CN109794949A - A kind of grasping mechanism and shooting robot - Google Patents
A kind of grasping mechanism and shooting robot Download PDFInfo
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- CN109794949A CN109794949A CN201910179752.1A CN201910179752A CN109794949A CN 109794949 A CN109794949 A CN 109794949A CN 201910179752 A CN201910179752 A CN 201910179752A CN 109794949 A CN109794949 A CN 109794949A
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Abstract
The present invention relates to robotic technology field, a kind of grasping mechanism and shooting robot are disclosed, grasping mechanism includes: support frame；It is rotatablely arranged at the crank of support frame；The first driving assembly for driving crank to rotate relative to support frame, driving assembly include power device and power input shaft, and power input shaft is arranged on the support frame, and are rotatablely connected with crank；Power device is arranged on the support frame, and connect with power input shaft；And gripper assembly, gripper assembly include the gripping arm being respectively arranged on crank, the clamping part being respectively arranged in gripping arm and the gripper driving portion for driving clamping part to shrink or extend.Grasping mechanism of the invention can improve the problem of robot grabs bullet low efficiency during shot-pellet in the prior art.
Description
Technical field
The present invention relates to robotic technology fields, in particular to a kind of grasping mechanism and shooting robot.
Background technique
The present age, more and more robots are applied to competitive sports, in machine first masters' tournament.Machine with shooting ability
People can satisfy demand of the people to itself sensitivity of training response speed and raising, in modern sport race in order to adapt to
The development in epoch, outstanding personnel needed for cultivating contemporary Robot industry increasingly obtain the attention of society.
In the prior art, using confrontation fire as the grasping mechanism of main robot, structure is complicated, during grabbing bullet
Unstable, crawl low efficiency is moved, and grasping mechanism overturning difficulty, response speed slowly cannot be quickly by robot grasping mechanisms
The bullet of crawl is sent in magazine；For the bullet of the different-diameter of robot grasping mechanism crawl, the trigger mechanism of robot
Bullet cannot cannot be projected by the magnitude classification of diameter and there is card and play phenomenon.
Summary of the invention
The purpose of the present invention is to provide a kind of grasping mechanism and shooting robots, can improve robot in the prior art
During shot-pellet, grabs bullet low efficiency and be easy the problem of card plays.
The embodiment of the present invention is achieved in that
In a first aspect, the embodiment of the present invention provides a kind of grasping mechanism, comprising: support frame；It is rotatablely arranged at support
The crank of frame；The first driving assembly for driving crank to rotate relative to support frame, driving assembly include power device and move
Power input shaft, power input shaft are arranged on the support frame, and are rotatablely connected with crank；Power device is arranged on the support frame, and
It is connect with power input shaft；And gripper assembly, gripper assembly include the gripping arm being respectively arranged on crank, are respectively arranged at
Clamping part in gripping arm and the gripper driving portion for driving clamping part to shrink or extend.
Optionally, in preferred embodiments of the present invention, gripper assembly includes two be oppositely arranged, is clamped at two
Support rod is arranged at intervals between component.
Optionally, in preferred embodiments of the present invention, it is arranged between spaced two support rods in gripping arm
Dynamic input shaft, and in gripping arm, power input shaft and crank are rotatablely connected.
Optionally, in preferred embodiments of the present invention, it is provided with guide pad on the holder portion.
Optionally, relatively perpendicular in the gripping arm in the gripper assembly being oppositely arranged in preferred embodiments of the present invention
Directly it is provided with upright bar.
Optionally, in preferred embodiments of the present invention, power device includes motor and synchronous pulley, and the shaft of motor is logical
It crosses belt to connect with synchronous pulley, synchronous pulley is fixedly connected on the end of power input shaft.
Second aspect, the embodiment of the present invention also provide a kind of shooting robot, including chassis, vehicle body, magazine, holder and
Above-mentioned grasping mechanism；Emitter is provided on holder, emitter is connect with magazine, and is arranged on vehicle body；Grasping mechanism
It is fixed at the top of vehicle body, magazine is also fixed at the top of vehicle body, and is located at the lower section of grasping mechanism；Vehicle body fixed setting
On chassis, the bottom on chassis is provided with idler wheel.
