CN209399848U - The emitter and shooting robot of bullet - Google Patents
The emitter and shooting robot of bullet Download PDFInfo
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- CN209399848U CN209399848U CN201821929054.6U CN201821929054U CN209399848U CN 209399848 U CN209399848 U CN 209399848U CN 201821929054 U CN201821929054 U CN 201821929054U CN 209399848 U CN209399848 U CN 209399848U
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- driving
- emitter
- bullet
- accelerating tube
- tube
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- 230000007246 mechanism Effects 0.000 claims abstract description 120
- 230000000694 effects Effects 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims description 14
- 230000004308 accommodation Effects 0.000 claims description 7
- 238000003032 molecular docking Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241001416181 Axis axis Species 0.000 description 1
- 244000227633 Ocotea pretiosa Species 0.000 description 1
- 235000004263 Ocotea pretiosa Nutrition 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 230000002860 competitive effect Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
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- 230000000149 penetrating effect Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
- A63H33/18—Throwing or slinging toys, e.g. flying disc toys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
- F41A27/06—Mechanical systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
- F41A27/06—Mechanical systems
- F41A27/22—Traversing gear
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
- F41A27/06—Mechanical systems
- F41A27/24—Elevating gear
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41B—WEAPONS FOR PROJECTING MISSILES WITHOUT USE OF EXPLOSIVE OR COMBUSTIBLE PROPELLANT CHARGE; WEAPONS NOT OTHERWISE PROVIDED FOR
- F41B4/00—Friction-wheel operated launchers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F1/00—Launching apparatus for projecting projectiles or missiles from barrels, e.g. cannons; Harpoon guns
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The utility model provides the emitter and shooting robot of a kind of bullet, the emitter includes: trigger mechanism (1), and trigger mechanism includes transmitting tube (11), accelerating tube (12), deformable friction pulley (13) and driving assembly (14)；Accelerating tube is docked with transmitting tube；Friction pulley includes two, and two friction pulleys are oppositely arranged on the two sides of accelerating tube, and two friction pulleys are partially located in accelerating tube, to support the bullet being located in accelerating tube；Driving assembly is for driving two friction pulleys to rotate simultaneously towards the direction of transmitting tube, so that bullet accelerates into transmitting tube under the rotary force effect of two friction pulleys；When the direction of the launch of trigger mechanism is horizontal direction, the arragement direction of two friction pulleys is vertical direction.In such a way that two friction pulleys to be designed to vertical direction arrangement, vertical space is made better use of, so that the layout of emitter is more compact, space utilization rate is higher.
Description
Technical field
The utility model relates to emitter technical field more particularly to a kind of emitters of bullet and shooting machine
People.
Background technique
Shooting robot (i.e. infantry robot) is in RoboMaster (international robot competitive platform) match
Key player emits ball bullet by emitter and forms attack to enemy.
Emitter generally includes transmitting tube and accelerating tube, after bullet is accelerated by accelerating tube, then is projected by transmitting tube.It is existing
Friction pulley is respectively set by the two sides in accelerating tube in emitter, and bullet is when passing through accelerating tube, due to being rubbed by two
The rotary force of wheel acts on and realizes and accelerate.In the related technology, when the direction of emitter transmitting bullet is horizontal direction, two
The arragement direction of friction pulley is also at horizontal direction, and this arrangement mode increases the transverse width of emitter, so that transmitting
The layout of device is not compact enough, and space utilization rate is low.
Utility model content
The utility model provides the emitter and shooting robot of a kind of bullet.
Specifically, the utility model is achieved by the following technical solution:
It is according to the present utility model in a first aspect, providing a kind of emitter of bullet, the emitter includes:
Trigger mechanism, the trigger mechanism include transmitting tube, accelerating tube, deformable friction pulley and driving assembly；
The accelerating tube is docked with the transmitting tube；
The friction pulley includes two, and two friction pulleys are oppositely arranged on the two sides of the accelerating tube, and two institutes
It states friction pulley to be partially located in the accelerating tube, to support the bullet being located in the accelerating tube；
The driving component is used to that two friction pulleys to be driven to rotate towards the direction of the transmitting tube simultaneously, so that
The bullet accelerates into the transmitting tube under the rotary force effect of two friction pulleys；
Wherein, when the direction of the launch of the trigger mechanism is horizontal direction, the arragement direction of two friction pulleys is
Vertical direction.
Optionally, the emitter further includes driving mechanism, and the driving mechanism is connected with the trigger mechanism, is used
In the driving trigger mechanism rotation.
