CN107009370A - Shoot robot - Google Patents
Shoot robot Download PDFInfo
- Publication number
- CN107009370A CN107009370A CN201710280564.9A CN201710280564A CN107009370A CN 107009370 A CN107009370 A CN 107009370A CN 201710280564 A CN201710280564 A CN 201710280564A CN 107009370 A CN107009370 A CN 107009370A
- Authority
- CN
- China
- Prior art keywords
- electric machine
- robot
- head
- emitter
- chassis
- 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.)
- Pending
Links
Classifications
-
- 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
- B25J11/002—Manipulators for defensive or military tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
Shoot to be separately installed with suspension module, chassis before and after robot, including chassis, chassis the invention discloses one kind and head is installed；Head includes head pedestal, and head pedestal is connected with head support, emitter is provided with head support, emitter can be rotated on head support, and emitter is connected with dialling bullet module；Suspension module drives bobbin movement；Suspension module is taken turns including wheat, and wheat wheel is connected with base plate electric machine, and base plate electric machine driving wheat wheel is rotated, and base plate electric machine is flexibly connected with anti-vibration fixator by shock absorber, and anti-vibration fixator is fixedly connected with chassis, and base plate electric machine is flexibly connected with chassis.The beneficial effects of the invention are as follows：Shoot robot can Omni-mobile, easy to control, translational speed is fast, and reliability is high, practical etc..
Description
Technical field
The invention belongs to robotic technology field, and in particular to one kind shooting robot.
Background technology
In recent years, robot is widely used in our work and life, particularly special at some
Under environment, robot can complete work and the task that the mankind can not complete.Although it is relatively excellent to have developed multiple performance now
Shooting robot more, but still there is complicated, cumbersome, the inefficiency of control, fire accuracy in existing shooting robot
It is not high, the shortcomings of manipulating cumbersome.
The content of the invention
Simple there is provided one kind present invention aim to address above mentioned problem, fire accuracy is high, and controllability is good, efficiency high
Shooting robot.
In order to solve the above technical problems, the technical scheme is that：One kind shooting robot, including chassis, chassis
Front and rear be separately installed with suspension module, chassis is provided with head；Head includes head pedestal, head pedestal and head support phase
Even, emitter is installed on head support, emitter can be rotated on head support, emitter plays module phase with dialling
Even；Suspension module drives bobbin movement.
Preferably, the suspension module is taken turns including wheat, and wheat wheel is connected with base plate electric machine, and base plate electric machine driving wheat wheel is rotated,
Base plate electric machine top is flexibly connected with anti-vibration fixator by shock absorber, and anti-vibration fixator is fixedly connected with chassis, base plate electric machine
Bottom is flexibly connected with chassis.
Preferably, horizontal stage electric machine is installed in the head pedestal, horizontal stage electric machine is connected with head support, horizontal stage electric machine drives
Dynamic head support is rotated in the horizontal direction.
Preferably, the head support is flexibly connected with emitter, and head support one end is provided with rotary electric machine, is rotated
Motor is connected with emitter, and rotary electric machine driving emitter is rotated upwardly and downwardly.
Preferably, the emitter includes transmitting tube, and transmitting tube is connected with magazine, is provided with transmitting tube afterbody opening
Rotatable friction transmitting wheel.
Preferably, the material inlet of the transmitting tube and the bottom of magazine it is corresponding connection.
Preferably, the friction transmitting wheel is internal is provided with motor, and motor driving friction transmitting wheel is rotated.
Preferably, it is provided with around the gun barrel around tachometer, tachometer and securing plate is installed.
Preferably, the magazine, which dials bullet module, includes magazine, and magazine bottom, which is provided with, rotatably dials bullet wheel, dials bullet and rotates
Material in magazine is pushed in emitter when dynamic.
Preferably, the excircle of described group of bullet wheel is provided with arc notch.
The beneficial effects of the invention are as follows：Shooting robot provided by the present invention, bottom hung module is driven using motor
Wheat is taken turns, and shooting robot Omni-mobile can be achieved, translational speed is fast and reliability is high；The emitter of head is driven using motor
It is dynamic, easy to control and shooting precision height；Present invention shooting robot possesses simple in construction, easy to make, practical etc. excellent
Point.
