CN111226102A

CN111226102A - Projectile launching device and system and shooting robot

Info

Publication number: CN111226102A
Application number: CN201880067665.0A
Authority: CN
Inventors: 杨川; 潘子荣; 孙成芃
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-01-31
Filing date: 2018-08-30
Publication date: 2020-06-02
Also published as: CN208043375U; WO2019148829A1

Abstract

A projectile launching device comprises a mounting base (10), a first driving mechanism (20), a second driving mechanism (30) and a launching mechanism (40); the first driving mechanism (20) is arranged on the mounting seat (10) and drives the second driving mechanism (30) and the launching mechanism (40) to integrally move in a first direction; the second drive mechanism (30) drives the firing mechanism (40) in a second direction. The launching device can realize accurate fixed point test in one area through the driving mechanisms in two different driving directions, can flexibly realize dynamic impact test on different positions of a product, and meets different test requirements. The launching system can adjust the working parameters of the launching device according to different test requirements, and the shooting robot can shoot the shots from different angles according to different shooting scenes.

Description

Projectile launching device and system and shooting robot

Technical Field

The embodiment of the invention belongs to the technical field of launching devices, and particularly relates to a projectile launching device, a launching system adopting the projectile launching device and a shooting robot.

Background

In the development design or production process of some products, there is a need to perform impact test on the products, such as dynamic characteristic test of pressure sensors and vibration sensors, development of speed measurement tools, and development test of robosmaster (international robot competition platform) series products, and in the prior art, generally, a launching device for assisting impact test launches projectiles (such as ball projectiles), so that the projectiles impact or impact the surface of the products to test the product performance, or test the influence of the impacts or impacts on the product performance. Therefore, development requirements of the launching device are generated, and in the process of realizing the invention, the inventor finds that the launching device in the prior art cannot rapidly meet the test requirements under different test environments due to single adaptive test scene or test type and low flexibility.

Disclosure of Invention

In order to solve the above problems, embodiments of the present invention provide a projectile launching device, so as to solve the problem that the projectile launching device in the prior art cannot quickly meet test requirements in different test environments due to a single test scenario or test type and low flexibility; in addition, a launching system and a shooting robot adopting the launching device are also provided.

The technical scheme adopted by the invention is as follows.

In one aspect, an embodiment of the present invention provides a projectile launching device, including: the device comprises a mounting seat, a first driving mechanism, a second driving mechanism and a transmitting mechanism;

the first driving mechanism is arranged on the mounting seat and drives the second driving mechanism and the launching mechanism to integrally move in a first direction; the second driving mechanism drives the launching mechanism to move in a second direction.

According to the projectile launching device provided by the embodiment of the invention, accurate fixed-point testing in one area can be realized through the two driving mechanisms in different driving directions, the flexibility is high, dynamic impact testing on different positions of a product can be realized, and different testing scene requirements are met.

On the other hand, the embodiment of the invention provides a projectile launching system, which comprises a remote control device and the launching device, wherein the remote control device controls the adjustment of the corresponding working parameters of the first driving mechanism, the second driving mechanism and the launching mechanism in the projectile launching process through a control module in the launching device.

According to the projectile launching system provided by the embodiment of the invention, the preset working parameters and the real-time working parameters of the launching device can be adjusted according to different test requirements through the remote control device, so that launching has high flexibility and wide applicability, and different test scene requirements can be met.

On the other hand, the embodiment of the invention provides a shooting robot, which comprises a chassis, a power system arranged on the chassis and the launching device.

According to the shooting robot provided by the embodiment of the invention, the shots can be launched from different angles so as to adapt to different shooting scenes.

Drawings

While the drawings needed to describe the invention or prior art arrangements in a more complete description of the embodiments or prior art are briefly described below, it should be apparent that the drawings described below are illustrative of some embodiments of the invention and that other drawings may be derived therefrom by those skilled in the art without the benefit of the inventive faculty.

FIG. 1 is a block diagram of a projectile launching device provided in accordance with an embodiment of the present invention;

FIG. 2 is a side view of a projectile launching device provided in accordance with an embodiment of the present invention;

FIG. 3 is a block diagram of a first drive mechanism provided in an embodiment of the present invention;

FIG. 4 is a block diagram of a second drive mechanism provided in an embodiment of the present invention;

FIG. 5 is a block diagram of a firing mechanism provided in accordance with an embodiment of the present invention;

FIG. 6 is a top view of a firing mechanism provided by an embodiment of the present invention;

fig. 7 is a schematic block diagram of a transmitting system according to an embodiment of the present invention.