Optionally, the driving mechanism includes the first driving mechanism and the second driving mechanism, and first driving mechanism is set
It is described in the one end of the accelerating tube far from the transmitting tube, and for driving the trigger mechanism to move in a first direction
Second driving mechanism is for driving first driving mechanism and the trigger mechanism integrally to move in a second direction.
Optionally, first driving mechanism is pitch axis driving mechanism, and second driving mechanism is yaw axis driving
Mechanism.
Optionally, the pitching driving mechanism includes pitch axis armshaft and the pitch axis for driving the pitch axis armshaft
Motor, two friction pulleys are rotatablely connected with the pitch axis armshaft and are disposed adjacent with the pitching spindle motor；And/or
The yaw axis mechanism includes yaw axis armshaft and the yaw spindle motor for driving the pitch axis armshaft, described
Yaw the hollow structure for being formed in the rotary shaft of spindle motor and passing through for the bullet.
Optionally, the driving component includes two driving motors, and two driving motors are corresponding to be driven described in two
Friction pulley rotation.
Optionally, the driving motor is external rotor electric machine, and the friction pulley is set in the rotor of the external rotor electric machine
On shell, the rotor case is for driving the friction pulley to rotate.
Optionally, it is respectively equipped with groove in the opposing sidewalls on the accelerating tube, through-hole is offered in the groove, it is described
Friction pulley is located in the accelerating tube by the throughhole portions.
Optionally, the side wall of the groove is equipped with dismountable mounting portion；
The mounting portion includes installation ontology and mounting shell, and the mounting shell is set on the installation ontology；
Accommodation space is equipped in the mounting shell, the driving motor and the friction pulley are located at the accommodation space
It is interior.
Optionally, the emitter further includes bullet connection framework, and the bullet connection framework is for connecting described add
Speed pipe and magazine；
In the one side wall for the groove that the installation ontology is set to opening upwards, one end of the mounting shell and the peace
Ontology connection is filled, the other end of the mounting shell is connect with bullet connection framework.
Optionally, the emitter further includes master control borad, and the master control borad is located at two friction pulleys far from described
The side of transmitting tube, and the master control borad is electrically coupled with the driving component and connect.
Optionally, the emitter further includes outer cover, and the outer cover is for being provide with the master control borad and at least one institute
State friction pulley.
It is according to the present utility model in a first aspect, provide a kind of shooting robot, the shooting robot includes chassis, peace
Power mechanism and emitter described in any of the above embodiments loaded on the chassis and for driving the chassis mobile, the hair
Injection device is fixedly connected on the chassis.
By the above technical solution provided by the embodiment of the utility model as it can be seen that by the way that two friction pulleys are designed to vertical side
To the mode of arrangement, emitter is reduced in lateral width, vertical space is made better use of, so that the cloth of emitter
Office is more compact, space utilization rate is higher.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The utility model can be limited.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the utility model
Example is applied, it for those of ordinary skill in the art, without any creative labor, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is a kind of Structure explosion diagram of the emitter of bullet shown in one exemplary embodiment of the utility model；
Fig. 2 is the perspective view of the emitter of bullet shown in FIG. 1；
Fig. 3 is the perspective view of the emitter of bullet shown in FIG. 1 in another direction；
Fig. 4 is the structural schematic diagram of the accelerating tube of the emitter of bullet shown in FIG. 1；
Fig. 5 is the structural schematic diagram of the bullet connection framework of the emitter of bullet shown in FIG. 1；
Fig. 6 is a kind of perspective view of the emitter of bullet shown in one exemplary embodiment of the utility model；
Fig. 7 is a kind of usage state diagram of the emitter of bullet shown in fig. 6.
Appended drawing reference:
1: trigger mechanism；11: transmitting tube；111: inner cylinder；112: outer cylinder；12: accelerating tube；121: groove；122: through-hole；
13: friction pulley；14: driving assembly；
2: driving mechanism；21: the first driving mechanisms；211: pitch axis armshaft；212: pitching spindle motor；22: the second drivings
Mechanism；221: yaw axis armshaft；222: yaw spindle motor；
3: mounting portion；31: installation ontology；32: mounting shell；
4: bullet is connected to framework；41: first interface；42: second interface；
5: master control borad；
6: outer cover；
7: magazine.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the utility model.On the contrary, they be only with such as
The example of the consistent device and method of some aspects be described in detail in the appended claims, the utility model.
It is only to be not intended to be limiting this reality merely for for the purpose of describing particular embodiments in the term that the utility model uses
With novel.In the "an" of the utility model and singular used in the attached claims, " described " and "the"
Most forms are intended to include, unless the context clearly indicates other meaning.It is also understood that term used herein " and/
Or " refer to and include that one or more associated any or all of project listed may combine.
