CN111844084A

CN111844084A - Small-sized wheel type throwing robot

Info

Publication number: CN111844084A
Application number: CN202010847185.5A
Authority: CN
Inventors: 陈伟; 蔡斌; 李勇; 陈云鹏; 张晓飞; 王志勇
Original assignee: Wuhan Lianyi Heli Technology Co Ltd
Current assignee: Wuhan Lingzhi Yunchuang Technology Co ltd
Priority date: 2020-08-20
Filing date: 2020-08-20
Publication date: 2020-10-30

Abstract

The invention discloses a small wheel type throwing robot which comprises a robot body and a detection device, wherein a protection space is formed on the robot body, a detection port is formed on one side of the protection space, the detection device comprises a detection camera at least partially arranged in the protection space, and the detection camera is arranged corresponding to the detection port and is used for detecting the environment. Through set up the protection space on the machine body, when the jettison falls to the ground, play the effect of its inside circuit board of protection and circuit system, simultaneously, it locates to listen the camera at least part in the protection space, through it reconnaissance to listen the mouth and carry out external environment, has both guaranteed the security of listening the camera, can normally realize reconnaissance again, provide effectual support to the action personnel.

Description

Small-sized wheel type throwing robot

Technical Field

The invention relates to the technical field of robots, in particular to a small wheel type throwing robot.

Background

The small robot can be widely applied to the fields of dangerous environment exploration and sampling, battlefield reconnaissance, urban disaster relief, anti-terrorism and defense and the like, the existing small robot is suitable for the common environment, but under some special conditions, the small robot needs to be thrown to a reconnaissance position firstly, and then the small robot is started for reconnaissance through remote control. However, the existing small robot is heavy in weight and complex in structure, and in the throwing process, when the robot drops to the ground, the robot receives impact force, and an internal circuit board and a circuit system are easily damaged, so that reconnaissance cannot be normally realized, and effective support is difficult to provide for action personnel.

Disclosure of Invention

The invention mainly aims to provide a small wheel type throwing robot, which aims to adapt to a throwing type investigation environment and meet investigation requirements.

In order to achieve the above object, the present invention provides a small wheeled throwing robot comprising:

the device comprises a machine body, a detection device and a control unit, wherein a protection space is formed on the machine body, and a detection port is formed on one side of the protection space; and the number of the first and second groups,

the detection device comprises a detection camera at least partially arranged in the protection space, and the detection camera is arranged corresponding to the detection port and is used for detecting the environment.

Optionally, the machine body includes along the level to the bottom plate that extends, the week side of bottom plate is equipped with the edge a plurality of buffering wheels of installation are rotated to bottom plate width direction, and is a plurality of buffering wheel includes the edge first drive wheel and the first driven wheel that bottom plate length direction interval set up, first drive wheel first driven wheel and form jointly between the bottom plate the protection space, first drive wheel with first driven wheel keeps away from one side of bottom plate forms listen the mouth.

Optionally, the small wheeled throwing robot further comprises a rocker arm device arranged on the robot body, the rocker arm device comprises at least one rocker arm extending along the length direction of the bottom plate, the rocker arm comprises a connecting end and a mounting end far away from the connecting end, and the connecting end is rotatably mounted to the robot body along an axis where the width direction of the bottom plate is located;

the fixed end of the detection camera extends to the protection space and is fixedly connected with the mounting end of the rocker arm.

Optionally, the rocker arm device further comprises a rocker arm motor, the rocker arm motor is provided with a driving shaft extending along the width direction of the bottom plate, and a driving gear is sleeved on the driving shaft;

the rocker arm device further comprises a connecting rod which extends along the width direction of the bottom plate and is rotatably mounted to the machine body along an axis where the width direction of the bottom plate is located, a driven gear is arranged in the middle of the connecting rod, and the driven gear is meshed with the driving gear;

the connecting end of the rocker arm is arranged on the connecting rod.

Optionally, two protection spaces are arranged at intervals along the width direction of the bottom plate, and correspondingly, two detection cameras are arranged;

the rocking arm is equipped with two, two the installation end of rocking arm corresponds respectively installs two listen the camera, two the link of rocking arm is located respectively the both ends of connecting rod.

Optionally, each buffer wheel is provided with a plurality of hollow layers arranged at intervals along the radial direction of the buffer wheel, and each hollow layer comprises a plurality of hollow holes arranged at intervals along the circumferential direction of the buffer wheel.