Brief description of the drawings
Fig. 1 is present invention shooting robot structure principle chart；
Fig. 2 is chassis structure figure of the present invention；
Fig. 3 is suspension module structure chart of the present invention；
Fig. 4 is suspension module texture edge figure of the present invention；
Fig. 5 is cradle head structure figure of the present invention；
Fig. 6 is emitter structure chart of the present invention；
Fig. 7 is head top view of the present invention；
Fig. 8 is emitter sectional view of the present invention；
Fig. 9 is transmitting tube structure chart of the present invention；
Figure 10 is transmitting tube lateral plan of the present invention；
Figure 11 is that arc of the present invention point plays structure drawing of device；
Description of reference numerals：1st, chassis；2nd, suspension module；3rd, head；4th, detection module；5th, circuit control module；6th, prevent
Collision device；201st, wheat is taken turns；202nd, base plate electric machine；203rd, connector；204th, fixing device；205th, the first shock absorber；206th, second
Shock absorber；207th, anti-vibration fixator；208th, first rotating shaft seat；209th, the second shaft seat；301st, bullet module is dialled；302nd, transmitting dress
Put；303rd, head pedestal；304th, horizontal stage electric machine；305th, head support；306th, transmitting tube；307th, upper plate is shot；308th, under shooting
Plate；309th, friction transmitting wheel；310th, motor coupler；311st, driven spindle；312nd, rotary electric machine；313rd, magazine；314th, bullet is dialled
Wheel；315th, bullet motor is dialled；316th, tachometer；317th, securing plate；318th, circular hole；319th, arc point plays device；320th, laser；
321st, shell hole is leaked.
Embodiment
The present invention is described further with specific embodiment below in conjunction with the accompanying drawings：
As shown in Fig. 1 to Fig. 3, one kind that the present invention is provided shoots robot, including chassis 1, and the front and rear of chassis 1 is pacified respectively
Equipped with suspension module 2, head 3 is installed on chassis 1；Head 3 includes head pedestal 303, head pedestal 303 and head support
305 are connected, and emitter 302 are provided with head support 305, emitter 302 can be rotated on head support 305, send out
Injection device 302 is connected with dialling bullet module 301；Move on the driving of suspension module 2 chassis 1.
Detection module 4 is installed, detection module 4 is used to shoot robot in motion process on the chassis 1 for shooting robot
In it is under attack when, will shoot robot status information feedback return background control system；Anticollision device, collision-prevention device is also equipped with chassis 1
6, anticollision device, collision-prevention device 6 can avoid shooting robot from being damaged in motion process；The centre on chassis 1 is provided with circuit control module
5, circuit control module 5 is used for the motion and shooting for controlling whole shooting robot, shooting robot is more accurately worked.
As shown in figure 3, suspension module 2 includes wheat wheel 201, wheat wheel 201 is connected with base plate electric machine 202, and base plate electric machine 202 drives
Dynamic wheat wheel 201 is rotated, and base plate electric machine 202 is flexibly connected with anti-vibration fixator 207 by shock absorber, anti-vibration fixator 207 and bottom
Disk 1 is fixedly connected, and base plate electric machine 202 is flexibly connected with chassis 1.
The rotating shaft of base plate electric machine 202 is connected by shaft coupling with wheat wheel 201, and the driving wheat of base plate electric machine 202 wheel 201 is rotated,
So as to realize the Omni-mobile of transmitting robot.
The rotating shaft end of base plate electric machine 202 is provided with connector 203, one end activity of the shock absorber 205 of connector 203 and first
It is connected, the motor side of base plate electric machine 202 is provided with fixing device 204, and one end of the shock absorber 206 of fixing device 204 and second is lived
Dynamic to be connected, the other end of the first shock absorber 205 is movably connected with anti-vibration fixator 207 respectively with the other end of the second shock absorber 206.
