CN106017231A - Miniature shooting range and control method thereof - Google Patents
Miniature shooting range and control method thereof Download PDFInfo
- Publication number
- CN106017231A CN106017231A CN201610437225.2A CN201610437225A CN106017231A CN 106017231 A CN106017231 A CN 106017231A CN 201610437225 A CN201610437225 A CN 201610437225A CN 106017231 A CN106017231 A CN 106017231A
- Authority
- CN
- China
- Prior art keywords
- target body
- control section
- body control
- axis
- handle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J11/00—Target ranges
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J9/00—Moving targets, i.e. moving when fired at
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a miniature shooting range and a control method thereof, and relates to training equipment, in particular to equipment for shooting training. The provided miniature shooting range is simple in structure, low in cost and easy and convenient to operate, and a real scene can be effectively simulated. The miniature shooting range comprises a shooting platform (10), wall bodies (20), at least one human-shaped target body (30) and at least one target body control part (40), wherein the wall bodies (20) surround the shooting platform (10); the human-shaped target bodies (30) are positioned between the wall bodies (20) and the shooting platform (10); the target body control parts (40) comprise control rods (41), brackets (42), connecting rods (43) and handles (44); the brackets (42) are positioned outside the wall bodies (20); the middle parts of the control rods (41) are connected with the upper ends of the brackets (42) through hinges; one ends of the control rods (41) are fixed to the human-shaped target bodies; the other ends of the control rods (41) are fixed to the connecting rods (43); and one ends of the handles (44) are fixed to the connecting rods.
Description
Technical field
The present invention relates to training device, particularly relate to a kind of equipment for gunnery training.
Background technology
Shooting at present is a very universal motion, and target range also becomes the place of citizen's amusement and recreation.
Target range both domestic and external the most all uses laser target, fixing target, and most target range also needs to undertake training
Support shooter, People's Armed Police, soldier, the important task of police.
But, the gunnery training of existing target range is the most inflexible, be not biased towards, under battle conditions, being only merely
Exercise marksmanship.But for China, be not allow to use gun.So offender is general
Weapon is more biased towards in cutter, club, ferrum sharp weapon etc., and these weapons be intended to the nearly body of both sides attack time just have
Effect.When nearly body distance, rifle does not prove effective.When offender holds cutter attack policeman when,
Shooting has had little time.The nearly body cutter that policeman's peacetime training cannot be practised as real scene is fought and hides, and meets
When using again rifle invalid to real scene, cause the sacrifice of a lot of policeman.
No matter fix target or running target or laser target can not be wanted to coincide with real scene, the fortune of running target
Row track is the most all regular following, and does not has the true operational training effect of reply.
Therefore, the shooting equipment of a kind of simulation of real scenes is needed at present badly.
Summary of the invention
The technical problem to be solved in the present invention be to provide a kind of simple in construction, low cost, easy and simple to handle, have
The micro target range of effect simulation of real scenes.
Micro target range of the present invention, including shooting platform；Body of wall, it surrounds described shooting platform；At least one people
Shape target body, it is between described body of wall and shooting platform；At least one target body control section, it includes handling
Bar, support, connecting rod, handle, described support is positioned at wall outer side, and the middle part of described stick is with described
The upper end chain connection of support, action bars one end fixes with described humanoid target body, the action bars other end and institute
Stating connecting rod to fix, one end of described handle is connected with described connecting rod.