Optionally, the small wheeled throwing robot further comprises a mobile driving assembly, and the mobile driving assembly comprises:

the mounting rod group comprises a first driving mounting rod and a first driven mounting rod, one end of the first driving mounting rod and one end of the first driven mounting rod are rotatably mounted on the bottom plate along the axis of the width direction of the bottom plate, and the other end of the first driving mounting rod and the other end of the first driven mounting rod are respectively and correspondingly fixedly connected with the first driving wheel and the first driven wheel;

the driving motor is fixedly arranged on the bottom plate, is provided with an output shaft extending along the width direction of the bottom plate, and is fixedly connected with the first driving installation rod;

the belt wheel assembly comprises a driving belt wheel and a driven belt wheel, the driving belt wheel is fixedly connected with the first driving mounting rod and coaxially rotates, and the driven belt wheel is fixedly connected with the first driven mounting rod and coaxially rotates; and the number of the first and second groups,

and the transmission belt is arranged between the driving belt wheel and the driven belt wheel.

Optionally, the first driving wheel, the first driven wheel and the moving driving assembly are in one-to-one correspondence and are moving groups, and the two moving groups are arranged at intervals along the width direction of the bottom plate.

Optionally, the machine body includes along the horizontal bottom plate that extends, the week side of bottom plate is equipped with the edge a plurality of buffering wheels of bottom plate width direction rotation installation, follows in the thickness direction of bottom plate, it is a plurality of between the buffering wheel one side of bottom plate is enclosed and is established the protection space, and is a plurality of the buffering wheel is kept away from the side of bottom plate forms listen the mouth.

Optionally, an installation frame is arranged on the upper end surface of the bottom plate, and the installation frame is located in the protection space;

the small wheeled throwing robot further comprises a battery assembly, the battery assembly comprising:

the storage battery is detachably arranged in the mounting frame and is electrically connected with the detection device; and the number of the first and second groups,

and the battery cover plate is covered on the upper end surface of the mounting frame.

Optionally, a protective sleeve is sleeved on the outer surface of the detection camera, and the protective sleeve is made of a high-elasticity slingshot adhesive material; and/or the presence of a gas in the gas,

the material of machine body is high strength aviation aluminum alloy.

According to the technical scheme, the protection space is arranged on the machine body, so that the circuit board and the circuit system in the machine body are protected when the machine body is thrown to the ground, meanwhile, the detection camera is at least partially arranged in the protection space, and external environment detection is carried out through the detection port, so that the safety of the detection camera is guaranteed, detection can be normally realized, and effective support is provided for action personnel.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic view of an embodiment (an angle) of a small wheeled throwing robot according to the present invention;

fig. 2 is a schematic view of an embodiment (another angle) of the small and medium-sized wheeled throwing robot in fig. 1;

FIG. 3 is a perspective view of one embodiment of the buffer wheel of FIG. 1;

fig. 4 is an exploded perspective view of another embodiment of the buffer wheel of fig. 1.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				100	Small-sized wheel type throwing robot	3	Rocker arm device
1	Machine body	31	Rocker arm
				11	Base plate	32	Rocker motor
12	Buffer wheel	33	Connecting rod
				12a	Hollow hole	411	First drive mounting bar
121	First driving wheel	412	First driven mounting rod
				122	First driven wheel	421	Driving belt wheel
123	Wheel body	422	Driven pulley
				21	Detecting camera	43	Transmission belt

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indication is involved in the embodiment of the present invention, the directional indication is only used for explaining the relative positional relationship, the motion situation, and the like between the components in a certain posture, and if the certain posture is changed, the directional indication is changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

In the face of all kinds of natural disasters, terrorist attack incident and high-risk industry major accident, need explore the scene comprehensively, fully know the site environment condition, carry out the emergent deployment of pertinence, in this in-process, often can meet the region that the condition is unclear or have high danger and examine, it will probably bring very big casualties to trade to get into these occasions, at this moment, small-size robot then can replace the people to accomplish these tasks, and the control personnel only need be at safe region, get into the scene through wireless remote control small-size robot and acquire on-the-spot video and audio data, accomplish the reconnaissance task, not only can guarantee relevant personnel's safety, more can improve rescue work efficiency.

