition is slidably installed in the guardrail telescopic mechanism, the support plate is fixedly connected to the guardrail telescopic mechanism, one end of the two gear parts is fixed with a swing rod, and a plurality of sliding parts are equally divided into two groups, and the two groups of sliding parts are respectively and equally connected to the two swing rods.

[0033] Furthermore, when the gear shaft drives the second protective plate to rotate, the double-sided gear condition will rotate from a horizontal state to a vertical state following the second protective plate. At this time, the horizontal axis of the double-sided gear condition will slide on the arc frame to ensure that the double-sided gear condition can deflect synchronously with the second protective plate.

[0034] In this case, because the arc frame is set in an arc shape, the double-sided gear condition will be pushed up by the horizontal axis. When the double-sided gear condition is pushed up, the two gear parts can rotate in opposite directions. As the gear parts rotate, the two swing rods can rotate in opposite directions and gradually rotate in the horizontal direction, which will cause the sliding part to push the first protective plate part to move. Multiple sliding parts on the same swing rod will draw circular arcs with the center of the gear part fixedly connected to the swing rod as the circle, which can cause multiple first protective plate parts located on the same side to expand or contract.

[0035] Preferably, one end of the tooth plate is located at the lower end of the second piston rod that drives the telescopic rod.

[0036] Furthermore, the tooth plate can be easily telescopically moved.

[0037] Preferably, the plurality of connectors located on one side of the second protective plate are arranged in a stepped manner.

[0038] Furthermore, the first protective plate can move toward the second protective plate or move away from the second protective plate.

[0039] Preferably, the first monitoring component and the second monitoring component are both located at the upper end of the guardrail telescopic mechanism.

[0040] Furthermore, it can prevent the first protective plate and the second protective plate from blocking the monitoring and shooting operations of the first monitoring component and the second monitoring component.

[0041] The beneficial effects of the present invention are:

[0042] 1. The dumbbell-shaped throwing robot structure is formed by the cooperation of the moving wheels and the robot main body assembly. At the same time, the automatic turntable assembly, the automatic lifting machine assembly and the first electric telescopic rod cooperate to adopt a mechanical arm structure to adjust the direction, height and angle of the first monitoring assembly and the second monitoring assembly to ensure the monitoring quality;

[0043] 2. The positional relationship between the movable plate and the fixed plate can be adjusted by extending and retracting the piston rod of the second driving telescopic rod, and the second protective plate and the plurality of first protective plates can be switched between a horizontal state and a vertical state; the second protective plate and the plurality of first protective plates can also be switched between an expanded state and a retracted state. The expanded second protective plate and the first protective plate are arranged at the front end of the robot main body assembly and the automatic lifting machine assembly, which can effectively prevent foreign objects from contacting the robot main body assembly and the automatic lifting machine assembly, thereby effectively performing protective operations;

[0044] 3. The protective components adopt a linkage technology solution to switch between the retracted horizontal state and the expanded vertical state. When not in use, the overall specifications can be reduced for easy carrying and throwing, and the protective effect can be fully guaranteed when in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a structural diagram of the present invention;

[0046] Figure 2 This is a diagram showing the connection structure of the robot main body assembly, the automatic turntable assembly, and the automatic lifting machine assembly in the present invention;

[0047] Figure 3 The present invention is attached Figure 2 A magnified view of point A;

[0048] Figure 4 The present invention is attached Figure 2 Enlarged view of point B;

[0049] Figure 5 A structural diagram of the support plate, the swing rod, the sliding member and the first protective plate member in the present invention;

[0050] Figure 6 This is a structural diagram of the fixed plate, the movable plate and the second driving telescopic rod in the present invention;

[0051] Figure 7 The present invention is attached Figure 6 Enlarged view of point C;

[0052] Figure 8 It is a structural diagram of the double-sided tooth condition, horizontal axis and arc frame in the present invention;

[0053] Figure 9 This is a structural diagram of the support plate, double-sided tooth condition and arc frame in the present invention;