Micro target range of the present invention, including shooting platform；Body of wall, it surrounds described shooting platform；At least one people
Shape target body, it is between described body of wall and shooting platform；At least one target body control section, it is by machinery
Arm moves described humanoid target body, wherein, described mechanical arm, including X-axis travel mechanism, Z axis moving machine
Structure, Z axis head motion, X-axis rotating mechanism, Y-axis motion, described X-axis travel mechanism, Z
Axle travel mechanism, Z axis head motion, X-axis rotating mechanism, Y-axis motion and be arranged on shooting platform
Control station away from the position of body of wall side connects, and described X-axis travel mechanism includes servomotor, described
Servomotor is connected with screw rod by shaft coupling, and threaded on described screw rod have a telescopic screw rod nut, and
Screw rod is fixedly connected on the traveller of its lower end, and telescopic screw rod nut is slidably matched with traveller by slide block；
Described Z axis travel mechanism includes servomotor, and described servomotor is connected with rotary shaft by shaft coupling,
The other end of described rotary shaft is fixedly connected with Rotary Connection block, and described Rotary Connection block is fixed with mechanical arm
Connect；Described Z axis head motion includes servomotor, and the output shaft of described servomotor is with reductor even
Connecing, described reductor is connected with main shaft by shaft coupling, and described main shaft is fixing with rear casing to be connected；Described
Y-axis motion includes servomotor, and described servomotor is connected with screw mandrel one end by shaft coupling, institute
Stating screw mandrel to be arranged vertically, its other end is fixed on rear casing, and threaded on screw mandrel has feed screw nut,
The upper connection of described feed screw nut has rotating shaft holder, the rotary shaft of Z axis travel mechanism to be fixed on swivel bearing
In bearing in Zuo；Described X-axis rotating mechanism is arranged on the telescopic screw rod nut of X-axis travel mechanism,
Including servomotor, described servo motor output shaft connects synchronization wheel, and described synchronization wheel passes through Timing Belt
Connecting and have synchronization wheel, described synchronization wheel is connected by axle runing rest, and described runing rest is fixed with
Described humanoid target body.
Micro target range of the present invention control method, the control method of described swing part comprises the steps:
The movement state information of the end of detection stick；
According to described movement state information inquiry kinestate and swing part control command mapping table, obtain
Corresponding swing part control command；
Swing part is controlled according to described swing part control command；
The step of the movement state information wherein detecting the end of stick includes:
Detection mobile terminal motion state parameters on each coordinate axes in three-dimensional system of coordinate periodically；
Described motion state parameters is compared with corresponding discrimination threshold respectively, if described at least one
The absolute value of motion state parameters is more than corresponding discrimination threshold, then carry out following steps:
Described motion state parameters is carried out filter process of fitting treatment obtain matching motion state parameters, wherein,
Described filtration process of fitting treatment mathematical expression is:
MMatching=M*F-(Mv*F+M*(1-F))；
Wherein, described MMatchingRefer to that matching motion state parameters, described M refer to the three-dimensional coordinate obtained
Motion state parameters on corresponding coordinate axes in system, described F refers to the filtration matching factor pre-set,
Described MvInstant motion state parameters on corresponding coordinate axes in referring to three-dimensional system of coordinate；
According to described matching motion state parameters inquiry kinestate and swing part control command mapping table, to obtain
Corresponding swing part control command.
Micro target range of the present invention difference from prior art is that micro target range of the present invention is controlled by handle
Humanoid target body, can arbitrarily control the direction of motion and the movement velocity of humanoid target body, it is to avoid conventional rails formula
The regular motion of mobile target body, makes shoot-simulating more true, more preferable simulating actual combat.
Below in conjunction with the accompanying drawings the micro target range of the present invention is described further.
Accompanying drawing explanation
Fig. 1 is the structural representation in micro target range；
Fig. 2 is the structural representation of a kind of distressed structure in micro target range.
Detailed description of the invention
As it is shown in figure 1, micro target range of the present invention includes
Shooting platform 10；
Body of wall 20, it surrounds described shooting platform 10；
At least one humanoid target body 30, it is between described body of wall 20 and shooting platform 10；
At least one target body control section 40, it includes stick 41, support 42, connecting rod 43, handle 44,
Described support 42 is positioned at outside body of wall 20, the middle part of described stick 41 and the upper end of described support 42
Chain connection, stick 41 one end fixes with described humanoid target body, stick 41 other end and described company
Bar 43 is fixed, and one end of described handle 44 is connected with described connecting rod；
The present invention controls humanoid target body 30 by handle 44, can arbitrarily control the motion side of humanoid target body 30
To and movement velocity, it is to avoid conventional rails formula moves the regular motion of target body, makes the shoot-simulating more
Truly, more preferable simulating actual combat.Further, handle 44 is positioned at the opposite side of body of wall 20 and can ensure control people
The safety of member.
Preferably, described humanoid target body 30 includes trunk, arm, and described arm is with described trunk hinge even
Connect.
Target body control section 40 also include arm bracing wire, the support fixed pulley 45 being fixed on support 42 upper end,
Being fixed on the handle fixed pulley 46 of the end of the close connecting rod 43 of handle 44, described arm bracing wire 31 is led to
Cross described support fixed pulley 45, handle fixed pulley 46 connects described arm and handle away from connecting rod 43
End.
It is further preferred that described humanoid target body 30 includes trunk, leg, described leg and described trunk
Chain connection.