It will be appreciated that though various information may be described using term first, second, third, etc. in the utility model,
But these information should not necessarily be limited by these terms.These terms are only used to for same type of information being distinguished from each other out.For example, not
In the case where being detached from the scope of the utility model, the first information can also be referred to as the second information, and similarly, the second information can also be with
The referred to as first information.Depending on context, word as used in this " if " can be construed to " ... when " or
" when ... " or " in response to determination ".
With reference to the accompanying drawing, the emitter of the bullet of the utility model and shooting robot are described in detail.?
In the case where not conflicting, the feature in following embodiment and embodiment be can be combined with each other.
In conjunction with Fig. 1 to Fig. 3, the utility model embodiment provides a kind of emitter of bullet, which may include
Trigger mechanism 1, the trigger mechanism 1 may include transmitting tube 11, accelerating tube 12, deformable friction pulley 13 and driving assembly 14.
Wherein, accelerating tube 12 is docked with transmitting tube 11, and the transmitting tube 11 and accelerating tube 12 of the present embodiment are respectively provided with trajectory, transmitting tube 11
After docking with accelerating tube 12, the trajectory of transmitting tube 11 is connected with the trajectory of accelerating tube 12.
It is understood that can directly be docked between accelerating tube 12 and transmitting tube 11, can also dock indirectly.In addition, transmitting
It coaxial can be docked between pipe 11 and accelerating tube 12, it can also non co axial docking.
Further, after transmitting tube 11 and accelerating tube 12 dock, by transmitting tube 11 and can be accelerated by existing fixed form
Pipe 12 is fixed together.In the present embodiment, transmitting tube 11 may include inner tube 111 and be sheathed on outer on the outside of the inner cylinder 111
Cylinder 112, one end of inner cylinder 111 is butted against and fixed with one end of accelerating tube 12 to be connect.Wherein, inner tube 111 is formed with the hair of bullet
Channel is penetrated, the inner wall of outer cylinder 112 is equipped with detecting element, and detecting element is used to detect the emission rate of bullet in inner tube 111, interior
One end of cylinder 111 can be fixedly connected by screw or other existing fixed forms with one end of accelerating tube 12.
The friction pulley 13 of the present embodiment includes two, and two friction pulleys 13 are oppositely arranged on the two sides of accelerating tube 12, and two
A friction pulley 13 part is located in accelerating tube 12, to support the bullet being located in accelerating tube 12.In the present embodiment, bullet into
Enter accelerating tube 12 and when by between two friction pulleys 13, realizes bullet using the friction between two friction pulleys 13 and bullet
The acceleration of ball.Wherein, bullet can be the bullet of ball bullet or specific shape, for ease of description, unless specifically indicated, under
The bullet of description described in literary embodiment is by taking ball bullet as an example, to cooperate the structure and function for describing the emitter.
For the emitter of the present embodiment when emitting bullet, driving assembly 14 can drive two friction pulleys 13 simultaneously towards hair
The direction for penetrating pipe 11 rotates, so that bullet accelerates into transmitting tube 11 under the rotary force effect of two friction pulleys 13.With Fig. 1
Shown in emitter structure direction, to driving assembly 14 drive two friction pulleys 13 motion mode be illustrated.This reality
It applies in example, the direction of motion between two friction pulleys 13 drives position by driving assembly 14 on the contrary, when emitter emits bullet
Friction pulley 13 above accelerating tube 12 rotates clockwise, and the friction pulley 13 for being located at 12 lower section of accelerating tube is driven to revolve counterclockwise
Turn, so that two friction pulleys 13 are rotated towards the direction of transmitting tube 11 simultaneously.
Spacing between two friction pulleys 13 is related to the diameter of bullet, and the present embodiment designs two according to the diameter of bullet
Spacing between a friction pulley 13.In addition, the material of two friction pulleys 13 can be selected according to demands such as hardness, frictional force.
The trigger mechanism 1 of the present embodiment may include multiple direction of the launch.Wherein, when the direction of the launch of trigger mechanism 1 is water
Square to when, the arragement directions of two friction pulleys 13 is vertical direction.
The emitter of the present embodiment is reduced in such a way that two friction pulleys 13 to be designed to vertical direction arrangement
Emitter makes better use of vertical space, so that the layout of emitter is more compact, space utilization in lateral width
Rate is higher.
In some embodiments, transmitting tube 11 and accelerating tube 12 can be unsymmetric structure.In some embodiments, emit
Pipe 11 and accelerating tube 12 are symmetrical structure, to balance the stress condition in bullet emission process, conducive to the accurate transmitting of bullet.