[0054] In the figure: 1 robot body assembly, 2 automatic turntable assembly, 3 automatic lifting machine assembly, 4 mounting frame assembly, 5 connecting plate assembly, 6 first monitoring assembly, 7 controller assembly, 8 second monitoring assembly, 9 fixed plate, 10 mounting member, 11 first electric telescopic rod, 12 rotating member, 13 lifting port, 14 first protective plate member, 15 gear shaft member, 16 notch, 17 plug interface, 18 plug connector, 19 support plate, 20 swing rod, 21 sliding member, 22 moving plate, 23 second driving telescopic rod, 24 partition member, 25 tooth plate member, 26 spring member, 27 first oblique rod, 28 sliding frame, 29 second oblique rod, 30 double-sided tooth condition, 31 horizontal axis, 32 arc frame, 33 moving wheel, 34 second protective plate member, 35 gear member. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0056] Reference Figure 1-9 A protective device for a throwing robot includes a robot main body component 1, a robotic arm adjustment mechanism is provided on the robot main body component 1, and an automatic lifting machine component 3 and a fixed plate 9 are provided on the robotic arm adjustment mechanism; the orientation of the automatic lifting machine component 3 and the fixed plate 9 can be controlled by the robotic arm adjustment mechanism, which is helpful for accurate monitoring operations.

[0057] Reference Figure 1-9 , the robotic arm adjustment mechanism includes moving wheels 33 installed on both sides of the robot main body component 1, an automatic turntable component 2 is installed on the upper end of the robot main body component 1, the automatic lifting machine component 3 and the fixed plate 9 are both installed on the upper end of the robot main body component 1, the fixed plate 9 is arranged on one side of the automatic lifting machine component 3, and the fixed plate 9 is arranged at the lower end of the monitoring mechanism; the robot main body component 1 and the moving wheel 33 can form a dumbbell-type throwing robot structure, in which components are arranged to control the rotation of the moving wheel 33 and move, and the robot main body component 1, the automatic turntable component 2 and the automatic lifting machine component 3 cooperate to realize that the automatic turntable component 2 drives the automatic lifting machine component 3 and the fixed plate 9 to rotate relative to the robot main body component 1, and at the same time, it can also make the automatic lifting machine component 3 rise and fall, the robot main body component 1, the automatic turntable component 2 and the automatic lifting machine component 3 all adopt the existing technical solution, which can be easy to operate, and the rotation amplitude of the automatic turntable component 2 can be limited according to actual conditions, for example, to avoid excessive rotation so that the unfolded first protective plate 14 affects the rotation of the moving wheel 33.

[0058] Reference Figure 1-9, the automatic lifting machine assembly 3 is provided with a monitoring mechanism, and the monitoring mechanism is provided with a first monitoring assembly 6 and a second monitoring assembly 8; the monitoring mechanism includes two mounting parts 10 installed on one side of the automatic lifting machine assembly 3, and a mounting frame assembly 4 is commonly installed on the two mounting parts 10, and a rotating part 12 is rotatably sleeved on the mounting frame assembly 4, and the rotating part 12 is fixed to one side of the connecting plate assembly 5; a first electric telescopic rod 11 is rotatably connected between the mounting frame assembly 4 and the connecting plate assembly 5; the first monitoring assembly 6 is installed at the upper end of the connecting plate assembly 5, and a controller assembly 7 is installed at the lower end of the side of the connecting plate assembly 5 away from the mounting frame assembly 4, and a second monitoring assembly 8 is installed at the lower end of the side of the controller assembly 7 away from the connecting plate assembly 5, the first monitoring assembly 6 is arranged at the lower end of the second monitoring assembly 8, the controller assembly 7 is connected to the first monitoring assembly 6, and the second monitoring assembly 8 is connected to the controller assembly 7, so that the monitoring image captured can be transmitted through the controller assembly 7, or the remote control information can be transmitted to the first monitoring assembly 6 or the second monitoring assembly 8 through the controller assembly 7 for corresponding adjustment for monitoring.

[0059] Reference Figure 1-9 The extension and retraction of the first electric telescopic rod 11 can make the connecting plate assembly 5 and the rotating member 12 rotate with the mounting frame assembly 4 as the axis, which is convenient for adjusting the shooting angle of the first monitoring assembly 6 and the second monitoring assembly 8. The rotation of the automatic turntable assembly 2 can adjust the orientation of the first monitoring assembly 6 and the second monitoring assembly 8. The lifting and lowering of the automatic lifting machine assembly 3 can effectively adjust the shooting height of the first monitoring assembly 6 and the second monitoring assembly 8. The above can form a mechanical arm structure for adjusting the shooting conditions of the first monitoring assembly 6 and the second monitoring assembly 8, which is convenient for monitoring operations. The first monitoring assembly 6 and the second monitoring assembly 8 can be set with different monitoring lenses according to actual conditions, such as a combination of a telephoto lens and a wide-angle lens. The wide-angle lens can expand the field of view, and the telephoto lens can monitor the remote situation. The controller assembly 7 can be connected to the first monitoring assembly 6 and the second monitoring assembly 8, which is convenient for uploading the captured information images.