The existing small robot is suitable for the common environment, but under some special conditions, the small robot needs to be thrown to a reconnaissance position firstly, and then the small robot is started to be reconnaissance through remote control. But current small robot weight is big, and the structure is complicated, and not for the throwing designs, does not have special falling safeguard measure, consequently, small robot is throwing the in-process, and it is great that the impact force that receives when dropping to ground, and inside circuit board and circuit system are destroyed easily, lead to unable normal realization reconnaissance to be difficult to provide effectual support to the action personnel. In addition, the throwing environment is complex and various, and throwing personnel can not select the throwing environment under most conditions, so that even if the ordinary robot has normal functions after throwing, reconnaissance can not be normally carried out due to various severe environments after throwing, such as gullies, ground obstacles, slopes and the like.

In view of the above, the invention provides a small-sized wheel-type throwing robot, which has the advantages of simple structure, small volume and light weight, has the capability of resisting landing impact in the throwing process, reduces the damage of the robot, prolongs the service life of the robot, reduces the gravity center of the robot through reasonable overall layout, improves the driving stability and the slope climbing capability of the robot, improves the throwing environment adaptability of the small-sized wheel-type throwing robot, and meets the reconnaissance requirement. Fig. 1 to 4 show an embodiment of a small wheeled throwing robot according to the present invention.

Referring to fig. 1 to 2, the small wheeled throwing robot 100 includes a robot body 1 and a detection device, a protection space is formed on the robot body 1, a detection port is formed on one side of the protection space, the detection device includes a detection camera 21 at least partially disposed in the protection space, and the detection camera 21 is disposed corresponding to the detection port and is used for detecting the environment.

According to the technical scheme, the protection space is arranged on the machine body 1, so that the circuit board and the circuit system in the machine body are protected when the machine body is thrown to the ground, meanwhile, the detection camera 21 is at least partially arranged in the protection space, and external environment detection is carried out through the detection port, so that the safety of the detection camera 21 is guaranteed, detection can be normally realized, and effective support is provided for mobile personnel.

In an embodiment of the present invention, the machine body 1 includes a bottom plate 11 extending along a horizontal direction, a plurality of buffer wheels 12 rotatably mounted along a width direction of the bottom plate 11 are disposed on a peripheral side of the bottom plate 11, the plurality of buffer wheels 12 include first driving wheels 121 and first driven wheels 122 disposed at intervals along a length direction of the bottom plate 11, the first driving wheels 121, the first driven wheels 122 and the bottom plate 11 together form the protection space, and a side of the first driving wheels 121 and a side of the first driven wheels 122 away from the bottom plate 11 form the detection opening. The bottom plate 11 is located at the central axis of the buffer wheel 12, and the protection space is formed among the first driving wheel 121, the first driven wheel 122 and the bottom plate 11, so that when a user throws or falls, the impact force is absorbed by the buffer effect of the buffer wheel 12, and the purpose of protecting the detection camera 21 is achieved.

In the field of robotic applications, it is generally necessary to drop the entire vehicle in different postures, while during a collision, the buffer wheels 12 are the parts in direct contact with the ground. Therefore, it is necessary to design not only a suitable shock-resistant and shock-absorbing structure, but also to reduce the structural complexity and weight of the buffer wheel 12 in case of meeting the drop requirement.

Specifically, in an embodiment of the present invention, referring to fig. 3, a plurality of hollow layers are disposed in each buffer wheel 12 at intervals along a radial direction of the buffer wheel, each hollow layer includes a plurality of hollow holes 12a disposed at intervals along a circumferential direction of the buffer wheel 12, so that the buffer wheel 12 can be uniformly transferred and deform-resistant when being stressed in the radial direction and the axial direction. Moreover, in this embodiment, a plurality of the hollowed-out layers are three layers, parallelogram holes with the same size are uniformly arranged on each layer to form the hollowed-out holes 12a, the parallelogram holes between different layers are different in size, the parallelogram holes between different layers are arranged in a staggered manner, the effect of uniform conduction and deformation resistance is better, and the structural complexity and the weight of the wheel are reduced.

This embodiment is in avoid using the pneumatic tire that cover tire and inner tube are constituteed on the tire of buffering wheel 12, and adopt the rubber sleeve to carry out the cladding setting, applicable in complicated road surfaces such as cement ground, meadow, grit ground, mountain region, have good wearability and adaptability.