Optionally, in preferred embodiments of the present invention, magazine includes leakage diving board, dials bullet wheel, first motor fixed plate, electricity
Machine goes out bullet block and supporting block；Motor is arranged in first motor fixed plate, the shaft of motor through first motor fixed plate with
Bullet wheel is dialled to be fixedly connected and group bullet wheel realization is driven to be freely rotated；Bullet block and supporting block are arranged in first motor fixed plate out
On, muti-piece supporting block surrounds accommodating cavity with bullet block out, dials bullet wheel and is arranged in the middle part of accommodating cavity by the shaft of motor；In supporting block
Offer a point bullet mouth.
Optionally, in preferred embodiments of the present invention, emitter include two friction pulley fixed plates being oppositely arranged,
Friction turbin generator penetrates pipe and the speed measuring module for penetrating pipe exit is arranged in；It penetrates pipe to be arranged in friction pulley fixed plate, friction pulley
Motor is arranged in the inlet for penetrating pipe and is fixed in friction pulley fixed plate；It friction turbin generator and penetrates pipe and is fixed at two
Between the friction pulley fixed plate of relatively fixed setting.
Optionally, in preferred embodiments of the present invention, vehicle body further includes injury detection module, and injury detection module is fixed
The opposite two sides of vehicle body are set.
The beneficial effect of the embodiment of the present invention includes:
A kind of grasping mechanism provided in an embodiment of the present invention and shooting robot, power device in the first driving assembly and
It is mutually rotatablely connected between power input shaft, power device can drive power input shaft to realize rotation, power input shaft and support
Frame and the crank being rotatablely connected with support frame are rotatablely connected；The rotation of power input shaft realizes that driving crank is sent out with respect to support frame
Raw rotation.Gripper assembly is provided on crank, gripper assembly includes clamping with the gripping arm of crank rotation connection and setting
The clamping part of arm end；Crank realizes by power input shaft and relatively rotates with support frame that the rotation of crank can be achieved to set
It sets on crank before and after gripper assembly and moves up and down, preferably adjust and to be conducive to grasping mechanism wait grab between object
Positional relationship, grab the working efficiency of object to be grabbed to be conducive to improve grasping mechanism.It is additionally provided with use on the holder portion
The gripper driving portion gripper driving portion of perhaps elongation is shunk in driving clamping part to shrink or extend by adjusting clamping part, is had
Conducive to the contact position of adjustment clamping part and object to be held, thus be conducive to clamping part be adjusted to be conducive on object to be held by
With the best clip position that clamping object clamping is got up, to improve the clamping working efficiency of the aid object to be held of clamping part.It is logical
Cross crank rotation adjustment gripping arm and object to be grabbed positional relationship, then by setting gripping arm end clamping part contraction or
The mutual cooperation of person's elongation, to realize that grasping mechanism grabs the working efficiency of object to be grabbed.In the machine with shooting ability
On people, installing has the grasping mechanism for efficiently grabbing object to be grabbed, and may be implemented that there is the robot of shooting ability to pass through efficiently
Crawl bullet is to improve the fire efficiency for improving and having shooting ability robot.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram that the embodiment of the present invention shoots robot；
Fig. 2 is one of the structural schematic diagram of grasping mechanism of the embodiment of the present invention；
Fig. 3 is the second structural representation of grasping mechanism of the embodiment of the present invention；
Fig. 4 is one of the structural schematic diagram that the embodiment of the present invention shoots magazine in robot；
Fig. 5 is the second structural representation that the embodiment of the present invention shoots magazine in robot；
Fig. 6 is the structural schematic diagram that the embodiment of the present invention shoots emitter in robot.
Icon: 100- grasping mechanism；110- support frame；111- crank；120- gripper assembly；121- gripping arm；122- folder
Hold portion；123- gripper driving portion；124- guide pad；125- support rod；126- upright bar；130- power device；The input of 131- power
Axis；132- motor；133- synchronous pulley；200- shoots robot；The chassis 210-；211- idler wheel；220- vehicle body；221- injury inspection
Survey module；230- magazine；231- leaks diving board；232- dials bullet wheel；233- first motor fixed plate；234- motor；235- goes out bullet block；
236- supporting block；237- divides bullet mouth；240- holder；250- emitter；251- friction pulley fixed plate；252- friction turbin generator；
253- penetrates pipe；254- speed measuring module.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that the orientation or position of the instructions such as term " center ", "inner", "outside"
Relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when the orientation or position usually put
Relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have
There is specific orientation, be constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " the
One ", " second " etc. is only used for distinguishing description, is not understood to indicate or imply relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be directly connected, the connection inside two elements can also be can be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Figure Fig. 1 and 2 is please referred to, the present embodiment provides a kind of grasping mechanisms 100, comprising: support frame 110；Rotationally set
It is placed in two cranks 111 of support frame 110；The first driving assembly for driving crank 111 to rotate relative to support frame 110,
Driving assembly includes power device 130 and power input shaft 131, and power input shaft 131 is arranged on support frame 110, and with song
Handle 111 is rotatablely connected；The setting of power device 130 is connect on support frame 110, and with power input shaft 131；And gripper assembly
120, gripper assembly 120 includes the gripping arm 121 being respectively arranged on crank 111, the clamping being respectively arranged in gripping arm 121
Portion 122 and for driving clamping part 122 to shrink or the gripper driving portion 123 of elongation, it is preferable that gripper assembly 120 includes
There are two be oppositely arranged, and is arranged at intervals with support rod 125 between two gripper assemblies 120.
