WO2020103256A1

WO2020103256A1 - Projectile launching device and shooting robot

Info

Publication number: WO2020103256A1
Application number: PCT/CN2018/122139
Authority: WO
Inventors: 余小彬
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-11-20
Filing date: 2018-12-19
Publication date: 2020-05-28
Also published as: CN209399848U

Abstract

A projectile launching device and a shooting robot are provided in embodiments of the present invention, the launching device comprises: a launching mechanism (1), which comprises a launching tube (11), an accelerating tube (12), deformable friction wheels (13) and a driving assembly (14); the accelerating tube being in butt joint with the launching tube; there are two friction wheels, the two friction wheels being oppositely arranged on both sides of the accelerating tube, and being partially positioned in the accelerating tube to abut against the projectile in the accelerating tube; the driving assembly being used for driving the two friction wheels to rotate at the same time in the direction towards the launching tube to accelerate the projectile to enter the launching tube under the action of the rotating force of the two friction wheels; in the case of the launching direction of the launching mechanism being in a horizontal direction, the arrangement direction of the two friction wheels being in the vertical direction. By designing the vertical direction arrangement of the two friction wheels, the vertical space is better utilized, so that the layout of the launching device becomes more compact and has higher space utilization.

Description

Projectile launcher and shooting robot

Technical field

The embodiments of the present invention relate to the technical field of launching devices, and in particular, to a projectile launching device and a shooting robot.

Background technique

Shooting robots (that is, infantry robots) are important characters in the competition of RoboMaster (international robot competition platform), which launches ball projectiles through launching devices to attack the enemy.

The launching device usually includes a launch tube and an acceleration tube. After the projectile is accelerated by the acceleration tube, it is then ejected by the launch tube. The existing launching device is provided with friction wheels on both sides of the acceleration tube respectively. When the projectile passes through the acceleration tube, it is accelerated by the rotational force of the two friction wheels. In the related art, when the direction of the projectile launching the projectile is horizontal, the arrangement direction of the two friction wheels is also in the horizontal direction. This arrangement increases the lateral width of the launcher, making the launcher's layout not compact enough. Low space utilization.

Summary of the invention

The invention provides a projectile launching device and a shooting robot.

Specifically, the present invention is achieved through the following technical solutions:

According to a first aspect of the present invention, there is provided a projectile launching device, the launching device comprising:

A launching mechanism, the launching mechanism includes a launching tube, an acceleration tube, a deformable friction wheel and a driving assembly;

The acceleration tube is docked with the launch tube;

The friction wheel includes two, two friction wheels are disposed on opposite sides of the acceleration tube, and the two friction wheels are partially located in the acceleration tube to resist the projectile located in the acceleration tube ;

The driving assembly is used to drive the two friction wheels to rotate in the direction of the launch tube at the same time, so that the projectile accelerates into the launch tube under the rotational force of the two friction wheels;

Wherein, when the launch direction of the launch mechanism is the horizontal direction, the arrangement direction of the two friction wheels is the vertical direction.

Optionally, the launching device further includes a driving mechanism, and the driving mechanism is connected to the launching mechanism and used to drive the launching mechanism to rotate.

Optionally, the drive mechanism includes a first drive mechanism and a second drive mechanism, the first drive mechanism is provided at an end of the acceleration tube away from the launch tube, and is used to drive the launch mechanism on the first side Moving upward, the second driving mechanism is used to drive the first driving mechanism and the launching mechanism to move in the second direction as a whole.

Optionally, the first drive mechanism is a pitch axis drive mechanism, and the second drive mechanism is a yaw axis drive mechanism.

Optionally, the pitch driving mechanism includes a pitch axis arm and a pitch axis motor for driving the pitch axis axis arm, and the two friction wheels are rotatably connected to the pitch axis axis arm and are connected to the pitch axis Motors are located adjacent to each other; and / or,

The yaw axis mechanism includes a yaw axis arm and a yaw axis motor for driving the pitch axis arm. A hollow structure is formed in the rotation axis of the yaw axis motor for the projectile to pass through.

Optionally, the drive assembly includes two drive motors, and the two drive motors drive the two friction wheels to rotate correspondingly.

Optionally, the driving motor is an external rotor motor, and the friction wheel is sleeved on a rotor shell of the external rotor motor, and the rotor shell is used to drive the friction wheel to rotate.