[0060] Reference Figure 1-9 The fixed plate 9 is provided with a linkage adjustment mechanism, and the linkage adjustment mechanism is provided with a notch 16. The gear shaft 15 is rotatably connected in the notch 16. The gear shaft 15 is connected to the linkage adjustment mechanism. The linkage adjustment mechanism includes a movable plate 22 slidably mounted on the upper end of the fixed plate 9. An elastic reverse thrust mechanism is installed in the movable plate 22. The elastic reverse thrust mechanism is provided with a tooth plate member 25. The tooth plate member 25 is meshed with the lower end of the gear shaft member 15; the movable plate 22 and the elastic reverse thrust mechanism can be controlled to move by the second driving telescopic rod 23, so as to facilitate the movement of the tooth plate member 25.

[0061] Reference Figure 1-9A second driving telescopic rod 23 is installed on the fixed plate 9. The piston rod of the second driving telescopic rod 23 is located at the lower end of the movable plate 22. The end of the piston rod of the second driving telescopic rod 23 is connected to the elastic reverse thrust mechanism. The second driving telescopic rod 23 extends to cause the elastic reverse thrust mechanism to push the movable plate 22 to move relative to the fixed plate 9. When the positional relationship between the movable plate 22 and the fixed plate 9 is fixed and cannot be moved, pressure will be applied to the elastic reverse thrust mechanism to make it operate.

[0062] Reference Figure 1-9 The distance between the movable plate 22 and the fixed plate 9 can be adjusted by extending and retracting the piston rod of the second driving telescopic rod 23. When not in use, the movable plate 22 and the fixed plate 9 can be mostly overlapped. At this time, the second protective plate member 34 and multiple first protective plate members 14 will conflict with each other in turn and overlap with the movable plate 22, which helps to reduce the overall volume and facilitate carrying and casting operations. After the casting is completed, the piston rod of the second driving telescopic rod 23 can be controlled to extend, and the elastic reverse thrust mechanism can be used to control the moving direction of the tooth plate member 25 through the second driving telescopic rod 23, so that the tooth plate member 25 drives the gear shaft member 15 meshing with it to rotate, so that the second protective plate member 34 and the first protective plate member 14 can be rotated to a direction perpendicular to the movable plate 22, and during the rotation process, the second protective plate member 34 and multiple first protective plate members 14 can also be unfolded to expand the protection range.

[0063] Reference Figure 1-9 , the elastic reverse thrust mechanism includes a partition member 24 slidably mounted in the movable plate 22, the end of the piston rod of the second driving telescopic rod 23 is fixedly connected to the partition member 24, and a notch is provided on one side of the lower end of the movable plate 22 and one side of the lower end of the partition member 24. The tooth plate member 25 is slidably mounted in the notch, and both sides of the partition member 24 are rotatably connected to the first oblique rod 27. One end of the first oblique rod 27 is rotatably connected to the sliding frame 28, and the sliding frame 28 is slidably mounted on the side wall of the movable plate 22 away from the fixed plate 9;

[0064] The side of the sliding frame 28 connected to the first oblique rod 27 is rotatably connected to the second oblique rod 29, and the opposite ends of the two second oblique rods 29 are rotatably connected to the two sides of the toothed plate member 25; the two sides of the movable plate 22 and the two first oblique rods 27 are fixed with spring members 26, and the four spring members 26 are fixedly connected to the partition member 24; the second driving telescopic rod 23 piston rod extends to push the movable plate 22 and the fixed plate 9 to separate. When the positions of the movable plate 22 and the fixed plate 9 are fixed, the piston rod of the second driving telescopic rod 23 can continue to extend, so that the partition member 24 moves toward the side wall of the end away from the fixed plate 9 in the movable plate 22, which can make the first oblique rod 27 push the sliding frame 28 to move. The two sliding frames 28 will move relative to each other, and the movement of the sliding frame 28 can cause the second oblique rod 29 to deflect and rotate, so that the second oblique rod 29 rotates in a direction perpendicular to the sliding frame 28. The movement of the second oblique rod 29 can cause the toothed plate member 25 to move in the direction of the fixed plate 9, so that the toothed plate member 25 can drive the gear shaft member 15 to rotate; when the piston rod of the second driving telescopic rod 23 contracts, the spring member 26 will quickly push the partition member 24 and the first oblique rod 27 to restore their original state, so that the sliding frame 28 and the second oblique rod 29 can operate, so that the toothed plate member 25 can drive the gear shaft member 15 to rotate, so that the first protective plate member 14 and the second protective plate member 34 can operate in a direction parallel to the movable plate 22.