Specifically, being mutually rotatablely connected between the power device 130 in the first driving assembly and power input shaft 131, move
Power device 130 can drive power input shaft 131 to realize rotation, power input shaft 131 and support frame 110 and with support frame 110
The crank 111 of rotation connection is rotatablely connected；The rotation of power input shaft 131 realizes that driving crank 111 occurs with respect to support frame 110
Rotation.Be provided with gripper assembly 120 on crank 111, gripper assembly 120 include the gripping arm 121 that is rotatablely connected with crank 111 with
And the clamping part 122 of 121 end of gripping arm is set；Crank 111 is realized by power input shaft 131 to be occurred with support frame 110
It relatively rotates, the rotation of crank 111 can be achieved to be arranged in the front and back of gripper assembly 120 on crank 111 and move up and down, to have
It preferably adjusts conducive to grasping mechanism 100 and wait grab the positional relationship between object, is grabbed to be conducive to raising grasping mechanism 100
Take the working efficiency of object to be grabbed.The clamping for driving clamping part 122 to shrink or extend is additionally provided on clamping part 122
Driving portion 123, gripper driving portion 123 by adjusting clamping part 122 shrink or extend, be conducive to adjust clamping part 122 with to
The contact position of object is clamped, is adjusted to be conducive to clamp band clamping object on object to be held to be conducive to clamping part 122
The best clip position come, to improve the clamping working efficiency of the aid object to be held of clamping part 122.Pass through crank 111
The positional relationship of rotation adjustment gripping arm 121 and object to be grabbed, then shunk by setting in 121 end clamping part 122 of gripping arm
Or the mutual cooperation of elongation, to realize that grasping mechanism 100 grabs the working efficiency of object to be grabbed.
Wherein, gripper assembly 120 is oppositely arranged on the opposite two sides of support frame 110 by crank 111, by setting opposite
Support rod 125 is set between the gripper assembly 120 set, gripper assembly 120 can be increased and clamping stability when clamping object,
To improve the working efficiency that gripper assembly 120 clamps object to be clamped.It should be noted that in embodiments herein, phase
Two clamping parts 122 in the gripping arm 121 of setting can be realized by gripper driving portion 123 close to each other or mutually remote
From by the close to each other of the clamping part 122 that is oppositely arranged or being located remotely from each other, it may be convenient to the phase of adjustment and object to be held
To position, cabinet of the clamping of clamping part 122 equipped with bullet or sphere being oppositely arranged even through two, to improve crawl
The crawl efficiency of mechanism 100.
Optionally, referring to figure 2. and Fig. 3, spaced in gripping arm 121 in preferred embodiments of the present invention
Power input shaft 131 is provided between two support rods 125, and in gripping arm 121, power input shaft 131 with 111 turns of crank
Dynamic connection；Preferably, opposed vertical is provided with upright bar 126 in the gripping arm 121 in the gripper assembly 120 being oppositely arranged；?
Guide pad 124 is provided on clamping part 122.
Specifically, in an embodiment of the present invention, it is exemplary, it is provided between two gripper assemblies 120 being oppositely arranged
Gripper assembly 120 can be made to realize two support rods 125 stablized and pick up object to be clamped, by setting between two support rods 125
Set power input shaft 131, may be implemented during gripping arm 121 picks up object to be clamped adjust gripping arm 121 with wait clamp
The relative position of object improves gripping arm 121 and clamps the flexibility ratio of object to be clamped, clamps to improve gripper assembly 120 wait clamp
The clamping efficiency of object.