Optionally, grooves are respectively provided on opposite side walls of the acceleration tube, and a through hole is opened in the groove, and the friction wheel is partially located in the acceleration tube through the through hole.

Optionally, a removable mounting portion is provided on the side wall of the groove;

The installation part includes an installation body and an installation shell, and the installation shell is provided on the installation body;

An accommodating space is provided in the mounting shell, and the driving motor and the friction wheel are located in the accommodating space.

Optionally, the launching device further includes a projectile communication frame, and the projectile communication frame is used to connect the acceleration tube and the magazine;

The mounting body is provided on a side wall of the groove with the opening upward, one end of the mounting shell is connected to the mounting body, and the other end of the mounting shell is connected to the projectile communication frame.

Optionally, the launching device further includes a main control board, the main control board is located on a side of the two friction wheels away from the launch tube, and the main control board is electrically coupled to the drive assembly.

Optionally, the launching device further includes an outer cover for covering the main control board and at least one friction wheel.

According to a first aspect of the present invention, there is provided a shooting robot including a chassis, a power mechanism mounted on the chassis and used to drive movement of the chassis, and the launching device described in any one of the above The device is fixedly connected to the chassis.

It can be seen from the technical solutions provided by the above embodiments of the present invention that by designing the two friction wheels to be arranged in a vertical direction, the width of the launching device in the lateral direction is reduced, and the vertical space is better utilized, so that the launching device The layout is more compact and the space utilization is higher.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present invention.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions in the embodiments of the present invention, the drawings required in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without paying any creative labor, other drawings can also be obtained based on these drawings.

1 is an exploded view of the structure of a projectile launching device according to an exemplary embodiment of the present invention;

2 is a perspective view of the projectile launching device shown in FIG. 1;

3 is a perspective view of the projectile launching device shown in FIG. 1 in another direction;

4 is a schematic structural view of an acceleration tube of the projectile launching device shown in FIG. 1;

5 is a schematic structural diagram of a projectile connecting frame of the projectile launching device shown in FIG. 1;

6 is a perspective view of a projectile launching device according to an exemplary embodiment of the present invention;

7 is a diagram of a state of use of the projectile launching device shown in FIG. 6.

Reference mark:

1: Launch mechanism; 11: Launch tube; 111: Inner tube; 112: Outer tube; 12: Acceleration tube; 121: Groove; 122: Through hole; 13: Friction wheel; 14: Drive assembly;

2: drive mechanism; 21: first drive mechanism; 211: pitch axis arm; 212: pitch axis motor; 22: second drive mechanism; 221: yaw axis arm; 222: yaw axis motor;

3: mounting part; 31: mounting body; 32: mounting shell;

4: projectile connected frame; 41: first interface; 42: second interface;

5: main control board;

6: outer cover;

7: The magazine.

detailed description

Exemplary embodiments will be described in detail here, examples of which are shown in the drawings. When referring to the drawings below, unless otherwise indicated, the same numerals in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of devices and methods consistent with some aspects of the invention as detailed in the appended claims.

The terminology used in the present invention is for the purpose of describing specific embodiments only, and is not intended to limit the present invention. The singular forms "a", "said" and "the" used in the present invention and the appended claims are also intended to include the majority forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more associated listed items.

It should be understood that although the terms first, second, third, etc. may be used to describe various information in the present invention, the information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "when" or "in response to a determination".

The projectile launching device and shooting robot of the present invention will be described in detail below with reference to the drawings. The features in the following examples and implementations can be combined with each other without conflict.

1 to 3, an embodiment of the present invention provides a projectile launching device, the launching device may include a launching mechanism 1, the launching mechanism 1 may include a launching tube 11, an acceleration tube 12, a deformable friction wheel 13 and a drive Component 14. Wherein, the acceleration tube 12 and the launch tube 11 are docked. The launch tube 11 and the acceleration tube 12 of this embodiment have trajectories respectively. After the launch tube 11 and the acceleration tube 12 are docked, the trajectory of the launch tube 11 and the trajectory of the acceleration tube 12 are connected.

It can be understood that the acceleration tube 12 and the launch tube 11 may be directly or indirectly connected. In addition, the launch tube 11 and the acceleration tube 12 may be coaxially or non-coaxially butted.