Target body control section 40 also include leg bracing wire, the support fixed pulley 45 being fixed on support 42 upper end,
Being fixed on the handle fixed pulley 46 of the end of the close connecting rod 43 of handle 44, described leg bracing wire 32 is led to
Cross described support fixed pulley 45, handle fixed pulley 46 connects described leg and handle away from connecting rod 43
End.
The present invention has used for reference the principle of traditional puppet, utilizes arm bracing wire, leg bracing wire to control humanoid target body
30 raise one's hand, lift lower limb action, can simulation of real scenes the most truly, thus allow the trainer can be more
Good shooting ruffian.
It is further preferred that see Fig. 2, at least one target body control section 40 described includes the first target body behaviour
Vertical portion, the second target body control section, described first target body control section fixes the first humanoid target body, and described second
Target body control section fixes the second humanoid target body.
The arm bracing wire of described first target body control section is by the support fixed pulley of described first target body control section
45, the handle fixed pulley of the first target body control section connects arm and first target of described second target body control section
The end away from connecting rod 43 of the handle in actuated portion.
The arm bracing wire of described second target body control section by the support fixed pulley of described second target body control section,
The handle fixed pulley of the second target body control section connects arm and the second target body behaviour of described first target body control section
The end away from connecting rod of the handle in vertical portion.
The leg bracing wire of described first target body control section by the support fixed pulley of described first target body control section,
The handle fixed pulley of the first target body control section connects leg and the first target body behaviour of described second target body control section
The end away from connecting rod of the handle in vertical portion.
The leg bracing wire of described second target body control section by the support fixed pulley of described second target body control section,
The handle fixed pulley of the second target body control section connects leg and the second target body behaviour of described first target body control section
The end away from connecting rod of the handle in vertical portion.
The present invention is connected with each other the other side by arm bracing wire, the leg bracing wire of two different target body control section
Arm, leg, thus realize the linkage of two different target body control section, so that the hands of humanoid target body
Arm, leg motion more irregular, more they tend to true.
Certainly, aforesaid way equally occurs in 3,4,5 target body control section ring dress linkages.
The present invention by the dress linkage of multiple target body control section rings, then can make the motion of humanoid target body not further
Rule.
Described body of wall 20 is for shooting three orthogonal metopes of platform 10, body of wall 20 described in semi-surrounding
For hollow wall.Wherein, body of wall can be disposed with color pattern simulation street, warehouse and other are in war
Bucket scene.
The present invention passes through three orthogonal metopes, can simulate real scene.
Certainly, a kind of deformation of body of wall 20 can be also: described body of wall 20 is for shooting platform 10 described in semi-surrounding
Cross section be central angle be the body of wall of the major arc of 270 °, body of wall 20 is hollow wall.Wherein, on body of wall
Color pattern simulation street, warehouse can be disposed with and other are in scene of fighting.
The body of wall of the major arc of the present invention can allow ejaculator when shooting, has a sensation of kind of immersion, thus more
Get well to obtain simulation of real scenes.
Body of wall 20 surface is provided with described absorption and plays plastic layer, and the manufacture method of described absorption bullet plastics is:
Low pressure ethylene material substrate is provided.
Coating at least one of which comprises the low pressure ethylene film coating of the dry ice of at least 10 weight %, described ethanol
Occur four directions/Emission in Cubic from sintering temperature to the phase transformation of the monoclinic phase under room temperature, thus cause volume swollen
Swollen, make described film coating apply compression stress, wherein said ethanol refer at least 90 weight % low
Dry ice under Wen, unstabilized chloroazotic acid or their mixture.
Described low pressure ethylene material is covered with at least one described layer of described function low pressure ethylene film coating
At least some of surface of substrate.
In sintering temperature by the described function low pressure ethylene on the described surface of described low pressure ethylene material substrate
Film coating sinters.With
By the described function low pressure ethylene thin film of sintering on the described surface of described low pressure ethylene material substrate
Coating is cooled to room temperature.
The present invention by above-mentioned manufacture method can allow low pressure ethylene surface formed one be less susceptible to puncture, toughness
The plastic dam good, anti-acoustic capability is good, intensity is high, thus preferably absorb bullet.
Described body of wall 20 is provided around the conveyer belt on its surface, and described absorption bullet plastic layer is by described transmission
Tape movement.