Wherein, it is also relatively set with upright bar 126 in two gripping arms being oppositely arranged 121, it is alternatively possible at two
Setting connection net or setting baffle, may be implemented to have clamped in gripper assembly 120 wait clamp between the upright bar 126 being oppositely arranged
After object, after especially two gripping arms 121 being oppositely arranged pick up the bullet of FCL, bullet is equipped with by the overturning of crank 111
It effectively avoids the bullet in case from tumbling out when the cabinet of ball, improve the clamping of gripper assembly 120 and transports the work of object to be clamped
Efficiency.
In addition, being respectively set on bullet or the cabinet for filling bullet and on clamping part 122 and can incude mutually
Infrared inductor；Guide pad 124 in clamping portion is set, gripping arm 121 can be guided to infrared inductor
Bullet or fill mobile at the cabinet of bullet, improve the working efficiency that gripper assembly 120 clamps object to be clamped.
Optionally, referring to figure 3., in preferred embodiments of the present invention, power device 130 include motor 132 with it is synchronous
The shaft of belt wheel 133, motor 132 is connect by belt with synchronous pulley 133, and synchronous pulley 133 is fixedly connected on power input
The end of axis 131.Specifically, in the present embodiment, exemplary, motor 132 drives synchronous pulley 133 to rotate by belt, real
The crank 111 being connected with power input shaft 131 is finally realized in the rotation for the power input shaft 131 being now connected with synchronous pulley 133
Rotation.Power device 130 can avoid power and transmit in such a way that motor 132 and synchronous pulley 133 match
Waste in journey improves the transmission efficiency of power.
Fig. 1 is please referred to, the embodiment of the present invention also provides a kind of shooting robot 200, including chassis 210, vehicle body 220, bullet
Storehouse 230, holder 240 and above-mentioned grasping mechanism 100；Emitter 250, emitter 250 and magazine are provided on holder 240
230 connections, and be arranged on vehicle body 220；Grasping mechanism 100 is fixed at 220 top of vehicle body, and magazine 230 is also fixedly installed
At 220 top of vehicle body, and it is located at the lower section of grasping mechanism 100；Vehicle body 220 is fixed on chassis 210, the bottom on chassis 210
Portion is provided with idler wheel 211；Preferably, vehicle body 220 further includes injury detection module 221, and injury detection module 221 is fixed at
The opposite two sides of vehicle body 220.
Specifically, in the present embodiment, exemplary, grasping mechanism 100 is fixed at 220 top of vehicle body, grasping mechanism
100 crawl bullets or after filling the cabinet of bullet, pour into magazine 230, magazine for the intracorporal bullet of case by the first driving portion
230 import the bullet being collected into the emitter 250 being arranged on holder 240, again will by the operating of emitter 250
Bullet projects.Magazine 230, which is arranged in below crawl structure, facilitates crawl structure to launch the bullet grabbed into magazine 230
Or the cabinet of bullet is filled, improve the working efficiency of the robot shooting bullet with shooting ability；At the bottom on chassis 210
Portion's setting idler wheel 211 facilitates the flexible movement of the robot of the efficient shot-pellet in the present embodiment, passes through efficient shot-pellet
Robot flexible conveniently moving crawl structure crawl bullet or fill the cabinet of bullet.The setting of holder 240 can adjust
The whole operational height and angle that emitter 250 on holder 240 is arranged in, improves the fire efficiency of emitter 250.
Wherein, two sides opposite on vehicle body 220 setting injury detection module 221 injures detection module 221 by vehicle
The detection of 220 vibration frequency of body can calculate vehicle body 220 by the probability that either bullet strikes is hit, thus by setting
The flexible movement set in 210 bottom roller 211 of chassis is hidden, and the robot for avoiding efficient shot-pellet is hit by bullet
The injury for playing either collision, has ensured the safety of the robot of efficient shot-pellet.
Optionally, referring to figure 4. and Fig. 5, in preferred embodiments of the present invention, magazine 230 includes leakage diving board 231, dials
Bullet wheel 232, motor 234, goes out bullet block 235 and supporting block 236 at first motor fixed plate 233；The setting of motor 234 is in the first electricity
In machine fixed plate 233, the shaft of motor 234, which is fixedly connected through first motor fixed plate 233 and is driven with group bullet wheel 232, dials bullet
Wheel 232 is realized and is freely rotated；Bullet block 235 and supporting block 236 are arranged in first motor fixed plate 233 out, muti-piece supporting block
236 surround accommodating cavity with bullet block 235 out, dial bullet wheel 232 and are arranged in the middle part of accommodating cavity by the shaft of motor 234；Supporting block 236
On offer a point bullet mouth 237.