Further, after the launching tube 11 and the acceleration tube 12 are docked, the launching tube 11 and the acceleration tube 12 can be fixedly connected together by an existing fixing method. In this embodiment, the launch tube 11 may include an inner tube 111 and an outer tube 112 sleeved on the outer side of the inner tube 111. One end of the inner tube 111 is butted and fixedly connected to one end of the acceleration tube 12. Among them, the inner tube 111 is formed with a projectile launching channel, the inner wall of the outer cylinder 112 is provided with a detection element, the detection element is used to detect the projectile launch speed of the inner tube 111, one end of the inner cylinder 111 can be fixed by screws or other existing The method is fixedly connected to one end of the acceleration tube 12.

The friction wheel 13 of this embodiment includes two friction wheels 13 that are oppositely disposed on both sides of the acceleration tube 12, and the two friction wheels 13 are partially located in the acceleration tube 12 to resist the projectiles located in the acceleration tube 12 . In this embodiment, when the projectile enters the acceleration tube 12 and passes between the two friction wheels 13, the friction between the two friction wheels 13 and the projectile is used to achieve acceleration of the projectile. The projectiles may be ball projectiles or projectiles of a specific shape. For the convenience of description, unless otherwise specified, the projectiles described in the following embodiments take the ball projectile as an example to describe the structure and function of the launching device .

When the projecting device of this embodiment launches a projectile, the driving assembly 14 will drive the two friction wheels 13 to rotate toward the launch tube 11 at the same time, so that the projectile accelerates into the launch tube 11 under the action of the rotating force of the two friction wheels 13 . With reference to the structural orientation of the launching device shown in FIG. 1, the manner in which the driving assembly 14 drives the two friction wheels 13 will be described. In this embodiment, the direction of motion between the two friction wheels 13 is opposite. When the projectile launches the projectile, the friction wheel 13 above the acceleration tube 12 is driven clockwise by the drive assembly 14 and drives the friction below the acceleration tube 12 The wheel 13 rotates counterclockwise, so that the two friction wheels 13 rotate in the direction of the launch tube 11 at the same time.

The distance between the two friction wheels 13 is related to the diameter of the projectile. In this embodiment, the distance between the two friction wheels 13 is designed according to the diameter of the projectile. In addition, the materials of the two friction wheels 13 can be selected according to requirements such as hardness and friction.

The launch mechanism 1 of this embodiment may include multiple launch directions. Wherein, when the launch direction of the launch mechanism 1 is the horizontal direction, the arrangement direction of the two friction wheels 13 is the vertical direction.

In the launching device of this embodiment, by designing the two friction wheels 13 to be arranged vertically, the width of the launching device in the lateral direction is reduced, the vertical space is better utilized, and the layout of the launching device is more compact , Higher space utilization.

In some embodiments, the launch tube 11 and the acceleration tube 12 may be an asymmetric structure. In some embodiments, the launch tube 11 and the acceleration tube 12 are of a symmetrical structure to balance the force during the projectile launch process, which facilitates the accurate launch of the projectile.

In some examples, two friction wheels 13 are arranged symmetrically on both sides of the acceleration tube 12. Of course, in other examples, the two friction wheels 13 may be disposed asymmetrically on both sides of the acceleration tube 12. For example, when the launch direction of the launch mechanism 1 is horizontal, the distance between the friction wheel 13 above the acceleration tube 12 and the axis of the acceleration tube 12 is smaller than the distance between the friction wheel 13 above the acceleration tube 12 and the axis of the acceleration tube 12.

The manner in which the friction wheel 13 is disposed on the acceleration tube 12 can be designed according to needs. In this embodiment, referring to FIG. 4, grooves 121 are provided on opposite side walls of the acceleration tube 12 respectively, and a through hole 122 is opened in the groove 121 The friction wheel 13 is partially located in the acceleration tube 12 through the through hole 122. By providing grooves 121 on the opposite side walls of the acceleration tube 12, on the one hand, the two friction wheels 13 limit the two friction wheels 13; on the other hand, the weight of the acceleration tube 12 is reduced, thereby reducing the launch mechanism 1 weight.

To fix the friction wheel 13 and the driving assembly 14, referring to FIG. 1, a mounting portion 3 may be provided on the side wall of the groove 121, and the mounting portion 3 may be detachably provided on the side wall of the groove 121. For example, the mounting portion 3 is detachably connected to the side wall of the groove 121 by means of screws, snapping, or the like.