In another embodiment of the present invention, referring to fig. 4, the buffer wheel 12 includes a wheel main body 123, a first buffer structure and a second buffer structure, the first buffer structure includes an annular accommodating cavity formed in the wheel main body 123, the annular accommodating cavity contains a shear thickening liquid, and the second buffer structure includes a plurality of hollow holes 12a distributed at intervals along the circumferential direction of the wheel main body 123; wherein the first buffer structure and the second buffer structure are distributed at intervals in the radial direction of the wheel main body 123. Shear thickening liquid is a nano particle solvent that is in solid-liquid mixing state, exists with the liquid form under the low-speed condition, when the wheel receives high-speed impact, shear thickening liquid just becomes hard solid, makes the whole toughness that becomes of wheel, can further improve when falling and combat shock and shock-absorbing capacity, and is a plurality of the setting of fretwork hole 12a lets wheel main part 123 is more light, supports can also provide great deformability in wheel main part 123, so can realize the shock resistance and the shock attenuation of omnidirectional, make small-size wheeled throwing robot 100 can both normally work after throwing in the arbitrary direction.

In order to further improve the cushioning performance of the wheel body 123, the wheel body 123 has an inner side surface for facing the chassis of the small wheeled throwing robot 100 and an outer side surface opposite to the inner side surface; the buffer wheel 12 further comprises a buffer stop arranged on the outer side surface. When the falling angle of the wheel body 123 is inclined relatively greatly, the wheel body 123 is subjected to axial impact, and at the moment, the buffer stop is in contact with the ground and elastically deforms, so that radial and axial impact can be effectively reduced.

Furthermore, in order to better absorb the axial vibration, high-density foam is arranged between the wheel body 123 and the buffer stop. The shock impact is further absorbed by the high-density foam, and the shock absorption effect is good.

Specifically, the bump stop is the round platform shape, deviates from the concave annular positioning groove that is equipped with in surface of medial surface, the bump stop through the installation with annular baffle thread fixed mounting in the annular positioning groove in the wheel main part 123, it is corresponding, the high density bubble is cotton for the round platform form, with the nested setting of bump stop.

In order to make the wheel body 123 have a good deceleration and anti-skid effect, a grain can be directly processed on the peripheral side surface of the wheel body 123, in other embodiments of the present invention, a ring-shaped groove is provided on the peripheral side surface of the wheel body 123; the buffer wheel 12 further comprises an annular rubber deceleration strip, the annular rubber deceleration strip is sleeved in the annular groove to improve the friction force between the wheel body 123 and the ground, and therefore the annular rubber deceleration strip can be replaced when being seriously worn.

Furthermore, the preferable material of the wheel body 123 is a high molecular polymer, in this embodiment, the material of the wheel body 123 is polyurethane, and the polyurethane material itself has good vibration absorption and damping characteristics, so as to meet the design requirement. However, since the surface of the polyurethane material is not suitable for being textured, the annular rubber speed bump is matched to increase the friction force between the wheel body 123 and the ground.

In order to adapt to detection in different environments, please refer to fig. 2 again in the present invention, the small wheeled throwing robot 100 further includes a rocker arm device 3 disposed on the robot body 1, the rocker arm device 3 includes at least one rocker arm 31 extending along the length direction of the bottom plate 11, the rocker arm 31 includes a connecting end and a mounting end far away from the connecting end, the connecting end is rotatably mounted to the robot body 1 along an axis where the width direction of the bottom plate 11 is located, and a fixed end of the detection camera 21 extends out of the protection space and is fixedly connected to the mounting end of the rocker arm 31. So set up, through the swing of rocking arm 31, drive listen the swing of camera 21 to the height of listening is changed, is convenient for the adjustment of small-size wheeled throwing robot 100 gesture, the adjustment of reconnaissance field of vision and adaptation stair, roadblock etc. more complicated more abominable reconnaissance environment.

The driving mode of the rocker arm 31 is not limited in the present invention, and may be a worm and gear drive and link mechanism, in this embodiment, the rocker arm device 3 further includes a rocker arm motor 32, the rocker arm motor 32 has a driving shaft extending along the width direction of the bottom plate 11, the driving shaft is sleeved with a driving gear, the rocker arm device 3 further includes a connecting rod 33 extending along the width direction of the bottom plate 11 and rotatably mounted to the machine body 1 along an axis where the width direction of the bottom plate 11 is located, a driven gear is disposed in the middle of the connecting rod 33, the driven gear is engaged with the driving gear, and a connecting end of the rocker arm 31 is disposed on the connecting rod 33. The drive shaft rotates, drives the driving gear rotates, thereby makes connecting rod 33 follows the axis at the wide direction place of bottom plate 11 rotates, the link of rocking arm 31 rotates, thereby drives the installation end swing so sets up simple structure, the control and the drive of being convenient for, the accessible is changed rocking arm 31, the adjustment small-size wheeled robot 100 that jettisonings's angle gesture, thereby the adjustment small-size wheeled robot 100 that jettisonings's reconnaissance angle provides more reconnaissance information, improves the throughput capacity of complicated terrain environment such as stair, obstacle.