In some instances, two friction pulleys 13 are symmetricly set on the two sides of accelerating tube 12.Certainly, in other examples
In, the two sides of accelerating tube 12 asymmetric can be arranged in two friction pulleys 13.For example, when the direction of the launch of trigger mechanism 1 is water
Square to when, the spacing of the axis of friction pulley 13 above accelerating tube 12 to accelerating tube 12, which is less than, to be located above accelerating tube 12
Friction pulley 13 to accelerating tube 12 axis spacing.
The mode that friction pulley 13 is arranged on accelerating tube 12 can design as needed, in the present embodiment, referring to fig. 4, accelerate
It is respectively equipped with groove 121 in opposing sidewalls on pipe 12, through-hole 122 is offered in groove 121, friction pulley 13 passes through through-hole 122
Part is located in accelerating tube 12.It is on the one hand recessed by two by the way that groove 121 is respectively set in the opposing sidewalls of accelerating tube 12
Slot 121 limits two friction pulleys 13 respectively；On the other hand the weight of accelerating tube 12 is alleviated, to mitigate trigger mechanism
1 weight.
Mounting portion 3, the peace can be equipped on the side wall of groove 121 referring to Fig. 1 for fixed friction wheel 13 and driving assembly 14
Dress portion 3 is removably arranged on the side wall of groove 121.For example, mounting portion 3 is removably connected by modes such as screw, clampings
It connects on the side wall of groove 121.
The mounting portion 3 of the present embodiment includes installation ontology 31 and mounting shell 32.Wherein, mounting shell 32 is set to installation ontology 31
On, also, accommodation space is equipped in the mounting shell 32, friction pulley 13 is located in accommodation space.The sassafras that rubs is accommodated using mounting shell 32
Wheel 13, in this way can to avoid friction pulley 13 rotary motion by External force interference, guarantee friction wheel 13 to bullet power output
Accuracy and reliability, it is also possible to avoid friction pulley 13 to the friction of components other in emitter and caused by abrasion.
In addition, the emitter of the present embodiment may also include bullet connection framework 4, the bullet in conjunction with Fig. 1, Fig. 3 and Fig. 5
Connection framework 4 is for connecting accelerating tube 12 and magazine, and magazine is for storing bullet.It is understood that accelerating tube 12 and magazine
Between and indirect connection, but be indirectly connected with.Wherein, magazine 7 can be a part of emitter, can also be external structure.
An opening court in the present embodiment, when the direction of the launch of emitter is horizontal direction, in two grooves 121
On, another is opening down, installation ontology 31 be set to opening upwards groove 121 one side wall on, one end of mounting shell 32 with
Ontology 31 is installed to connect, the other end of mounting shell 32 is connect with bullet connection framework 4.
More specifically, groove 121 is respectively equipped on the top and bottom sidewall of accelerating tube 12, the groove 121 on upper side wall is open
Upward and it is equipped with mounting hole, the installation ontology 31 of mounting portion 3 is fixed on the groove 121 of 12 upper side wall of accelerating tube by such as screw
Side wall on, realize and removably assembled between accelerating tube 12 and mounting portion 3, installing can also lead between ontology 31 and accelerating tube 12
Cross the card disassembly assembly that such as clamping structure realizes clamping form.It is worth noting that aforementioned described upper and lower not absolute
Direction it is upper and lower, with the pitch rotation of emitter, this can also mutually be interpreted as tiltedly upper, obliquely downward above and below.
Referring to Fig. 1, bullet connection framework 4 is located at the one end of accelerating tube 12 far from transmitting tube 11.The mounting shell of the present embodiment
32 one end can be fixedly connected on installation ontology 31 by screw, clamping or other existing fixed forms.Again referring to Fig. 1, peace
The other end for filling shell 32 can be equipped with connector, and the other end of mounting shell 32 is connected to framework 4 with bullet by the connector and connect.Its
In, connector can be fixedly connected on bullet by screw, clamping or other existing fixed forms and be connected in framework 4.
Referring to Fig. 5, bullet be connected to framework 4 may include first interface 41 and second interface 42, wherein first interface 41 with plus
The interface of the fast one end of pipe 12 far from transmitting tube 11 docks, the bullet of second interface 42 and the bullet channel guided from magazine 7
Magazine 7, is connected to accelerating tube 12 by first interface 41 and second interface 42, realizes bullet by ball outlet directly or indirectly docking
Supply.
Cylinder, motor or other driving elements that friction pulley 13 can be driven to rotate can be used in driving assembly 14.This reality
It applies in example, driving assembly 14 may include two driving motors, and two driving motors are corresponding to drive two friction pulleys 13 to rotate.One
In implementation, driving motor is external rotor electric machine, and friction pulley 13 is set in the rotor case of external rotor electric machine, and rotor case is used for
Friction pulley 13 is driven to rotate.Wherein, rotor case can be the rotor portion in driving motor, or determine in driving motor
Subdivision.