The mounting portion 3 of this embodiment includes a mounting body 31 and a mounting shell 32. Wherein, the mounting shell 32 is provided on the mounting body 31, and the mounting shell 32 is provided with an accommodating space, and the friction wheel 13 is located in the accommodating space. The mounting shell 32 is used to accommodate the friction wheel 13, so that the rotation of the friction wheel 13 can be prevented from being disturbed by external forces, ensuring the accuracy and reliability of the power output of the friction wheel 13 to the projectile, and at the same time, the friction wheel 13 can also be avoided Wear caused by friction in other parts.

In addition, referring to FIGS. 1, 3 and 5, the launching device of this embodiment may further include a projectile communication frame 4. The projectile communication frame 4 is used to connect the acceleration tube 12 and the magazine, and the magazine is used to store projectiles. It can be understood that the acceleration tube 12 and the magazine are not directly connected, but indirectly connected. Among them, the magazine 7 may be a part of the launching device or an external structure.

In this embodiment, when the launching direction of the launching device is horizontal, one opening of the two grooves 121 faces upward and the other opens downward. The mounting body 31 is provided on one side wall of the groove 121 with the opening upward One end of the mounting shell 32 is connected to the mounting body 31, and the other end of the mounting shell 32 is connected to the projectile communication frame 4.

More specifically, the upper and lower side walls of the acceleration tube 12 are respectively provided with grooves 121, and the groove 121 on the upper side wall faces upward and is provided with mounting holes, and the mounting body 31 of the mounting portion 3 is fixed to the acceleration by, for example, screws The side wall of the groove 121 on the upper side wall of the tube 12 realizes the detachable assembly between the acceleration tube 12 and the mounting portion 3, and the mounting body 31 and the acceleration tube 12 can also be clamped in a form such as a clamping structure Card disassembly and assembly. It is worth noting that the above-mentioned up and down are not up and down in an absolute direction. As the pitching rotation of the launching device, the up and down can also be understood as obliquely up and down.

Referring to FIG. 1, the projectile communication frame 4 is located at the end of the acceleration tube 12 away from the launch tube 11. One end of the mounting shell 32 of this embodiment can be fixedly connected to the mounting body 31 by screws, snap connection, or other existing fixing methods. Referring also to FIG. 1, the other end of the mounting shell 32 may be provided with a connector, and the other end of the mounting shell 32 is connected to the projectile communication frame 4 through the connector. Wherein, the connecting piece can be fixedly connected to the projectile communicating frame 4 by screws, snap connection or other existing fixing methods.

Referring to FIG. 5, the projectile communication frame 4 may include a first interface 41 and a second interface 42, wherein the first interface 41 is docked with the interface of the end of the acceleration tube 12 away from the launch tube 11, and the second interface 42 is connected to the slave cartridge 7 The projectile outlets of the guided projectile channel are directly or indirectly docked, and the magazine 7 and the acceleration tube 12 are connected through the first interface 41 and the second interface 42 to realize the replenishment of the projectile.

The driving assembly 14 may use an air cylinder, a motor, or other driving devices capable of driving the friction wheel 13 to rotate. In this embodiment, the driving assembly 14 may include two driving motors, and the two driving motors drive the two friction wheels 13 to rotate correspondingly. In one implementation, the driving motor is an outer rotor motor, and the friction wheel 13 is sleeved on the rotor shell of the outer rotor motor, and the rotor shell is used to drive the friction wheel 13 to rotate. The rotor shell may be a rotor part in the drive motor, or a stator part in the drive motor.

It can be understood that when each friction wheel 13 is driven by a driving motor, the driving motor for driving the friction wheel 13 located in the mounting shell 32 is also located in the accommodating space of the mounting shell 32.

1 to 3 and FIG. 7, the launching device of this embodiment may further include a main control board 5, the main control board 5 is located on the side of the two friction wheels 13 away from the launch tube 11, and the main control board 5 and the drive assembly 14 is electrically coupled so that the above-mentioned drive assembly 14 is driven to rotate through the main control board 5. In the above embodiment, the driving assembly 14 and the friction wheel 13 are accommodated in the accommodating space of the mounting shell 32 to protect the connecting wire between the main control board 5 and the driving assembly 14.

Further referring to FIG. 3, the launching device of this embodiment may further include a cover 6 for covering the main control board 5 and at least one friction wheel 13 to restrict the main control board 5 and at least one friction wheel 13 in the space of the cover Inside, not only is conducive to the appearance design of the product, but also can make full use of the space in the outer cover 6, to achieve a compact design of the product.