As shown in figure 4, connector 203 is rotatably connected with first rotating shaft seat 208 by hexagon socket head cap screw, fixing device
204 are rotatably connected with the second shaft seat 209 by hexagon socket head cap screw, and the hexagon socket head cap screw other end is provided with stop nut, the
One shaft seat 208 and the second shaft seat 209 are fixedly connected with chassis 1 respectively.
Robot is shot in motion process, wheat wheel 201 and the combination of base plate electric machine 202 can be around first rotating shaft seats 208
Rotated upwardly and downwardly within the specific limits with the second shaft seat 209, so as to reach the effect of anti-vibration.
As shown in Fig. 5 to Figure 10, horizontal stage electric machine 304 is installed in head pedestal 303, the output end of horizontal stage electric machine 304 with
Head support 305 is fixedly linked by head shaft seat, and the driving head of horizontal stage electric machine 304 support 305 is rotated in the horizontal direction.
Head support 305 is flexibly connected with emitter 302, and the one end of head support 305 is provided with rotary electric machine 312, is turned
Dynamic motor 312 is connected with emitter 302, and the driving emitter 302 of rotary electric machine 312 is rotated upwardly and downwardly.
Emitter 302 includes transmitting tube 306, and the top of transmitting tube 306 is fixedly linked with shooting upper plate 307, transmitting tube 306
Bottom with shooting lower plate 308 be fixedly linked by pedestal；Close to the afterbody opening of gun barrel 306, both sides are provided with friction
Transmitting wheel 309, friction transmitting wheel 309 is fixedly mounted between shooting upper plate 307 and shooting lower plate 308, is pacified on shooting upper plate 307
Module 301 is played equipped with dialling, motor coupler 310 and driven spindle are installed between shooting upper plate 307 and shooting lower plate 308
311, motor coupler 310 is connected through cloud platform rotation support 305 with rotary electric machine 312, driven spindle 311 and cloud platform rotation branch
Frame 305 is rotatably connected, and the driving emitter 302 of rotary electric machine 312 is rotated upwardly and downwardly.
Emitter 302 includes transmitting tube 306, and transmitting tube 306 is connected with magazine 313, pacifies at the afterbody opening of transmitting tube 306
Equipped with rotatable friction transmitting wheel 309.
Dial play module 301 include magazine 313, magazine 313 be arranged on shooting upper plate 307 above, the bottom of magazine 313 provided with circle
Hole 318, circular hole 318 is located at the top of shooting upper plate 307, and circular hole 318 is the through hole with certain depth；Shoot on upper plate 307
Provided with leakage shell hole 321, leakage shell hole 321 is connected with the material inlet of transmitting tube 306；It is provided with the middle of circular hole 318 and dials bullet wheel 314,
Dial bullet wheel 314 and be fixedly connected with dialling the rotating shaft end of bullet motor 315, dial vertical be fixedly mounted on of bullet motor 315 and shoot the He of upper plate 307
Shoot between lower plate 308, dial the driving group bullet wheel 314 of bullet motor 315 and rotate.
Spherical material in magazine 313 is fallen under gravity into circular hole 318, is set on the excircle for dialling bullet wheel 314
There is arc notch, dialling bullet wheel 314 during rotation, the spherical material in circular hole 318 is lacked by dialling the arc of bullet wheel 314
Mouth is pushed in the leakage shell hole 321 on shooting upper plate 307, and spherical material is subsequently into transmitting tube 306, and shooting robot, which is in, to be waited to hit
Hair-like state.
As seen in figs. 7 and 11, magazine 313 is additionally provided with arc point at circular hole 318 and plays device 319, is dialling bullet wheel 314
Rotate during dialling bullet, arc point plays device 319 and the spherical material in magazine 313 is carried out into segmentation sequence, make spherical material by
Order one by one smoothly enter in transmitting tube 306.
Friction transmitting wheel 309 is symmetrically mounted in the middle of the afterbody indentation, there of transmitting tube 306, friction transmitting wheel 309 and is provided with electricity
Machine；In the course of the work, motor driving friction pulley 309 is rotated, and the spherical material in transmitting tube 306 is projected, to reach shooting
The purpose of certain objects；In order to ensure the accuracy of shooting, transmitting tube 306 is mounted below the laser 320 for aiming.