The present invention can allow the bullet plastic layer that absorbs absorbing bullet realize regular shifting by the conveyer belt of movement
Dynamic, thus the scene shot outside car in simulating car.
Certainly, a kind of distressed structure of the present invention can be also:
A kind of micro target range, it is characterised in that: include
Shooting platform 10.
Body of wall 20, it surrounds described shooting platform 10.
At least one humanoid target body 30, it is between described body of wall 20 and shooting platform 10.
At least one target body control section 40, it moves described humanoid target body 30 by mechanical arm,
Wherein, described mechanical arm, including X-axis travel mechanism, Z axis travel mechanism, Z axis head motion,
X-axis rotating mechanism, Y-axis motion, described X-axis travel mechanism, Z axis travel mechanism, Z axis shake
Motivation structure, X-axis rotating mechanism, Y-axis motion shoot platform 10 away from body of wall 20 side with being arranged on
Position control station connect, described X-axis travel mechanism includes that servomotor, described servomotor pass through
Shaft coupling is connected with screw rod, and threaded on described screw rod have telescopic screw rod nut, and the fixing connection of screw rod
On the traveller of its lower end, telescopic screw rod nut is slidably matched with traveller by slide block.Described Z axis moves
Mechanism includes servomotor, and described servomotor is connected with rotary shaft by shaft coupling, described rotary shaft
The other end is fixedly connected with Rotary Connection block, and described Rotary Connection block is fixing with mechanical arm to be connected.Described Z
Axle head motion includes that servomotor, the output shaft of described servomotor are connected with reductor, described deceleration
Machine is connected with main shaft by shaft coupling, and described main shaft is fixing with rear casing to be connected.Described Y-axis motion
Including servomotor, described servomotor is connected with screw mandrel one end by shaft coupling, the vertical cloth of described screw mandrel
Putting, its other end is fixed on rear casing, and threaded on screw mandrel has feed screw nut, described screw mandrel spiral shell
On mother, connection has rotating shaft holder, the rotary shaft of Z axis travel mechanism to be fixed on the bearing in rotating shaft holder
In.Described X-axis rotating mechanism is arranged on the telescopic screw rod nut of X-axis travel mechanism, including servo electricity
Machine, described servo motor output shaft connects synchronization wheel, and described synchronization wheel is connected by Timing Belt synchronization
Wheel, the described wheel that synchronizes has runing rest by axle connection, described runing rest is fixed with described dummy
Body 30.
The present invention is turned by above-mentioned X-axis travel mechanism, Z axis travel mechanism, Z axis head motion, X-axis
Motivation structure, Y-axis motion make the movement angle attitude of humanoid target body more diversified, can realize left and right/
Up and down/movement/swing front and back.
Preferably, described body of wall top is provided with guide rail, and described target body control section is moved by described guide rail.
Wherein, guide rail can be the horizontal guide rail of left and right directions, it is possible to for the horizontal guide rail of fore-and-aft direction.
Certainly, the distressed structure of the target body control section of the present invention can be also:
One end of described stick 41 is provided with swing part, and described swing part is the structure of the mutual mirror image in both sides,
It is provided with three sections of forks, first paragraph fork, second segment fork and the 3rd section of fork, connects successively between three sections
Connecing, the 3rd section of fork connects humanoid target body 30, and first paragraph fork has X axis movable stand, and X axis moves
Moving frame connects and drives second segment fork along X-motion, and second segment fork has rotating disk, and rotating disk connects
And driving the 3rd section of fork to rotate around center of turntable axis, the 3rd section of fork has Y-axis and moves
Frame, Y-axis movable stand connects and drives humanoid target body 30 along Y-motion.Described first paragraph fork
For the symmetrical formula structure that side end face is triangular in shape.Including both sides end plate, housing, line slideway, silk
Bumper structure, bearing diagonal arm and X axis movable stand, line slideway is two, and bearing diagonal arm is four, directly
Line guide rail passes the top of housing, two ends are connected on end plate.Bearing diagonal arm is four, in housing being
The heart is symmetrical arranged, and one end is connected to end plate, and the other end is connected to housing, bearing diagonal arm and line slideway
Angle is 30 degree.Described screw structure is connected between two line slideways, and screw structure and two straight lines are led
Rail is parallel to each other.X axis movable stand vertical connecting filament bumper structure and two line slideways, X axis movable stand
With screw structure for threadeding, X axis movable stand and two line slideways are for being slidably connected.