In order to enable the launching mechanism 1 to fire projectiles in different launching directions to achieve shooting at the target, the launching mechanism 1 may be mounted on a driving mechanism such as a pan / tilt. In this embodiment, referring to FIG. 2, the launching device of this embodiment may further include a driving mechanism 2, which is connected to the launching mechanism 1, and the driving mechanism 2 of this embodiment is used to drive the launching mechanism 1 to rotate, The launching mechanism 1 can launch projectiles in different launching directions to meet the shooting requirements; and, in this embodiment, the two friction wheels 13 are designed to be arranged in a vertical direction, which is beneficial to the design of the counterweight of the driving mechanism 2 and reducing The weight and volume of the driving mechanism 2 are reduced, thereby helping to prevent the driving mechanism 2 from outputting unnecessary torque. The main control board 5 of the above embodiment can also be used to control the rotation of the drive mechanism 2. Among them, the main control board 5 is used to control the rotation of the driving assembly 14 and the driving mechanism 2, and an existing control circuit, such as a motor control circuit, may be used.

The driving mechanism 2 may use an air cylinder, a motor, or other driving devices capable of driving the launch mechanism 1 to rotate, which is not limited herein.

In this embodiment, the driving mechanism 2 has at least one degree of freedom of rotation to drive the launching mechanism 1 to shoot projectiles in different shooting directions to meet the shooting requirements. For example, in some examples, the driving mechanism 2 is used to drive the launch mechanism 1 to rotate in the pitch or yaw direction, so that the launch mechanism 1 achieves aiming in the pitch or yaw direction.

In other examples, the drive mechanism 2 can be used to drive the launch mechanism 1 to rotate in multiple directions, which makes the aiming direction of the launch mechanism 1 more abundant. For example, the drive mechanism 2 can be used to drive the launch mechanism 1 in 2, 3, Four or more directions of rotation. For convenience of description, this embodiment uses the driving mechanism 2 to drive the launching mechanism 1 to rotate in the first direction and the second direction as an example.

Specifically, referring to FIGS. 6 and 7, the driving mechanism 2 may include a first driving mechanism 21 and a second driving mechanism 22. Among them, the first driving mechanism 21 is provided at the end of the acceleration tube 12 away from the launch tube 11, and the first driving mechanism 21 is used to drive the launch mechanism 1 to move in the first direction, and the second driving mechanism 22 is used to drive the first drive The mechanism 21 and the launch mechanism 1 move in the second direction as a whole.

In order to drive the launching mechanism 1 to rotate, the first driving mechanism 21 may be fixedly connected to the end of the acceleration tube 12 away from the launching tube 11. Of course, the first driving mechanism 21 can also be fixedly connected to other positions of the launch mechanism 1, which is not limited in this embodiment.

The first direction and the second direction are two different directions. The first direction and the second direction may be two orthogonal directions, or two non-orthogonal directions. In order to facilitate the control of the first driving mechanism 21 and the second driving mechanism 22, the first direction and the second direction of this embodiment are selected as two orthogonal directions, for example, the first direction is the pitch direction and the second direction is the yaw direction. Correspondingly, the first drive mechanism 21 is a pitch axis drive mechanism, and the second drive mechanism 22 is a yaw axis drive mechanism. When in use, the launching mechanism 1 can be driven to rotate in the pitch direction by the pitch axis driving mechanism to realize the vertical rotation of the launching tube 11. In addition, the launch mechanism 1 can be driven to rotate in the yaw direction by the yaw axis driving mechanism, so that the launch tube 11 can be rotated left and right.

With reference to FIGS. 6 and 7, if it is necessary to switch the launching device from the usage state shown in FIG. 6 to the usage state shown in FIG. 7, the launching mechanism 1 can be driven to rotate downward by the pitch axis driving mechanism, and the pitch rotation angle size It can be α, and the size of α can be controlled as required.