[0065] Reference Figure 1-9 , a guardrail telescopic mechanism is provided on one side of the gear shaft 15, and a support plate 19 is provided on the guardrail telescopic mechanism. A double-sided gear condition 30 is slidably installed in the support plate 19, and a double-sided gear condition 30 is slidably installed on one side of the support plate 19. The guardrail telescopic mechanism includes a second protective plate 34, which is fixedly connected to the gear shaft 15. A plurality of first protective plates 14 are evenly spaced on both sides of the second protective plate 34. The lower ends of the second protective plate 34 and the first protective plate 14 are provided with plug interfaces 17. A movable shaft is fixed in the plug interface 17 at the lower end of the second protective plate 34, and the two ends of the movable shaft are respectively slidably installed on the two plug interfaces 17 on both sides of the second protective plate 34;

[0066] A plug-in connector 18 is slidably installed on two adjacent first protective panels 14, and the two ends of the plug-in connector 18 are respectively located in the two plug-in ports 17 at the lower ends of the two adjacent first protective panels 14; a lifting opening 13 is provided on the second protective panel 34 and multiple first protective panels 14, and the opening direction of the lifting opening 13 is perpendicular to the opening direction of the plug-in port 17; the lifting openings 13 on multiple first protective panels 14 are respectively slidably connected to multiple sliding members 21.

[0067] Reference Figure 1-9The second protective plate 34 has the same structural specifications as the first protective plate 14. When setting, the number of first protective plate members 14 on both sides of the second protective plate 34 can be made the same, which is convenient for uniform expansion; in actual production and preparation, the installation of the connector 18 can be set so that the two connectors 18 located at the outermost ends are at the highest position in the plug interface 17, and the two connectors 18 fixed to the second protective plate 34 are at the lowest position in the plug interface 17. The multiple connectors 18 on both sides of the second protective plate 34 are arranged in a stepped manner downward and inward, and the horizontal heights of the multiple connectors 18 overlap with the horizontal heights of the plug interface 17. This method enables the connector 18 to be inserted into multiple plug interfaces 17, which helps to move toward the middle and can make the two first protective plate members 14 conflict with each other, thereby fully reducing the overall size after folding.

[0068] Reference Figure 1-9 , a reverse extension mechanism is provided on both sides of the double-sided gear condition 30, and a plurality of sliding members 21 are provided on the reverse extension mechanism. The double-sided gear condition 30 and the plurality of sliding members 21 are connected to the guardrail telescopic mechanism; the reverse extension mechanism includes two gear members 35 rotatably connected to both sides of the support plate 19, and the two gear members 35 are respectively meshed with the two sides of the double-sided gear condition 30, and the double-sided gear condition 30 is slidably installed in the guardrail telescopic mechanism, and the support plate 19 is fixedly connected to the guardrail telescopic mechanism. One end of the two gear members 35 is fixed with a swing rod 20, and a plurality of sliding members 21 are equally divided into two groups, and the two groups of sliding members 21 are respectively and equidistantly connected to the two swing rods 20; when the gear shaft 15 drives the second guard plate member 34 to rotate, the double-sided gear condition 30 will follow the second guard plate member 34 to rotate from a horizontal state to When the double-sided gear condition 30 is in the vertical state, the horizontal axis 31 on the double-sided gear condition 30 will slide on the arc frame 32 to ensure that the double-sided gear condition 30 can deflect synchronously with the second protective plate 34; in this case, because the arc frame 32 is an arc-shaped setting, the double-sided gear condition 30 will be pushed up by the horizontal axis 31. When the double-sided gear condition 30 is pushed up, the two gear parts 35 can rotate in opposite directions. As the gear part 35 rotates, the two swing rods 20 can rotate in opposite directions and gradually rotate in the horizontal direction, which will cause the sliding part 21 to push the first protective plate 14 to move. The multiple sliding parts 21 on the same swing rod 20 will draw an arc motion with the center of the gear part 35 fixedly connected to the swing rod 20 as the circle, which can cause the multiple first protective plate parts 14 located on the same side to expand or contract.