It is appreciated that being located in mounting shell 32 when each friction pulley 13 is driven by a driving motor for driving
The driving motor of friction pulley 13 also be located in the accommodation space of mounting shell 32.
In conjunction with Fig. 1 to Fig. 3 and Fig. 7, the emitter of the present embodiment may also include master control borad 5, and master control borad 5 is located at two
Side of the friction pulley 13 far from transmitting tube 11, and master control borad 5 is electrically coupled with driving assembly 14 and connect, to be driven by master control borad 5
Above-mentioned driving assembly 14 is moved to rotate.In above-described embodiment, driving assembly 14 and friction pulley 13 are contained in the receiving of mounting shell 32
In space, the connecting wire between master control borad 5 and driving assembly 14 is protected.
With further reference to Fig. 3, the emitter of the present embodiment may also include outer cover 6, and outer cover 6 is for being provide with 5 He of master control borad
Master control borad 5 and at least one friction pulley 13 are limited in the space of outer cover, not only contribute to product by least one friction pulley 13
Design, while the space in outer cover 6 can be made full use of, realize the compact design of product.
To enable trigger mechanism 1 to emit bullet towards the different direction of the launch, to realize the shooting to target, can incite somebody to action
Trigger mechanism 1 is mounted in the driving mechanisms such as holder.In the present embodiment, referring to fig. 2, the emitter of the present embodiment may also include
Driving mechanism 2, the driving mechanism 2 are connected with trigger mechanism 1, also, the driving mechanism 2 of the present embodiment is for driving transmitter
Structure 1 rotates, and enables trigger mechanism 1 to emit bullet towards the different direction of the launch, meets shooting demand；Also, this implementation
Example is conducive to the counterbalance design of driving mechanism 2, reduces in such a way that two friction pulleys 13 to be designed to vertical direction arrangement
The weight and volume of driving mechanism 2, so that being beneficial to prevent driving mechanism 2 exports unnecessary torque.The master of above-described embodiment
Control plate 5 can also be used to the rotation of control driving mechanism 2.Wherein, master control borad 5 is used to control driving assembly 14, driving mechanism 2
Rotation, can be used existing control circuit, such as circuit for controlling motor.
Cylinder, motor or other driving elements that trigger mechanism 1 can be driven to realize rotation can be used in driving mechanism 2,
It is not limited thereto.
In the present embodiment, driving mechanism 2 has at least one rotational freedom, to drive trigger mechanism 1 towards different
The direction of the launch emits bullet, meets shooting demand.For example, in some instances, driving mechanism 2 is for driving trigger mechanism 1 to exist
Pitching or yaw direction rotation, are aimed at so that trigger mechanism 1 is realized in pitching or yaw direction.
And in other examples, driving mechanism 2 can be used for that trigger mechanism 1 is driven to rotate in multiple directions, so that transmitting
The sighted direction of mechanism 1 is more abundant, for example, driving mechanism 2 can be used for driving trigger mechanism 12,3,4 even more
More direction rotations, for convenience of describing, the present embodiment can drive trigger mechanism 1 in a first direction with second with driving mechanism 2
It is illustrated for the rotation of direction.
Specifically, driving mechanism 2 may include the first driving mechanism 21 and the second driving mechanism 22 in conjunction with Fig. 6 and Fig. 7.Its
In, the first driving mechanism 21 is set to the one end of accelerating tube 12 far from transmitting tube 11, also, the first driving mechanism 21 is for driving hair
It penetrates mechanism 1 to move in a first direction, the second driving mechanism 22 is for driving the first driving mechanism 21 and 1 entirety of trigger mechanism to exist
Second party moves upwards.
It is rotated for driving trigger mechanism 1, the first driving mechanism 21 can be fixed with accelerating tube 12 far from one end of transmitting tube 11
Connection.Certainly, the first driving mechanism 21 can also be fixedly connected with the other positions of trigger mechanism 1, and the present embodiment does not limit this
It is fixed.
First direction and second direction are two different directions, and first direction and second direction can be two orthogonal sides
To can also be non-orthogonal both direction.For convenience of the control of the first driving mechanism 21 and the second driving mechanism 22, the present embodiment
First direction be selected as orthogonal both direction with second direction, if first direction be pitch orientation, second direction be yaw
Direction.Correspondingly, the first driving mechanism 21 is pitch axis driving mechanism, the second driving mechanism 22 is yaw axis driving mechanism.Make
Used time can drive trigger mechanism 1 to rotate in pitch orientation, realize rotating upwardly and downwardly for transmitting tube 11 by pitch axis driving mechanism.