Furthermore, the protection space sets up two, and follows the width direction interval of bottom plate 11 sets up, and is corresponding, it is equipped with two to listen camera 21, rocking arm 31 is equipped with two, two the installation end of rocking arm 31 corresponds the installation two respectively listen camera 21, two the link of rocking arm 31 is located respectively the both ends of connecting rod 33, so set up and to realize that the omnidirectional field of vision is listened.

In order to make the small wheeled throwing robot 100 after throwing normally operate, in this embodiment, please refer to fig. 1 again, the small wheeled throwing robot 100 further includes a moving driving assembly, and the moving driving assembly includes a mounting rod set, a driving motor, a pulley assembly, and a driving belt 43: the mounting rod group comprises a first driving mounting rod 411 and a first driven mounting rod 412, one end of each of the first driving mounting rod 411 and the first driven mounting rod 412 is rotatably mounted on the bottom plate 11 along an axis of the bottom plate 11 in the width direction, and the other end of each of the first driving mounting rod 411 and the first driven mounting rod 412 is correspondingly and fixedly connected with the first driving wheel 121 and the first driven wheel 122 respectively; the driving motor is fixedly mounted to the bottom plate 11, and the driving motor has an output shaft extending along the width direction of the bottom plate 11, and the output shaft is fixedly connected with the first driving mounting rod 411; the belt wheel assembly comprises a driving belt wheel 421 and a driven belt wheel 422, the driving belt wheel 421 is fixedly connected with the first driving mounting rod 411 and coaxially rotates, and the driven belt wheel is fixedly connected with the first driven mounting rod and coaxially rotates; the transmission belt 43 is provided between the driving pulley 421 and the driven pulley 422. When the environment to be detected is complex, a worker can throw the small wheel type throwing robot 100 to a position to be detected or close to the position to be detected in a throwing mode, when the small wheel type throwing robot 100 falls to the ground, the small wheel type throwing robot is buffered through the buffer wheels 12, the buffer wheels 12 and the mobile driving assembly which are positioned on the same side of the bottom plate 11 form a driving system, in addition, the output shaft is provided with the expansion sleeve, the expansion sleeve is fixedly connected with the hub flange of the buffer wheels 12 through bolts, so that power is transmitted to the buffer wheels 12, the first driving wheels 121 and the first driven wheels 122 are driven to synchronously move through the transmission belt 43, and the stable running of the small wheel type throwing robot 100 is controlled.

It should be noted that, in order to adapt to the actual volume of the small wheeled throwing robot 100, in the present invention, the first driving wheels 121, the first driven wheels 122 and the moving driving components are in one-to-one correspondence to form moving groups, and the two moving groups are arranged at intervals along the width direction of the bottom plate 11, so that the driving effect is stable.

The small wheeled throwing robot 100 further comprises a control system for processing data detected by the detection device, wherein the control system comprises a controller for controlling the plurality of buffer wheels 12, and the detection device is an existing camera or other video acquisition element; the reconnaissance device and the control system are directly used in the prior art. In the actual use process, when the position to be detected is flat ground, a signal is sent to the control system through the remote control device, the control system sends a signal to the relay controlling the driving motor, and after the relay controlling the driving motor receives the signal, the output shaft starts to rotate, so that the corresponding first driving wheel 121 and the corresponding first driven wheel 122 move, and the forward movement is realized.

In another embodiment of the present invention, the machine body 1 includes a bottom plate 11 extending along a horizontal direction, a plurality of buffer wheels 12 rotatably mounted along a width direction of the bottom plate 11 are disposed on a peripheral side of the bottom plate 11, the protection space is defined between the plurality of buffer wheels 12 at one side of the bottom plate 11 along a thickness direction of the bottom plate 11, and the detection opening is formed at a side end of the plurality of buffer wheels 12 far from the bottom plate 11. When the device is thrown and falls, the protection space can effectively buffer and protect the control system and the reconnaissance device, so that the control system and the reconnaissance device are prevented from being damaged due to overlarge impact force, and internal parts of the control system and the reconnaissance device are protected.

Furthermore, a board card protection structure specially designed for the size of the control system is arranged in the machine body 1, so that the control system has a certain damping effect, and the control system can be well protected in the throwing process.