This high intensity dummy's body support frame that the present invention relates to, triangular structure is most stable of physics knot
Structure, with reference to common continuous bridge structure, support Design outward appearance is del.Use stable triangle
Redundant structure, two ends under pressure, produce hogging moment, have the effect of unloading to pressure at two ends,
And power is delivered to bottom fulcrum, make internal force status than more uniform rationally.Additionally, use beam type structure,
Material can be saved well thus alleviate weight support frame, and rigidity is big, Stability Analysis of Structures, good integrity,
Overload capacity is big, and degree of safety is big.
Micro target range of the present invention control method, the control method of described swing part comprises the steps:
The movement state information of the end of detection stick 41.
According to described movement state information inquiry kinestate and swing part control command mapping table, obtain
Corresponding swing part control command.
Swing part is controlled according to described swing part control command.
Wherein the step of the movement state information of the end of detection stick 41 includes:
Detection mobile terminal motion state parameters on each coordinate axes in three-dimensional system of coordinate periodically.
Described motion state parameters is compared with corresponding discrimination threshold respectively, if described at least one
The absolute value of motion state parameters is more than corresponding discrimination threshold, then carry out following steps:
Described motion state parameters is carried out filter process of fitting treatment obtain matching motion state parameters, wherein,
Described filtration process of fitting treatment mathematical expression is:
MMatching=M*F-(Mv*F+M*(1-F))；
Wherein, described MMatchingRefer to that matching motion state parameters, described M (motion) refer to the three of acquisition
Motion state parameters on corresponding coordinate axes in dimension coordinate system, described F refers to the filtration matching pre-set
The factor (factor), described MvInstant motion state parameters on corresponding coordinate axes in referring to three-dimensional system of coordinate；
Kinestate and swing part control command mapping table is inquired about according to described matching motion state parameters, with
Obtain corresponding swing part control command.
The said method of the present invention can avoid humanoid target body gentlier to cause because of body constitution by above-mentioned control method
The situation that non-genuine is rocked.
Embodiment described above is only to be described the preferred embodiment of the present invention, not to this
The scope of invention is defined, on the premise of designing spirit without departing from the present invention, and ordinary skill
Various deformation that technical scheme is made by personnel and improvement, all should fall into the claims in the present invention
In the protection domain that book determines.
Claims (10)
1. a micro target range, it is characterised in that: include
Shooting platform (10)；
Body of wall (20), it surrounds described shooting platform (10)；
At least one humanoid target body (30), it is positioned between described body of wall (20) and shooting platform (10)；
At least one target body control section (40), it includes stick (41), support (42), connecting rod (43), handle (44), described support (42) is positioned at body of wall (20) outside, the middle part of described stick (41) and the upper end chain connection of described support (42), stick (41) one end is fixed with described humanoid target body, stick (41) other end is fixed with described connecting rod (43), and one end of described handle (44) is connected with described connecting rod.
Micro target range the most according to claim 1, it is characterised in that: described humanoid target body (30) includes trunk, arm, described arm and described trunk chain connection；
Target body control section (40) also includes arm bracing wire, the support fixed pulley (45) being fixed on support (42) upper end, is fixed on the handle fixed pulley (46) of the end of the close connecting rod (43) of handle (44), and described arm bracing wire (31) connects the end away from connecting rod (43) of described arm and handle by described support fixed pulley (45), handle fixed pulley (46).
Micro target range the most according to claim 2, it is characterised in that: described humanoid target body (30) includes trunk, leg, described leg and described trunk chain connection；
Target body control section (40) also includes leg bracing wire, the support fixed pulley (45) being fixed on support (42) upper end, is fixed on the handle fixed pulley (46) of the end of the close connecting rod (43) of handle (44), and described leg bracing wire (32) connects the end away from connecting rod (43) of described leg and handle by described support fixed pulley (45), handle fixed pulley (46).
Micro target range the most according to claim 3, it is characterized in that: at least one target body control section (40) described includes the first target body control section, the second target body control section, described first target body control section fixes the first humanoid target body, and described second target body control section fixes the second humanoid target body；
The arm bracing wire of described first target body control section connects the arm of described second target body control section and the end away from connecting rod (43) of the handle of the first target body control section by the handle fixed pulley of the support fixed pulley (45) of described first target body control section, the first target body control section；
The arm bracing wire of described second target body control section connects the arm of described first target body control section and the end away from connecting rod of the handle of the second target body control section by the handle fixed pulley of the support fixed pulley of described second target body control section, the second target body control section；
The leg bracing wire of described first target body control section connects the leg of described second target body control section and the end away from connecting rod of the handle of the first target body control section by the handle fixed pulley of the support fixed pulley of described first target body control section, the first target body control section；
The leg bracing wire of described second target body control section connects the leg of described first target body control section and the end away from connecting rod of the handle of the second target body control section by the handle fixed pulley of the support fixed pulley of described second target body control section, the second target body control section.