Specifically, crawl structure after grab bullet or crawl fill the cabinet of bullet after, by setting in magazine 230
The leakage diving board 231 at top by bullet be packed into magazine 230 by muti-piece supporting block 236 in accommodating cavity that out bullet block 235 surrounds；It dials
Bullet wheel 232 is fixed in accommodating cavity by the motor 234 of 230 bottom of magazine, and the motor 234 of 230 bottom of magazine can band
The visibly moved rotation for setting intracavitary group of bullet wheel 232, the rotation for dialling bullet wheel 232 can revolve the bullet in accommodating cavity by going out bullet block 235
It goes in the emitter 250 of bullet, final realize launches the bullet in magazine 230 by emitter 250.
Wherein, it should be noted that holder 240 in the present embodiment and the emitter 250 being arranged on holder 240
Specific number does not do specific restriction, and what is be arranged in supporting block 236 divides bullet mouth 237 to may be implemented different-diameter in magazine 230
Bullet be sent into the emitter 250 of corresponding diameter, avoid magazine 230 occur card play phenomenon, improve emitter
250 fire efficiency.
Optionally, Fig. 6 is please referred to, in preferred embodiments of the present invention, emitter 250 includes two and is oppositely arranged
Friction pulley fixed plate 251, penetrates pipe 253 and the speed measuring module 254 for penetrating 253 exit of pipe is arranged in friction turbin generator 252；It penetrates
Pipe 253 is arranged in friction pulley fixed plate 251, and friction turbin generator 252 is arranged in the inlet for penetrating pipe 253 and is fixed on friction
It takes turns in fixed plate 251；Friction turbin generator 252 is fixed at two relatively fixed friction pulley fixed plates being arranged with pipe 253 is penetrated
Between 251.
Specifically, in an embodiment of the present invention, the friction pulley fixed plate 251 being oppositely arranged can be bolted for
One entirety has certain space between two friction pulley fixed plates 251, and there are the interface come round with magazine 230, rubs
It wipes turbin generator 252 and penetrates pipe 253 and be arranged in friction pulley fixed plate 251.The friction pulley fixed plate 251 being oppositely arranged may be implemented
The turbin generator 252 that rubs is fixed on to the inlet for penetrating pipe 253, the rotation of friction turbin generator 252 may be implemented to pass from magazine 230
The defeated bullet to come is squeezed away by the pipe 253 of penetrating of emitter 250, realizes the function of 250 shot-pellet of emitter.?
The exit for penetrating pipe 253 is provided with speed measuring module 254, and speed measuring module 254 may be implemented to carry out speed to the bullet for penetrating exit tube 253
Degree detection, if the speed for penetrating 253 bullet of exit tube is lower than the preset value in velocity measuring module, velocity measuring module can be incited somebody to action
What is detected penetrates master control borad of the speed responsing to shooting robot 200 of the bullet of exit tube 253, is controlled and is rubbed by master control borad
The revolving speed of turbin generator 252, to make to tend to the setting value in speed measuring module 254 from the speed for penetrating the injection bullet of pipe 253；It tests the speed
The setting of module 254 can also realize the statistics that quantity is carried out to the bullet for penetrating exit tube 253, optimize emitter 250
Shoot function.
Wherein, 100 structure of grasping mechanism in the present embodiment is set in the robot in the prior art with shooting function
At the shooting robot 200 in embodiments herein, improves robot in the prior art and obtain bullet in shooting course
Low efficiency and be easy to appear card play the problem of.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of grasping mechanism characterized by comprising
Support frame；
It is rotatablely arranged at two cranks of support frame as described above；
The first driving assembly for driving the crank to rotate relative to support frame as described above, the driving component include power dress
It sets and power input shaft, the power input shaft is arranged on support frame as described above, and be rotatablely connected with the crank；The power
Device setting is connect on support frame as described above, and with the power input shaft；And
Gripper assembly, the gripper assembly include the gripping arm being respectively arranged on the crank, are respectively arranged at the clamping
Clamping part on arm and the gripper driving portion for driving the clamping part to shrink or extend.
2. a kind of grasping mechanism according to claim 1, which is characterized in that the gripper assembly includes to be oppositely arranged
Two, support rod is arranged at intervals between two gripper assemblies.