It is also equipped with that securing plate 317 is installed around tachometer 316, tachometer 316 around transmitting tube 306, tests the speed
Machine 316 is used for the movement velocity for detecting spherical material, and gives shooting robot control system by the feedback of the information detected.
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such especially statement and embodiment.This area
Those of ordinary skill can make according to these technical inspirations disclosed by the invention various does not depart from the other each of essence of the invention
Plant specific deformation and combine, these deformations and combination are still within the scope of the present invention.
Claims (10)
1. one kind shooting robot, it is characterised in that：Including chassis (1), suspension module is separately installed with before and after chassis (1)
(2) head (3), is installed on chassis (1)；Head (3) includes head pedestal (303), head pedestal (303) and head support
(305) it is connected, emitter (302) is installed, emitter (302) can be in head support (305) on head support (305)
Upper to rotate, emitter (302) is connected with dialling bullet module (301)；Suspension module (2) driving chassis (1) motion.
2. robot is shot according to claim 1, it is characterised in that：The suspension module (2) includes wheat wheel (201), wheat
Wheel (201) be connected with base plate electric machine (202), base plate electric machine (202) driving wheat wheel (201) rotation, base plate electric machine (202) top and
Anti-vibration fixator (207) is flexibly connected by shock absorber, and anti-vibration fixator (207) is fixedly connected with chassis (1), base plate electric machine
(202) bottom is flexibly connected with chassis (1).
3. robot is shot according to claim 1, it is characterised in that：Head electricity is installed in the head pedestal (303)
Machine (304), horizontal stage electric machine (304) is connected with head support (305), and horizontal stage electric machine (304) driving head support (305) is in level
Side is rotated up.
4. robot is shot according to claim 1 or 3, it is characterised in that：The head support (305) and emitter
(302) it is flexibly connected, head support (305) one end is provided with rotary electric machine (312), rotary electric machine (312) and emitter
(302) it is connected, rotary electric machine (312) driving emitter (302) is rotated upwardly and downwardly.
5. robot is shot according to claim 1, it is characterised in that：The emitter (302) includes transmitting tube
(306), transmitting tube (306) is connected with magazine (313), and rotatable friction transmitting is provided with transmitting tube (306) afterbody opening
Take turns (309).
6. robot is shot according to claim 5, it is characterised in that：The material inlet and magazine of the transmitting tube (306)
(313) bottom connection.
7. robot is shot according to claim 5, it is characterised in that：Electricity is installed inside the friction transmitting wheel (309)
Machine, motor driving friction transmitting wheel (309) is rotated.
8. robot is shot according to claim 5, it is characterised in that：Tachometer is installed around the gun barrel (306)
(316) securing plate (317), is installed around tachometer (316).
9. robot is shot according to claim 1, it is characterised in that：Described group plays module (301) and includes magazine (313),
Magazine (313) bottom, which is provided with, rotatably dials bullet wheel (314), dials when bullet wheel (314) is rotated and dials the material in magazine (313)
Into emitter (302).