The pitch axis driving mechanism of this embodiment adopts a motor driving method. The pitch axis driving mechanism includes a pitch axis arm 211 and a pitch axis motor 212 for driving the pitch axis arm 211. The two friction wheels 13 can be connected to the pitch axis arm 211. Rotating connection, the rotation of the two friction wheels 13 will not be affected by the pitch axis arm 211; and the two friction wheels 13 are arranged adjacent to the pitch axis motor 212, the two friction wheels 13 are arranged vertically, and The setting close to the pitch axis motor shortens the distance between the launch mechanism 1 and the rotation center of the pitch axis motor 212, thereby reducing the rotational inertia of the pitch axis motor 212, thereby increasing the pitch angle range of the launch mechanism 1; 13 are arranged vertically and placed close to the pitch axis motor 212, which also reduces the load of the pitch axis motor 212, thereby improving the control response speed of the pitch axis motor 212; in addition, the two friction wheels 13 are close to the pitch axis motor The setting of 212 makes the center of gravity of the launching device move away from the launching tube 11 and close to the rotation axis of the pitch axis motor 212, which is beneficial to improve the stability of the launching tube 11 and further facilitates the design of the counterweight of the launching device. 11 Stability design, the launching device does not need to add extra weight, or only need to add additional weight with less weight to move the center of gravity of the launching device away from the launching tube 11, thereby reducing the overall weight of the launching device .

Further, the yaw axis driving mechanism 2 of this embodiment also uses a motor driving method. The yaw axis driving mechanism 2 includes a yaw axis arm 221 and a yaw axis motor 222 for driving the yaw axis arm 221. The yaw axis arm 221 and the pitch axis motor 212 are fixedly connected. The yaw axis arm 221 of this embodiment includes a first axis arm and a second axis arm that are spaced apart. The pitch axis motor and the two friction wheels 13 are located between the first axis arm and the second axis arm. In this way, the pitch angle of the launching device can be increased, and at the same time, compared with the horizontal arrangement of the two friction wheels 13, the width between the first and second shaft arms can be greatly reduced, which is beneficial to the structure of the launching device Compact design.

In this embodiment, regardless of whether the launch direction of the launch mechanism 1 is a horizontal direction or a non-horizontal direction, the center line between the two friction wheels 13 and the central axis of the pitch axis motor 212 all intersect perpendicularly. It should be noted that when the launch direction of the launch mechanism 1 is the horizontal direction, the center line between the two friction wheels 13 is along the launch direction of the launch tube 11. In this way, the recoil force of the launch mechanism 1 (the reaction force generated when the launch mechanism 1 launches a bullet) will pass through the axis of the rotation axis of the pitch axis motor, and the recoil force will not generate a torque that causes the launch device to rotate, and the launch mechanism 1 is stable when launching a bullet Sexuality is greatly improved.

Further, the center axis of the pitch axis motor is orthogonal to the center axis of the yaw axis motor 222, and the recoil of the launch mechanism 1 passes through the axis of the rotation axis of the pitch axis motor and the yaw axis motor 222, so that the recoil force does not cause the launch device The rotation torque greatly improves the stability of the launch mechanism 1 when firing bullets.

Generally, due to the limitation of product structure layout, the second interface 42 of the magazine 7 and the projectile communication frame 4 cannot be directly docked, and it is necessary to connect the magazine 6 and the projectile communication frame 4 by adding a ballistic structure. In this embodiment, a first trajectory is provided in the yaw axis arm 221, one end of the first trajectory communicates with the second interface 42 of the projectile communication frame 4, and the other end of the first trajectory communicates with the magazine 7. In use, the projectile enters the projectile communication frame 4 from the magazine 7 through the first trajectory, and then enters the acceleration tube 12 from the projectile communication frame 4. By designing the first trajectory in the yaw axis arm 221, the yaw axis arm is effectively used, and no additional ballistic structure is required to connect the magazine 6 and the projectile communication frame 4, thereby reducing the weight of the launcher And reduced costs.

In this embodiment, the magazine 7 is provided independently of the launching device, which reduces the load and volume of the launching device. Taking the launching device mounted on the robot as an example, the positional relationship between the magazine 7 and the launching device will be described. In this embodiment, the robot includes a chassis. Referring to FIG. 6, the magazine 7 and the launching device are respectively provided on both sides of the chassis, and the yaw axis motor 222 is provided on the chassis.

Wherein, the first trajectory extends along the arrangement direction of the yaw axis arm 221 and the yaw axis motor 222, and the first trajectory penetrates both ends of the first axis arm or the second axis arm in the yaw axis arm 221 . Hereinafter, the end of the first trajectory near the yaw axis motor 222 is referred to as the bottom of the first trajectory, and the end of the first trajectory away from the yaw axis motor 222 is referred to as the top of the first trajectory.