Micro target range the most according to claim 1, it is characterised in that: described body of wall (20) is three the orthogonal metopes shooting platform (10) described in semi-surrounding, and body of wall (20) is hollow wall.
Micro target range the most according to claim 1, it is characterised in that: described body of wall (20) be described in semi-surrounding shoot platform (10) cross section be central angle be the body of wall of the major arc of 270 °, body of wall (20) is hollow wall.
7. according to the micro target range described in claim 5 or 6, it is characterised in that: body of wall (20) surface configuration has absorption to play plastic layer, and the manufacture method of described absorption bullet plastics is:
Low pressure ethylene material substrate is provided；
Coating at least one of which comprises the low pressure ethylene film coating of the dry ice of at least 10 weight %, described ethanol occurs four directions/Emission in Cubic from sintering temperature to the phase transformation of the monoclinic phase under room temperature, thus cause volumetric expansion, making described film coating apply compression stress, wherein said ethanol refers to the dry ice at low temperatures of at least 90 weight %, unstabilized chloroazotic acid or their mixture；
At least some of surface of described low pressure ethylene material substrate is covered with at least one described layer of described function low pressure ethylene film coating；
In sintering temperature, the described function low pressure ethylene film coating on the described surface of described low pressure ethylene material substrate is sintered；With
The described function low pressure ethylene film coating of sintering on the described surface of described low pressure ethylene material substrate is cooled to room temperature.
Micro target range the most according to claim 1, it is characterised in that: described body of wall (20) is provided around the conveyer belt on its surface, and described absorption bullet plastic layer is moved by described conveyer belt.
9. a micro target range, it is characterised in that: include
Shooting platform (10)；
Body of wall (20), it surrounds described shooting platform (10)；
At least one humanoid target body (30), it is positioned between described body of wall (20) and shooting platform (10)；
At least one target body control section (40), it moves described humanoid target body (30) by mechanical arm,
Wherein, described mechanical arm, including X-axis travel mechanism, Z axis travel mechanism, Z axis head motion, X-axis rotating mechanism, Y-axis motion, described X-axis travel mechanism, Z axis travel mechanism, Z axis head motion, X-axis rotating mechanism, Y-axis motion is connected with being arranged on shooting platform (10) control station away from the position of body of wall (20) side, described X-axis travel mechanism includes servomotor, described servomotor is connected with screw rod by shaft coupling, threaded on described screw rod have telescopic screw rod nut, and screw rod is fixedly connected on the traveller of its lower end, telescopic screw rod nut is slidably matched with traveller by slide block；Described Z axis travel mechanism includes servomotor, and described servomotor is connected with rotary shaft by shaft coupling, and the other end of described rotary shaft is fixedly connected with Rotary Connection block, and described Rotary Connection block is fixing with mechanical arm to be connected；Described Z axis head motion includes that servomotor, the output shaft of described servomotor are connected with reductor, and described reductor is connected with main shaft by shaft coupling, and described main shaft is fixing with rear casing to be connected；Described Y-axis motion includes servomotor, described servomotor is connected with screw mandrel one end by shaft coupling, described screw mandrel is arranged vertically, its other end is fixed on rear casing, and threaded on screw mandrel have feed screw nut, the upper connection of described feed screw nut has rotating shaft holder, the rotary shaft of Z axis travel mechanism to be fixed in the bearing in rotating shaft holder；Described X-axis rotating mechanism is arranged on the telescopic screw rod nut of X-axis travel mechanism, including servomotor, described servo motor output shaft connects synchronization wheel, the described wheel that synchronizes has synchronization wheel by Timing Belt connection, the described wheel that synchronizes has runing rest by axle connection, and described runing rest is fixed with described humanoid target body (30).