3. a kind of grasping mechanism according to claim 2, which is characterized in that spaced two in the gripping arm
Power input shaft is provided between the support rod, and in the gripping arm, the power input shaft and the crank rotate
Connection.
4. a kind of grasping mechanism according to claim 1, which is characterized in that be provided with guide pad on the clamping part.
5. a kind of grasping mechanism according to claim 1 or 2, which is characterized in that in the gripper assembly being oppositely arranged
On gripping arm on opposed vertical be provided with upright bar.
6. a kind of grasping mechanism according to claim 1, which is characterized in that the power device includes motor and synchronous belt
The shaft of wheel, the motor is connect by belt with the synchronous pulley, and it is defeated that the synchronous pulley is fixedly connected on the power
Enter the end of axis.
7. a kind of shooting robot, which is characterized in that including any one of chassis, vehicle body, magazine, holder and claim 1-6
The grasping mechanism；Emitter is provided on the holder, the emitter is connect with the magazine, and is arranged in institute
It states on vehicle body；The grasping mechanism is fixed at the top of the vehicle body, and the magazine is also fixed at the top of the vehicle body,
And it is located at the lower section of the grasping mechanism；
The vehicle body is fixed on the chassis, and the bottom on the chassis is provided with idler wheel.
8. a kind of shooting robot according to claim 7, which is characterized in that the magazine include leakage diving board, dial bullet wheel,
First motor fixed plate, goes out bullet block and supporting block at motor；
The motor is arranged in the first motor fixed plate, the shaft of the motor through the first motor fixed plate with
Described group of bullet wheel is fixedly connected and described group of bullet wheel realization is driven to be freely rotated；The bullet block out and supporting block setting exist
In the first motor fixed plate, supporting block described in muti-piece and the bullet block out surround accommodating cavity, and described group of bullet wheel passes through described
The shaft of motor is arranged in the middle part of the accommodating cavity；
A point bullet mouth is offered in the supporting block.
9. a kind of shooting robot according to claim 7, which is characterized in that the emitter includes two and sets relatively
The friction pulley fixed plate set, the turbin generator that rubs penetrate pipe and the speed measuring module for penetrating pipe exit are arranged in；
It is described penetrate pipe be arranged in the friction pulley fixed plate, the friction turbin generator be arranged in the inlet for penetrating pipe and
It is fixed in the friction pulley fixed plate；
The friction turbin generator and the pipe of penetrating are fixed between the friction pulley fixed plate of two relatively fixed settings.
10. a kind of shooting robot according to claim 7, which is characterized in that the vehicle body further includes injury detection mould
Block, described injury detection module are fixed at the opposite two sides of the vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910179752.1A CN109794949A (en) | 2019-03-11 | 2019-03-11 | A kind of grasping mechanism and shooting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910179752.1A CN109794949A (en) | 2019-03-11 | 2019-03-11 | A kind of grasping mechanism and shooting robot |
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| CN109794949A true CN109794949A (en) | 2019-05-24 |
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| CN201910179752.1A Pending CN109794949A (en) | 2019-03-11 | 2019-03-11 | A kind of grasping mechanism and shooting robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110849209A (en) * | 2019-11-28 | 2020-02-28 | 广州大学 | Automatic dial ring continuously-filled rotary disc type throwing robot |
| CN112473110A (en) * | 2020-12-18 | 2021-03-12 | 华南理工大学广州学院 | Material taking, supplying and shooting system |
| CN115635470A (en) * | 2022-12-06 | 2023-01-24 | 北京电子科技职业学院 | Multifunctional integrated robot device for shoveling, throwing, grabbing and climbing |
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| CN110849209A (en) * | 2019-11-28 | 2020-02-28 | 广州大学 | Automatic dial ring continuously-filled rotary disc type throwing robot |
| CN110849209B (en) * | 2019-11-28 | 2021-09-24 | 广州大学 | Automatic dial ring continuously-filled rotary disc type throwing robot |
| CN112473110A (en) * | 2020-12-18 | 2021-03-12 | 华南理工大学广州学院 | Material taking, supplying and shooting system |
| CN112473110B (en) * | 2020-12-18 | 2023-12-08 | 华南理工大学广州学院 | Material taking, supplying and shooting system |
| CN115635470A (en) * | 2022-12-06 | 2023-01-24 | 北京电子科技职业学院 | Multifunctional integrated robot device for shoveling, throwing, grabbing and climbing |
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