Also, trigger mechanism 1 can be driven to rotate in yaw direction by yaw axis driving mechanism, realize the left-right rotation of transmitting tube 11.
In conjunction with Fig. 6 and Fig. 7, if desired the use state of emitter as shown in Figure 6 is switched to shown in Fig. 7 using shape
State then can drive trigger mechanism 1 to turn downward by pitch axis driving mechanism, and pitch rotation angular dimension can be α, α's
Size can control as needed.
The pitch axis driving mechanism of the present embodiment uses motor drive mode, and pitch axis driving mechanism includes pitch axis armshaft
211 and the pitching spindle motor 212 for driving pitch axis armshaft 211, two friction pulleys 13 can be rotated with pitch axis armshaft 211
Connection, the rotation of two friction pulleys 13 not will receive the influence of pitch axis armshaft 211；Also, two friction pulleys 13 and pitch axis
Motor 212 is disposed adjacent, and two 13 vertical directions of friction pulley are arranged, and is arranged close to pitching spindle motor, and transmitter is shortened
Structure 1 to pitching spindle motor 212 rotation center distance, to reduce the rotary inertia of pitching spindle motor 212, and then increase
The pitch range of trigger mechanism 1；Two 13 vertical directions of friction pulley are arranged, and are arranged close to pitching spindle motor 212, are also subtracted
The small load of pitching spindle motor 212, to improve the control response speed of pitching spindle motor 212；In addition, two are rubbed
Wheel 13 is arranged close to pitching spindle motor 212, so that the direction that the center of gravity of emitter is close to separate transmitting tube 11 is mobile and close
The rotation axis of pitching spindle motor 212 is conducive to the stability for improving transmitting tube 11, further resets conducive to matching for emitter
Meter, when being directed to the stability Design of transmitting tube 11, emitter is without increasing additional weight, or need to only to increase weight smaller
Additional weight the center of gravity of emitter is close to the direction far from transmitting tube 11 is mobile, and then reduce the entirety of emitter
Weight.
Further, the yaw axis driving mechanism 2 of the present embodiment also uses motor drive mode, yaw axis driving mechanism 2
Yaw spindle motor 222 including yaw axis armshaft 221 and for driving yaw axis armshaft 221.Wherein, yaw axis armshaft 221 with
Pitching spindle motor 212 is fixedly connected.The yaw axis armshaft 221 of the present embodiment includes spaced first armshaft and the second axis
Arm, pitching spindle motor and two friction pulleys 13 are respectively positioned between the first armshaft and the second armshaft.In this way, transmitting dress can be increased
The pitch angle set, meanwhile, for two friction pulleys 13 that compare are horizontally arranged, the first armshaft and second can be greatly reduced
Width between armshaft is conducive to the compact-sized design of emitter.
In the present embodiment, no matter the direction of the launch of trigger mechanism 1 be horizontal direction, or be non-horizontal directions when, two
The central axes of center line and pitching spindle motor 212 between a friction pulley 13 intersect vertically.It should be noted that in transmitter
When the direction of the launch of structure 1 is horizontal direction, center line between two friction pulleys 13 along transmitting tube 11 the direction of the launch.In this way
The recoil (reaction force generated when 1 emission bullet of trigger mechanism) of trigger mechanism 1 can pass through the rotary shaft of pitching spindle motor
Axle center, recoil would not generate the torque for allowing emitter to rotate, and stability when 1 emission bullet of trigger mechanism mentions significantly
It is high.
Further, the central axes of pitching spindle motor are orthogonal with the yaw central axes of spindle motor 222, after trigger mechanism 1
Recoil allows emitter to revolve by the rotary shaft axle center of pitching spindle motor and yaw spindle motor 222 so that recoil will not generate
The torque turned, stability when 1 emission bullet of trigger mechanism greatly improve.
Generally, due to the limitation of product structure layout, the second interface 42 that magazine 7 is connected to framework 4 with bullet can not be direct
Docking needs by increasing to there is the structure of trajectory to be connected to framework 4 with bullet to connect magazine 6.In the present embodiment, yaw axis axis
The first trajectory is equipped in arm 221, the second interface 42 that one end of the first trajectory is connected to framework 4 with bullet is connected to, the first trajectory
The other end is connected to magazine 7.When in use, bullet enters bullet connection framework 4 through the first trajectory by magazine 7, then is connected by bullet
Logical framework 4 enters accelerating tube 12.By designing the first trajectory in yaw axis armshaft 221, so that yaw axis armshaft is efficiently used,
Framework 4 is connected to bullet to connect magazine 6 without additionally increasing the structure with trajectory, to alleviate the weight of emitter
Amount, and reduce costs.