10. robot is shot according to claim 9, it is characterised in that：The excircle of described group of bullet wheel (314) is provided with arc
V notch v.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710280564.9A CN107009370A (en) | 2017-04-26 | 2017-04-26 | Shoot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710280564.9A CN107009370A (en) | 2017-04-26 | 2017-04-26 | Shoot robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107009370A true CN107009370A (en) | 2017-08-04 |
Family
ID=59447606
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710280564.9A Pending CN107009370A (en) | 2017-04-26 | 2017-04-26 | Shoot robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107009370A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079808A (en) * | 2018-07-28 | 2018-12-25 | 华南理工大学 | A kind of shooting robot applied to education of middle and primary schools |
| CN109702755A (en) * | 2019-01-08 | 2019-05-03 | 中国矿业大学 | A kind of holder and chassis can 360 degree rotation mobile shooting robot |
| CN109794949A (en) * | 2019-03-11 | 2019-05-24 | 桂林理工大学 | A kind of grasping mechanism and shooting robot |
| WO2019205123A1 (en) * | 2018-04-28 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Feeding mechanism of shooting device, shooting device and unmanned aerial vehicle |
| WO2019205416A1 (en) * | 2018-04-25 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Feed mechanism, shooting device and robot |
| WO2020037631A1 (en) * | 2018-08-24 | 2020-02-27 | 深圳市大疆创新科技有限公司 | Pellet shift mechanism for water pellet gun, launcher, water pellet toy gun, and mobile robot |
| CN110914781A (en) * | 2018-07-27 | 2020-03-24 | 深圳市大疆创新科技有限公司 | Control method and control device of holder, holder and moving trolley |
| CN111226102A (en) * | 2018-01-31 | 2020-06-02 | 深圳市大疆创新科技有限公司 | Projectile launching device and system and shooting robot |
| CN111741835A (en) * | 2019-04-30 | 2020-10-02 | 深圳市大疆创新科技有限公司 | Mobile robot |
| CN112378293A (en) * | 2020-11-24 | 2021-02-19 | 中国科学技术大学 | Double-shooting-impact-resisting machine vehicle and implementation method |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111226102A (en) * | 2018-01-31 | 2020-06-02 | 深圳市大疆创新科技有限公司 | Projectile launching device and system and shooting robot |
| WO2019205416A1 (en) * | 2018-04-25 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Feed mechanism, shooting device and robot |
| CN110546451A (en) * | 2018-04-25 | 2019-12-06 | 深圳市大疆创新科技有限公司 | Bullet supply mechanism, shooting device and robot |
| WO2019205123A1 (en) * | 2018-04-28 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Feeding mechanism of shooting device, shooting device and unmanned aerial vehicle |
| CN110914781A (en) * | 2018-07-27 | 2020-03-24 | 深圳市大疆创新科技有限公司 | Control method and control device of holder, holder and moving trolley |
| CN109079808A (en) * | 2018-07-28 | 2018-12-25 | 华南理工大学 | A kind of shooting robot applied to education of middle and primary schools |
| CN109079808B (en) * | 2018-07-28 | 2023-11-10 | 华南理工大学 | Shooting robot applied to primary and secondary school education |
| WO2020037631A1 (en) * | 2018-08-24 | 2020-02-27 | 深圳市大疆创新科技有限公司 | Pellet shift mechanism for water pellet gun, launcher, water pellet toy gun, and mobile robot |
| CN110869691A (en) * | 2018-08-24 | 2020-03-06 | 深圳市大疆创新科技有限公司 | Bullet pulling mechanism of water bullet gun, launcher, water bullet toy gun and mobile robot |
| CN110869691B (en) * | 2018-08-24 | 2021-08-27 | 深圳市大疆创新科技有限公司 | Bullet pulling mechanism of water bullet gun, launcher, water bullet toy gun and mobile robot |
| CN109702755A (en) * | 2019-01-08 | 2019-05-03 | 中国矿业大学 | A kind of holder and chassis can 360 degree rotation mobile shooting robot |
| CN109794949A (en) * | 2019-03-11 | 2019-05-24 | 桂林理工大学 | A kind of grasping mechanism and shooting robot |
| CN111741835A (en) * | 2019-04-30 | 2020-10-02 | 深圳市大疆创新科技有限公司 | Mobile robot |
| WO2020220336A1 (en) * | 2019-04-30 | 2020-11-05 | 深圳市大疆创新科技有限公司 | Mobile robot |
| JP2022530387A (en) * | 2019-04-30 | 2022-06-29 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッド | Mobile robot |
| CN112378293A (en) * | 2020-11-24 | 2021-02-19 | 中国科学技术大学 | Double-shooting-impact-resisting machine vehicle and implementation method |
| CN112378293B (en) * | 2020-11-24 | 2024-01-05 | 中国科学技术大学 | Double-shooting countermeasure robot car and implementation method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170804 |
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| RJ01 | Rejection of invention patent application after publication |