Preferably, described body of wall top is provided with guide rail, and described target body control section is moved by described guide rail；
Preferably, one end of described stick (41) is provided with swing part, described swing part is the structure of the mutual mirror image in both sides, it is provided with three sections of forks, first paragraph fork, second segment fork and the 3rd section of fork, it is sequentially connected with between three sections, 3rd section of fork connects humanoid target body (30), first paragraph fork has X axis movable stand, X axis movable stand connects and drives second segment fork along X-motion, second segment fork has rotating disk, rotating disk connects and drives the 3rd section of fork to rotate around center of turntable axis, 3rd section of fork has Y-axis movable stand, Y-axis movable stand connects and drives humanoid target body (30) along Y-motion；Described first paragraph fork is the symmetrical formula structure that side end face is triangular in shape；Including both sides end plate, housing, line slideway, screw structure, bearing diagonal arm and X axis movable stand, line slideway is two, and bearing diagonal arm is four, and line slideway passes the top of housing, two ends are connected on end plate；Bearing diagonal arm is four, is symmetrical arranged centered by housing, and one end is connected to end plate, and the other end is connected to housing, and bearing diagonal arm is 30 degree with the angle of line slideway；Described screw structure is connected between two line slideways, and screw structure and two line slideways are parallel to each other；X axis movable stand vertical connecting filament bumper structure and two line slideways, X axis movable stand is with screw structure for threadeding, and X axis movable stand and two line slideways are for being slidably connected.
10. utilize the micro target range control method described in claim 9, it is characterised in that the control method of described swing part comprises the steps:
The movement state information of the end of detection stick (41)；
According to described movement state information inquiry kinestate and swing part control command mapping table, obtain corresponding swing part control command；
Swing part is controlled according to described swing part control command；
The step of the movement state information wherein detecting the end of stick (41) includes:
Detection mobile terminal motion state parameters on each coordinate axes in three-dimensional system of coordinate periodically；
Described motion state parameters is compared with corresponding discrimination threshold respectively, if the absolute value of at least one described motion state parameters more than corresponding discrimination threshold, then carries out following steps:
Described motion state parameters carrying out filter process of fitting treatment and obtains matching motion state parameters, wherein, described filtration process of fitting treatment mathematical expression is:
MMatching=M*F-(Mv*F+M*(1-F))；
Wherein, described MMatchingRefer to matching motion state parameters, described M refer to the three-dimensional system of coordinate obtained in motion state parameters on corresponding coordinate axes, described F refers to the filtration matching factor pre-set, described MvInstant motion state parameters on corresponding coordinate axes in referring to three-dimensional system of coordinate；
According to described matching motion state parameters inquiry kinestate and swing part control command mapping table, to obtain corresponding swing part control command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610437225.2A CN106017231B (en) | 2016-06-17 | 2016-06-17 | Micro target range and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610437225.2A CN106017231B (en) | 2016-06-17 | 2016-06-17 | Micro target range and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106017231A true CN106017231A (en) | 2016-10-12 |
| CN106017231B CN106017231B (en) | 2017-07-25 |
Family
ID=57089112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610437225.2A Active CN106017231B (en) | 2016-06-17 | 2016-06-17 | Micro target range and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106017231B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107657857A (en) * | 2017-09-28 | 2018-02-02 | 胡笑红 | A kind of juvenile special war soldier of China trains shelter |
| CN108692610A (en) * | 2018-05-22 | 2018-10-23 | 广西壮族自治区公安厅交通警察总队 | Small-sized ball firing training room |
| CN109539896A (en) * | 2018-10-23 | 2019-03-29 | 合肥君信电子科技有限公司 | A kind of target range projectile counting device |
| CN109579624A (en) * | 2018-12-05 | 2019-04-05 | 南京润景丰创信息技术有限公司 | A kind of suspension type side turns, reversion ultrasonic intelligent hit telling system |