In addition, in order to directly provide power for the small wheeled throwing robot 100, specifically, an installation frame is arranged on the upper end surface of the bottom plate 11, the installation frame is located in the protection space, the small wheeled throwing robot 100 further comprises a battery assembly, the battery assembly comprises a storage battery and a battery cover plate, the storage battery is detachably installed in the installation frame, and the storage battery is electrically connected with the detection device; the battery cover plate is arranged on the upper end face of the mounting frame in a covering mode. The structure is simple, the detachable rechargeable storage battery is convenient to carry, and a power supply is provided for the small wheeled throwing robot 100.

Through the weight condition of each spare part of integrated analysis, will the battery place in machine body 1's the lower floor, control system reconnaissance device with the output shaft is located the coplanar to make holistic focus be close to ground, the stability of traveling and the climbing ability of small-size wheeled throwing robot 100 are greatly improved, and adverse circumstances survivability obtains greatly improving, satisfies actual reconnaissance demand.

In order to improve the protection effect of the detection camera 21, in this embodiment, a protective sleeve is sleeved on the outer surface of the detection camera 21, and the protective sleeve is made of a high-elasticity slingshot adhesive material;

in order to reduce the weight, the machine body 1 is made of high-strength aviation aluminum alloy. Not only ensures the structural strength, but also reduces the weight.

It should be noted that, the two related material setting technical features may be set alternatively or simultaneously, and the simultaneous setting effect is better in this embodiment.

In addition, machine body 1 is for having the whole frame structure of a plurality of strengthening ribs of crisscross arrangement, guaranteeing reconnaissance device with control system's installation in, makes the structure lighter and more handy, thereby makes small-size wheeled throwing robot 100's whole fuselage weight reduces, makes small-size wheeled throwing robot 100 is throwing the in-process, and it is littleer to drop the impact force of receiving subaerial, thereby effectively reduces small-size wheeled throwing robot 100 receives when dropping ground damage, improves life.

Furthermore, sealing rings are arranged between the output shaft and the machine body 1, between the expansion sleeve and the flange of the driving motor and between different parts on the machine body 1, so that the small wheeled throwing robot 100 can be prevented from water entering the interior under various severe damp and hot conditions, moist conditions and even water immersion conditions, the normal work of the reconnaissance device and the control system is guaranteed, and the reconnaissance of the reconnaissance object is realized.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A small-sized wheel-type throwing robot is characterized by comprising:

2. The compact wheeled throwing robot of claim 1 wherein said body includes a horizontally extending floor, said floor having a plurality of bumper wheels rotatably mounted about a periphery of said floor in a width direction of said floor, said plurality of bumper wheels including first drive wheels and first driven wheels spaced apart along a length direction of said floor, said first drive wheels, said first driven wheels and said floor collectively defining said protected space therebetween, said first drive wheels and said first driven wheels forming said detection opening on a side thereof remote from said floor.

3. The compact wheeled throwing robot of claim 2 further comprising a swing arm assembly mounted to said robot body, said swing arm assembly including at least one swing arm extending along the length of said base, said swing arm including a connecting end and a mounting end remote from said connecting end, said connecting end being pivotally mounted to said robot body along an axis that is the width of said base;

4. The compact wheeled throwing robot of claim 3 wherein said swing arm means further includes a swing arm motor having a drive shaft extending widthwise of said base plate, said drive shaft being sleeved with a drive gear;

the connecting end of the rocker arm is arranged on the connecting rod.

5. The small wheeled throwing robot of claim 4 wherein there are two of said protection spaces spaced apart along the width of said base plate, and correspondingly there are two of said detection cameras;

6. The compact wheeled throwing robot of claim 2 wherein each said buffer wheel has a plurality of radially spaced hollowed out layers, each said hollowed out layer comprising a plurality of circumferentially spaced holes along said buffer wheel.

7. The compact wheeled throwing robot of claim 2 further including a mobile drive assembly comprising:

8. The compact wheeled throwing robot of claim 7 wherein said first drive wheel, said first driven wheel and said travel drive assembly are in one-to-one correspondence as a set of two, spaced apart along the width of said base.

9. The small wheeled throwing robot of claim 1 wherein said body includes a base plate extending horizontally, a plurality of buffer wheels rotatably mounted along the width of said base plate are disposed around the periphery of said base plate, said protective space is defined between said plurality of buffer wheels along the thickness of said base plate on one side of said base plate, and said detection opening is defined on the side of said plurality of buffer wheels remote from said base plate.

10. The small wheeled throwing robot of claim 9 wherein said upper end of said base plate is provided with a mounting frame, said mounting frame being located within said protected space;