In the present embodiment, 7 relative transmission device of magazine is independently arranged, and reduces the load and volume of emitter.With transmitting
Device is illustrated the positional relationship of magazine 7 and emitter for being mounted in robot.In the present embodiment, robot packet
Chassis is included, referring to Fig. 6, magazine 7 and emitter are respectively arranged on the two sides on chassis, and yaw spindle motor 222 is set on chassis.
Wherein, the first trajectory extends along the arragement direction of yaw axis armshaft 221 and yaw spindle motor 222, also, first
The both ends of first armshaft or the second armshaft in ballistic perforation yaw axis armshaft 221.Hereinafter, by the first trajectory close to yaw axis electricity
One end of machine 222 is referred to as the bottom of the first trajectory, and the first trajectory is referred to as the first trajectory far from one end of yaw spindle motor 222
Top.
Optionally, the second interface 42 of bullet connection framework 4 is docked with the top of the first trajectory, the bullet outlet of magazine 7
Docked with the bottom of the first trajectory, in the first trajectory close to the bullet of second interface 42 by be located in the first trajectory the bullet with
The bearing force of other bullets between first trajectory bottom and by second interface 42 enter bullet be connected to framework 4 in.
It is understood that the bottom of the first trajectory can directly be docked with the outlet of the bullet of magazine 7, can also dock indirectly.
In the present embodiment, the first trajectory docks indirectly with the outlet of the bullet of magazine 7.Optionally, magazine 6 and yaw spindle motor
222 are connected, and the rotary shaft of yaw spindle motor 222 is hollow structure, which trajectory is also used as to use so that bullet is logical
It crosses, the rotary shaft of effective use yaw spindle motor 222, and mitigates the weight of emitter.In the present embodiment, the one of hollow structure
End is docked with the bottom of the first trajectory, and the other end of hollow structure is docked with the outlet of the bullet of magazine 7, to realize first passage
Indirect docking of exporting of bottom and bullet.
And in other embodiments, magazine 7 also can be used as a part of emitter, and optionally, magazine 7 is set to transmitting dress
The top set, the second interface 42 that magazine 7 is connected to framework 4 with bullet can be docked directly, or docking indirectly.At this point, in magazine 7
Bullet under self gravitation effect by second interface 42 enter bullet be connected to framework 4 in, stream of the bullet in emitter
It moves more smoothly.
It is noted that the gun post of above-described embodiment can be mounted on such as moving trolley moveable platform, lead to
The movement of moveable platform is crossed, realizes the change in location of setting device.
The utility model embodiment also provides a kind of shooting robot, which includes chassis, is installed on chassis
And the emitter of the power mechanism and above-described embodiment for driving chassis mobile.Wherein, emitter is fixedly connected on bottom
On disk, emitter structure and working principle can be found in above-described embodiment, and details are not described herein again.
Further, the power mechanism of the present embodiment may be selected to be the driving that motor, cylinder etc. can drive chassis mobile
Device.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent substitution, improvement and etc. done should be included in the utility model
Within the scope of protection.
Claims (13)
1. a kind of emitter of bullet, which is characterized in that the emitter includes:
Trigger mechanism, the trigger mechanism include transmitting tube, accelerating tube, deformable friction pulley and driving assembly；
The accelerating tube is docked with the transmitting tube；
The friction pulley includes two, and two friction pulleys are oppositely arranged on the two sides of the accelerating tube, and rub described in two
It wipes wheel part to be located in the accelerating tube, to support the bullet being located in the accelerating tube；
The driving component is for driving two friction pulleys to rotate simultaneously towards the direction of the transmitting tube, so that described
Bullet accelerates into the transmitting tube under the rotary force effect of two friction pulleys；
Wherein, when the direction of the launch of the trigger mechanism is horizontal direction, the arragement direction of two friction pulleys is vertical
Direction.
2. emitter according to claim 1, which is characterized in that the emitter further includes driving mechanism, described
Driving mechanism is connected with the trigger mechanism, for driving the trigger mechanism to rotate.
3. emitter according to claim 2, which is characterized in that the driving mechanism includes the first driving mechanism and the
Two driving mechanisms, first driving mechanism are set to the one end of the accelerating tube far from the transmitting tube, and described for driving
Trigger mechanism moves in a first direction, and second driving mechanism is for driving first driving mechanism and the transmitter
Structure integrally moves in a second direction.
4. emitter according to claim 3, which is characterized in that first driving mechanism is pitch axis driving machine
Structure, second driving mechanism are yaw axis driving mechanism.