[0069] Reference Figure 1-9A horizontal shaft 31 is fixed on one side of the double-sided gear condition 30, and an arc frame 32 is fixed on the opposite side walls in the notch 16. The two ends of the horizontal shaft 31 are slidably mounted on the two arc frames 32, so that the horizontal shaft 31 can move along the arc of the arc frame 32. The arc frame 32 is elliptical in shape, and the vertical radius of the arc frame 32 is greater than the horizontal radius of the arc frame 32, which helps to push the double-sided gear condition 30 up.

[0070] Reference Figure 1-9 One end of the tooth plate 25 is located at the lower end of the piston rod of the second telescopic rod 23; it is convenient for the tooth plate 25 to be able to telescopically move, and it can avoid affecting the operation of the components; the multiple connectors 18 located on one side of the second protective plate 34 are arranged in a stepped shape; it is convenient for the first protective plate 14 to move toward the second protective plate 34 or away from the second protective plate 34; the first monitoring component 6 and the second monitoring component 8 are both located at the upper end of the guardrail telescopic mechanism; it can prevent the first protective plate 14 and the second protective plate 34 from blocking the monitoring and shooting operations of the first monitoring component 6 and the second monitoring component 8.

[0071] In the present invention, after the user throws the robot main body assembly 1, gravity can be used to enable the robot main body assembly 1 and the automatic lifting machine assembly 3 to move quickly, ensuring that the automatic lifting machine assembly 3 is located at the upper end. At the same time, the robot main body assembly 1 can control the two moving wheels 33 to rotate at the same speed, and can also make the two moving wheels 33 rotate at different speeds to facilitate movement and steering.

[0072] The direction, height and angle of the connecting plate assembly 5 can be adjusted by the automatic turntable assembly 2, the automatic lifting machine assembly 3 and the first electric telescopic rod 11, so as to adjust the direction, height and angle of the first monitoring assembly 6 and the second monitoring assembly 8;

[0073] The second driving telescopic rod 23 can push the movable plate 22 to move relative to the fixed plate 9, and can make the tooth plate part 25 move in the direction of the fixed plate 9, so as to drive the gear shaft part 15 to rotate, so that the second protective plate part 34 moves from the horizontal to the vertical direction. When the second protective plate part 34 moves, the double-sided gear condition 30 can move upward relative to the second protective plate part 34 under the action of the horizontal axis 31 and the arc frame 32. The double-sided gear condition 30 drives the two gear parts 35 to rotate, so that the swing rod 20 can drive the sliding part 21 to move in the lifting port 13, so that multiple first protective plate parts 14 can be deployed for protection.

[0074] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A protective device for a throwing robot, comprising a robot main body component (1), characterized in that: The robot main body component (1) is provided with a mechanical arm adjustment mechanism, and the mechanical arm adjustment mechanism is provided with an automatic lifting machine component (3) and a fixing plate (9); The automatic lifting machine component (3) is provided with a monitoring mechanism, and the monitoring mechanism is provided with a first monitoring component (6) and a second monitoring component (8); The fixing plate (9) is provided with a linkage adjustment mechanism, the linkage adjustment mechanism is provided with a notch (16), a gear shaft (15) is rotatably connected in the notch (16), the gear shaft (15) is connected to the linkage adjustment mechanism, a guardrail telescopic mechanism is provided on one side of the gear shaft (15), the guardrail telescopic mechanism is provided with a support plate (19), a double-sided tooth condition (30) is slidably installed in the support plate (19), a double-sided tooth condition (30) is slidably installed on one side of the support plate (19), a reverse extension mechanism is provided on both sides of the double-sided tooth condition (30), a plurality of sliding members (21) are provided on the reverse extension mechanism, and the double-sided tooth condition (30) and the plurality of sliding members (21) are both connected to the guardrail telescopic mechanism; A transverse shaft (31) is fixed on one side of the double-sided tooth condition (30), and arc-shaped frames (32) are fixed on opposite side walls in the notch (16), and both ends of the transverse shaft (31) are slidably mounted on the two arc-shaped frames (32). A second driving telescopic rod (23) is mounted on the fixed plate (9); a movable plate (22) is slidably mounted on the fixed plate (9); A second protective plate (34) is provided in the guardrail telescopic mechanism; a plurality of first protective plate members (14) are provided at equal intervals on both sides of the second protective plate member (34); The linkage adjustment mechanism includes a tooth plate member (25), an elastic reverse thrust mechanism is installed in the movable plate (22), the elastic reverse thrust mechanism and the tooth plate member (25) are connected, and the tooth plate member (25) and the lower end of the gear shaft member (15) are meshed; The piston rod of the second driving telescopic rod (23) is located at the lower end of the movable plate (22), and the end of the piston rod of the second driving telescopic rod (23) is connected to the elastic reverse thrust mechanism; The reverse extension mechanism comprises two gear members (35) rotatably connected to both sides of a support plate (19), the two gear members (35) respectively meshing with both sides of a double-sided gear condition (30), the double-sided gear condition (30) being slidably mounted in the guardrail extension mechanism, the support plate (19) being fixedly connected to the guardrail extension mechanism, one end of each of the two gear members (35) being fixed with a swing rod (20), a plurality of sliding members (21) being equally divided into two groups, and the two groups of sliding members (21) being equally rotatably connected to the two swing rods (20).