Optionally, the second interface 42 of the projectile communication frame 4 is docked with the top of the first trajectory, the projectile outlet of the magazine 7 is docked with the bottom of the first trajectory, and the projectile in the first trajectory near the second interface 42 depends on the first The top holding force of other projectiles located between the projectile and the bottom of the first projectile enters the projectile communication frame 4 through the second interface 42.

It can be understood that the bottom of the first trajectory can be directly docked with the projectile outlet of the magazine 7 or indirectly.

In this embodiment, the first trajectory is indirectly docked with the bullet outlet of the magazine 7. Optionally, the magazine 6 is connected to the yaw axis motor 222. The rotation axis of the yaw axis motor 222 is a hollow structure. The hollow structure is also used as a trajectory to pass the projectile, effectively using the rotation axis of the yaw axis motor 222 And reduce the weight of the launcher. In this embodiment, one end of the hollow structure is docked with the bottom of the first projectile, and the other end of the hollow structure is docked with the projectile outlet of the magazine 7, thereby indirectly docking the bottom of the first channel with the projectile outlet.

In other embodiments, the magazine 7 can also be used as a part of the launching device. Optionally, the magazine 7 is located on the top of the launching device. The magazine 7 and the second interface 42 of the projectile communication frame 4 can be directly docked. Or indirect docking. At this time, the projectile in the magazine 7 enters the projectile communication frame 4 through the second interface 42 under its own gravity, and the flow of the projectile in the launching device is smoother.

It is worth mentioning that the shooting device of the above embodiment can be mounted on a movable platform such as a mobile cart, and the position of the setting device can be changed by the movement of the movable platform.

An embodiment of the present invention further provides a shooting robot. The shooting robot includes a chassis, a power mechanism mounted on the chassis and used to drive the chassis to move, and the launching device of the foregoing embodiment. Wherein, the launching device is fixedly connected to the chassis, and the structure and working principle of the launching device can be referred to the above embodiments, and will not be repeated here.

Further, the power mechanism of this embodiment may be selected as a driving device capable of driving the movement of the chassis such as a motor and a cylinder.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the present invention Within the scope of protection.

Claims

A projectile launching device, characterized in that the launching device includes:

A launching mechanism, the launching mechanism includes a launch tube, an acceleration tube, a deformable friction wheel and a drive assembly;

The acceleration tube is docked with the launch tube;

The friction wheel includes two, two friction wheels are disposed on opposite sides of the acceleration tube, and the two friction wheels are partially located in the acceleration tube to resist the projectile located in the acceleration tube ;

The driving assembly is used to drive the two friction wheels to rotate in the direction of the launch tube at the same time, so that the projectile accelerates into the launch tube under the rotational force of the two friction wheels;

Wherein, when the launch direction of the launch mechanism is the horizontal direction, the arrangement direction of the two friction wheels is the vertical direction.
The launching device according to claim 1, characterized in that the launching device further comprises a driving mechanism, and the driving mechanism is connected to the launching mechanism for driving the launching mechanism to rotate.
The launching device according to claim 2, wherein the driving mechanism includes a first driving mechanism and a second driving mechanism, the first driving mechanism is provided at an end of the acceleration tube away from the launch tube, and is used In order to drive the launch mechanism to move in the first direction, the second drive mechanism is used to drive the first drive mechanism and the launch mechanism to move in the second direction as a whole.
The launching device according to claim 3, wherein the first driving mechanism is a pitch axis driving mechanism, and the second driving mechanism is a yaw axis driving mechanism.
The launching device according to claim 4, wherein the pitch drive mechanism includes a pitch axis arm and a pitch axis motor for driving the pitch axis arm, two friction wheels and the pitch axis The shaft arm is rotationally connected and is arranged adjacent to the pitch axis motor; and / or,

The yaw axis mechanism includes a yaw axis arm and a yaw axis motor for driving the pitch axis arm. A hollow structure is formed in the rotation axis of the yaw axis motor for the projectile to pass through.
The launching device according to claim 1, wherein the driving assembly includes two driving motors, and the two driving motors drive the two friction wheels to rotate correspondingly.
The launching device according to claim 6, wherein the driving motor is an outer rotor motor, the friction wheel is sleeved on a rotor shell of the outer rotor motor, and the rotor shell is used to drive the friction The wheel turns.
The launching device according to claim 6, characterized in that grooves are provided on opposite side walls of the acceleration tube respectively, and a through hole is opened in the groove, and the friction wheel passes through the through hole portion Located in the acceleration tube.
The launching device according to claim 8, wherein a removable mounting portion is provided on the side wall of the groove;