5. emitter according to claim 4, which is characterized in that the pitch axis driving mechanism includes pitch axis armshaft
With for driving the pitching spindle motor of the pitch axis armshaft, two friction pulleys and the pitch axis armshaft be rotatablely connected and
It is disposed adjacent with the pitching spindle motor；And/or
The yaw axis driving mechanism includes yaw axis armshaft and the yaw spindle motor for driving the pitch axis armshaft, described
Yaw the hollow structure for being formed in the rotary shaft of spindle motor and passing through for the bullet.
6. emitter according to claim 1, which is characterized in that the driving component include two driving motors, two
A driving motor corresponding driving two friction pulley rotation.
7. emitter according to claim 6, which is characterized in that the driving motor is external rotor electric machine, described to rub
It wipes wheel to be set in the rotor case of the external rotor electric machine, the rotor case is for driving the friction pulley to rotate.
8. emitter according to claim 6, which is characterized in that be respectively equipped in the opposing sidewalls on the accelerating tube
Groove offers through-hole in the groove, and the friction pulley is located in the accelerating tube by the throughhole portions.
9. emitter according to claim 8, which is characterized in that the side wall of the groove is equipped with dismountable installation
Portion；
The mounting portion includes installation ontology and mounting shell, and the mounting shell is set on the installation ontology；
Accommodation space is equipped in the mounting shell, the driving motor and the friction pulley are located in the accommodation space.
10. emitter according to claim 9, which is characterized in that the emitter further includes bullet connection framework,
The bullet connection framework is for connecting the accelerating tube and magazine；
In the one side wall for the groove that the installation ontology is set to opening upwards, one end of the mounting shell and the installation are originally
Body connection, the other end of the mounting shell are connect with bullet connection framework.
11. emitter according to claim 1, which is characterized in that the emitter further includes master control borad, the master
Control plate is located at two sides of the friction pulley far from the transmitting tube, and the master control borad and the driving component are electrically coupled company
It connects.
12. emitter according to claim 11, which is characterized in that the emitter further includes outer cover, described outer
Cover is for being provide with the master control borad and at least one described friction pulley.
13. a kind of shooting robot, which is characterized in that the shooting robot includes chassis, is installed on the chassis and is used for
The power mechanism and such as described in any item emitters of claim 1 to 12 for driving the chassis mobile, the emitter
It is fixedly connected on the chassis.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821929054.6U CN209399848U (en) | 2018-11-20 | 2018-11-20 | The emitter and shooting robot of bullet |
| PCT/CN2018/122139 WO2020103256A1 (en) | 2018-11-20 | 2018-12-19 | Projectile launching device and shooting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821929054.6U CN209399848U (en) | 2018-11-20 | 2018-11-20 | The emitter and shooting robot of bullet |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209399848U true CN209399848U (en) | 2019-09-17 |
Family
ID=67880635
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821929054.6U Expired - Fee Related CN209399848U (en) | 2018-11-20 | 2018-11-20 | The emitter and shooting robot of bullet |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN209399848U (en) |
| WO (1) | WO2020103256A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112729003A (en) * | 2020-12-28 | 2021-04-30 | 华南理工大学 | Launching mechanism based on elastic thimble |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112504017B (en) * | 2020-12-18 | 2023-05-16 | 华南理工大学广州学院 | Working method of defending equipment |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7691012B2 (en) * | 2003-11-03 | 2010-04-06 | Precision Sports Robotics, Llc | Programmable ball throwing apparatus |
| US7958876B2 (en) * | 2008-06-09 | 2011-06-14 | William Coleman Lay | Projectile expelling apparatus |
| CN106861174B (en) * | 2014-08-29 | 2020-12-01 | 深圳市大疆创新科技有限公司 | Shooting game device and shooting game method |
| CN106110622A (en) * | 2016-08-15 | 2016-11-16 | 广东技术师范学院 | A kind of table tennis ball serving mechanism |
| CN206989816U (en) * | 2017-05-10 | 2018-02-09 | 昆明理工大学 | A kind of emitter being mounted on head |
| CN108654053A (en) * | 2018-06-19 | 2018-10-16 | 鲁东大学 | A kind of desktop table tenning ball servicing machine |
-
2018
- 2018-11-20 CN CN201821929054.6U patent/CN209399848U/en not_active Expired - Fee Related
- 2018-12-19 WO PCT/CN2018/122139 patent/WO2020103256A1/en active Application Filing
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112729003A (en) * | 2020-12-28 | 2021-04-30 | 华南理工大学 | Launching mechanism based on elastic thimble |
| CN112729003B (en) * | 2020-12-28 | 2024-01-05 | 华南理工大学 | Emission mechanism based on elasticity thimble |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020103256A1 (en) | 2020-05-28 |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190917 |