2. A protective device for a throwing robot according to claim 1, characterized in that: The robot arm adjustment mechanism includes moving wheels (33) installed on both sides of the robot main body component (1), an automatic turntable component (2) is installed on the upper end of the robot main body component (1), the automatic lifting machine component (3) and the fixed plate (9) are both installed on the upper end of the robot main body component (1), the fixed plate (9) is arranged on one side of the automatic lifting machine component (3), and the fixed plate (9) is arranged at the lower end of the monitoring mechanism.

3. The protective device for a throwing robot according to claim 1, characterized in that: The monitoring mechanism comprises two mounting members (10) mounted on one side of the automatic lifting machine assembly (3); a mounting frame assembly (4) is mounted on the two mounting members (10); a rotating member (12) is rotatably sleeved on the mounting frame assembly (4); and the rotating member (12) is fixed to one side of the connecting plate assembly (5); A first electric telescopic rod (11) is rotatably connected between the mounting frame assembly (4) and the connecting plate assembly (5); The first monitoring component (6) is mounted on the upper end of the connecting plate component (5); a controller component (7) is mounted on the lower end of the connecting plate component (5) away from the mounting frame component (4); a second monitoring component (8) is mounted on the lower end of the controller component (7) away from the connecting plate component (5); and the first monitoring component (6) is arranged at the lower end of the second monitoring component (8).

4. The protective device for a throwing robot according to claim 1, characterized in that: The elastic reverse thrust mechanism includes a partition member (24) slidably mounted in the movable plate (22), the end of the piston rod of the second driving telescopic rod (23) is fixedly connected to the partition member (24), one side of the lower end of the movable plate (22) and one side of the lower end of the partition member (24) are both provided with a notch, the tooth plate member (25) is slidably mounted in the notch, both sides of the partition member (24) are rotatably connected to the first inclined rod (27), one end of the first inclined rod (27) is rotatably connected to the sliding frame (28), and the sliding frame (28) is slidably mounted on the side wall of the movable plate (22) away from the fixed plate (9); The side of the sliding frame (28) connected to the first oblique rod (27) is rotatably connected to the second oblique rod (29), and the opposite ends of the two second oblique rods (29) are rotatably connected to the two sides of the tooth plate (25). Spring members (26) are fixed to both sides of the movable plate (22) and the two first oblique rods (27), and the four spring members (26) are fixedly connected to the partition member (24).

5. The protective device for a throwing robot according to claim 1, characterized in that: The guardrail telescopic mechanism includes a plurality of plug-in interfaces (17) provided at the lower ends of the second protective plate (34) and the first protective plate (14), the second protective plate (34) located in the middle is fixedly connected to the gear shaft (15), a movable shaft is fixed in the plug-in interface (17) at the lower end of the second protective plate (34), and both ends of the movable shaft are slidably mounted on the two plug-in interfaces (17) on both sides of the second protective plate (34); A plug-in connector (18) is slidably mounted on two adjacent first protective plate members (14), and two ends of the plug-in connector (18) are respectively located in two plug-in interfaces (17) at the lower ends of the two adjacent first protective plate members (14); The second protective plate (34) and the plurality of first protective plate members (14) are each provided with a lifting opening (13), and the opening direction of the lifting opening (13) is perpendicular to the opening direction of the plug interface (17); The lifting openings (13) on the plurality of first protection plate members (14) are respectively slidably connected to the plurality of sliding members (21).

6. The protective device for a throwing robot according to claim 1, characterized in that: One end of the tooth plate member (25) is located at the lower end of the piston rod of the second driving telescopic rod (23).

7. The protective device for a throwing robot according to claim 5, characterized in that: A plurality of connectors (18) located on one side of the second protective plate (34) are arranged in a stepped manner.

8. The protective device for a throwing robot according to claim 1, characterized in that: The first monitoring component (6) and the second monitoring component (8) are both located at the upper end of the guardrail telescopic mechanism.

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