The installation part includes an installation body and an installation shell, and the installation shell is provided on the installation body;

An accommodating space is provided in the mounting shell, and the driving motor and the friction wheel are located in the accommodating space.
The launching device according to claim 9, characterized in that the launching device further comprises a projectile communication frame, and the projectile communication frame is used to connect the acceleration tube and the magazine;

The mounting body is provided on a side wall of the groove with the opening upward, one end of the mounting shell is connected to the mounting body, and the other end of the mounting shell is connected to the projectile communication frame.
The launching device according to claim 1, wherein the launching device further comprises a main control board, the main control board is located on a side of the two friction wheels away from the launch tube, and the main control The board is electrically coupled to the drive assembly.
The launching device according to claim 11, characterized in that the launching device further comprises an outer cover for covering the main control board and at least one friction wheel.
A shooting robot, characterized in that the shooting robot includes a chassis, a power mechanism mounted on the chassis and used for driving the chassis to move, and a launching device, the launching device is fixedly connected to the chassis, and the launching The device includes:

A launching mechanism, the launching mechanism includes a launch tube, an acceleration tube, a deformable friction wheel and a drive assembly;

The acceleration tube is docked with the launch tube;

The friction wheel includes two, two friction wheels are disposed on opposite sides of the acceleration tube, and the two friction wheels are partially located in the acceleration tube to resist the projectile located in the acceleration tube ;

The driving assembly is used to drive the two friction wheels to rotate in the direction of the launch tube at the same time, so that the projectile accelerates into the launch tube under the rotational force of the two friction wheels;

Wherein, when the launch direction of the launch mechanism is the horizontal direction, the arrangement direction of the two friction wheels is the vertical direction.
The shooting robot according to claim 13, wherein the launching device further comprises a driving mechanism, the driving mechanism is connected to the launching mechanism and is used to drive the launching mechanism to rotate.
The shooting robot according to claim 14, wherein the driving mechanism includes a first driving mechanism and a second driving mechanism, the first driving mechanism is provided at an end of the acceleration tube away from the launch tube, and is used In order to drive the launch mechanism to move in the first direction, the second drive mechanism is used to drive the first drive mechanism and the launch mechanism to move in the second direction as a whole.
The shooting robot according to claim 15, wherein the first driving mechanism is a pitch axis driving mechanism, and the second driving mechanism is a yaw axis driving mechanism.
The shooting robot according to claim 16, wherein the pitch drive mechanism includes a pitch axis arm and a pitch axis motor for driving the pitch axis arm, two friction wheels and the pitch axis The shaft arm is rotationally connected and is arranged adjacent to the pitch axis motor; and / or,

The yaw axis mechanism includes a yaw axis arm and a yaw axis motor for driving the pitch axis arm. A hollow structure is formed in the rotation axis of the yaw axis motor for the projectile to pass through.
The shooting robot according to claim 13, wherein the driving assembly includes two driving motors, and the two driving motors drive the two friction wheels to rotate correspondingly.
The shooting robot according to claim 18, wherein the driving motor is an outer rotor motor, and the friction wheel is sleeved on a rotor shell of the outer rotor motor, and the rotor shell is used to drive the friction The wheel turns.
The shooting robot according to claim 18, wherein grooves are respectively provided on opposite side walls of the acceleration tube, and a through hole is opened in the groove, and the friction wheel passes through the through hole portion Located in the acceleration tube.
The shooting robot according to claim 20, wherein a removable mounting portion is provided on the side wall of the groove;

The installation part includes an installation body and an installation shell, and the installation shell is provided on the installation body;

An accommodating space is provided in the mounting shell, and the driving motor and the friction wheel are located in the accommodating space.
The shooting robot according to claim 21, wherein the launching device further comprises a projectile communication frame, and the projectile communication frame is used to connect the acceleration tube and the magazine;

The mounting body is provided on a side wall of the groove with the opening upward, one end of the mounting shell is connected to the mounting body, and the other end of the mounting shell is connected to the projectile communication frame.
The shooting robot according to claim 13, wherein the launching device further includes a main control board, the main control board is located on a side of the two friction wheels away from the launch tube, and the main control The board is electrically coupled to the drive assembly.
The shooting robot according to claim 23, wherein the launching device further comprises an outer cover, the outer cover is used to cover the main control board and at least one friction wheel.