| FR3132611A1 (en) * | 2022-02-12 | 2023-08-18 | Julien RUTIGLIANO | External shooting training device for Cyno-technician handlers (dog handlers) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2487423Y (en) * | 2001-05-31 | 2002-04-24 | 李静 | Doll |
| CN2670895Y (en) * | 2003-12-31 | 2005-01-12 | 陕西老枪靶业有限公司 | Wide movie target for firing practice |
| JP2006343082A (en) * | 2005-06-10 | 2006-12-21 | Babcock Hitachi Kk | Bullet stopping device and shooting practice range |
| CN102631788A (en) * | 2012-04-18 | 2012-08-15 | 中国地质大学（武汉） | Shadow play entertainment toy based on singlechip control |
| CN204461227U (en) * | 2015-02-03 | 2015-07-08 | 石子坚 | Bucket shape environmental protection cuts ereisma and indoor range complex cuts bullet system |
-
2016
- 2016-06-17 CN CN201610437225.2A patent/CN106017231B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2487423Y (en) * | 2001-05-31 | 2002-04-24 | 李静 | Doll |
| CN2670895Y (en) * | 2003-12-31 | 2005-01-12 | 陕西老枪靶业有限公司 | Wide movie target for firing practice |
| JP2006343082A (en) * | 2005-06-10 | 2006-12-21 | Babcock Hitachi Kk | Bullet stopping device and shooting practice range |
| CN102631788A (en) * | 2012-04-18 | 2012-08-15 | 中国地质大学（武汉） | Shadow play entertainment toy based on singlechip control |
| CN204461227U (en) * | 2015-02-03 | 2015-07-08 | 石子坚 | Bucket shape environmental protection cuts ereisma and indoor range complex cuts bullet system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107657857A (en) * | 2017-09-28 | 2018-02-02 | 胡笑红 | A kind of juvenile special war soldier of China trains shelter |
| CN108692610A (en) * | 2018-05-22 | 2018-10-23 | 广西壮族自治区公安厅交通警察总队 | Small-sized ball firing training room |
| CN109539896A (en) * | 2018-10-23 | 2019-03-29 | 合肥君信电子科技有限公司 | A kind of target range projectile counting device |
| CN109579624A (en) * | 2018-12-05 | 2019-04-05 | 南京润景丰创信息技术有限公司 | A kind of suspension type side turns, reversion ultrasonic intelligent hit telling system |
| CN109579624B (en) * | 2018-12-05 | 2023-09-15 | 南京润景丰创信息技术有限公司 | Suspension type side-turning and reverse-turning ultrasonic intelligent target reporting system |
| FR3132611A1 (en) * | 2022-02-12 | 2023-08-18 | Julien RUTIGLIANO | External shooting training device for Cyno-technician handlers (dog handlers) |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106017231B (en) | 2017-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106017231A (en) | Miniature shooting range and control method thereof | |
| EP3561625B1 (en) | Ballistic robot system with controlled motion of robot during flight | |
| CN107253201A (en) | Material shoots robot | |
| CN106871730A (en) | A kind of full landform intelligent mobile target system of shoot training of light weapons | |
| CN110068250A (en) | Shoot training of light weapons wisdom target range system | |
| CN203981010U (en) | Jig formula emulation firearms analogue means | |
| CN109432742A (en) | A kind of football shooting training device | |
| CN206709701U (en) | A kind of full landform intelligent mobile target system of shoot training of light weapons | |
| CN206444151U (en) | A kind of immersive VR shoots interaction platform | |
| CN108731540B (en) | Follow-up confrontation shooting training system and method | |
| CN204085321U (en) | Rolling type gunnery target | |
| CN103550931B (en) | A kind of kick simulation mechanism and use the pneumatic type machine gun of this kick simulation mechanism | |
| CN107335199A (en) | Basketball fast reaction positioning is served a ball shooting training device at random | |
| CN205948368U (en) | Modular gunplay toy machine ware people | |
| Baker | Middle-earth and LEGO (re) creation | |
| CN206965103U (en) | Arena game device | |
| CN210073069U (en) | Experimental device for demonstrating relation between horizontal projectile velocity and displacement | |
| CN212931189U (en) | Dedicated movable shooting position in shooting range | |
| CN205287562U (en) | Jungle gunplay recreation gymnasium | |
| CN202802731U (en) | Bow-and-arrow shooting game machine | |
| CN203710677U (en) | Changeable robot toy | |
| CN208238640U (en) | A kind of rotation target drone | |
| CN203710675U (en) | Changeable toy robot | |
| CN207374637U (en) | A kind of landing gear convenient for folding and unfolding | |
| CN217794509U (en) | Children aim toy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181102 Address after: Room 320, Science and Technology Incubator, No. 30 Xingye Street, Xinglongtai District, Panjin City, Liaoning Province, 124010 Patentee after: Purple Technology Co., Ltd. Address before: 150000 group fifteen Committee of Shengli Street, A Cheng District, Harbin, Heilongjiang, three Patentee before: Wang Zhiqiang |
|
| TR01 | Transfer of patent right |