Description of reference numerals:

10 mounting base

11 base

12 support

13 reinforcing element

20 first driving mechanism

21 first driving member

211 drive shaft of the first drive element

22 first support

221 first support plate

222 second support plate

23 first guide

24 connecting piece

30 second driving mechanism

31 second driving member

311 drive shaft of second drive element

32 second support

321 middle plate

322 first side plate

323 second side plate

33 second guide member

34 first guide part

40 firing mechanism

41 seat part

411 base plate

412 carrier plate

413 moving plate

42 poking part

421 ejection tube

422 bullet box

423 poking and ejecting disk

43 emitting part

431 accelerating tube

432 transmitting tube

433 acceleration assembly

4331 Friction wheel

50-degree adjusting mechanism

60 moving base

Detailed Description

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention; the terms "first," "second," and the like in the description and claims of the present invention and in the description of the above figures are used for distinguishing between different objects and not for describing a particular order; furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

The embodiment of the invention provides a projectile launching device, which comprises a mounting seat, a first driving mechanism, a second driving mechanism and a launching mechanism, wherein the mounting seat is provided with a first driving mechanism; the first driving mechanism is arranged on the mounting seat and drives the second driving mechanism and the launching mechanism to integrally move in a first direction; the second driving mechanism drives the launching mechanism to move in a second direction. The projectile may be a ball projectile or a specially shaped projectile, and is described for convenience, and unless otherwise specified, the projectiles described in the following embodiments are taken as ball projectiles for cooperation in describing the structure and function of the launching device.

Based on the launching device, the embodiment of the invention also provides a launching system of the projectile, which comprises a remote control device and the launching device, wherein the remote control device controls the adjustment of working parameters corresponding to the first driving mechanism, the second driving mechanism and the launching mechanism in the process of launching the projectile through a control module in the launching device.

Based on the launching device, the embodiment of the invention also provides a shooting robot, which comprises a chassis, a power system arranged on the chassis and the launching device.

According to the transmitting device provided by the embodiment of the invention, accurate fixed-point test in one area can be realized through the two driving mechanisms with different driving directions, the flexibility is high, dynamic impact test on different positions of a product can be realized, and different test scene requirements are met; by adopting the transmitting system of the transmitting device, the preset working parameters and the real-time working parameters of the transmitting device can be adjusted according to different test requirements through the remote control device, so that the transmitting has high flexibility and wide applicability, and different test scene requirements can be met; the shooting robot adopting the launching device can launch the shots from different angles so as to adapt to different shooting scenes.

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.

Referring to fig. 1, the projectile launching device provided in the embodiment of the present invention includes a mounting base 10, a first driving mechanism 20, a second driving mechanism 30, and a launching mechanism 40;

the first driving mechanism 20 is mounted on the mounting base 10 and drives the second driving mechanism 30 and the launching mechanism 40 to move integrally in a first direction; the second drive mechanism 30 drives the firing mechanism 40 in a second direction. In this embodiment, the first direction and the second direction may be a vertical direction and a horizontal direction, respectively, or a combination of other different directions. Alternatively, the mounting seat 10 may include a base 11 and a bracket 12 fixed on the base 11, and the first driving mechanism 20 is fixed on the bracket 12; in some embodiments, in order to prevent the back-lash force generated when the launching mechanism 40 launches the projectile from affecting the structure of the mounting base 10, a reinforcing member 13 is further disposed between the base 11 and the support 12, so as to ensure the stability of the overall structure of the mounting base 10, which is beneficial to ensuring the launching accuracy of the projectile.

With further reference to fig. 2, in the embodiment of the present invention, the launching device may further include an angle adjusting mechanism 50 for adjusting a launching angle of the launching mechanism 40 when launching the projectile; the angle adjusting mechanism 50 may include a horizontal angle adjusting component (not shown) and a vertical angle adjusting component (not shown) to respectively or cooperatively fine-tune the launch angle of the launching mechanism 40 when launching the projectile, so as to adjust the trajectory of the projectile motion, and as an option, angle adjusting components in other directions may be further provided as required, thereby improving the flexibility of the launching device for launching the projectile. Specifically, the angle adjusting mechanism 50 may be an active adjusting mode, such as a structure similar to a pan and tilt head, which can receive a control command and be controlled to adjust to a corresponding direction or angle to assist in adjusting the launching angle of the launching mechanism 40. The angle adjustment mechanism 50 may be a passive adjustment mechanism, such as an elastic support, which can passively absorb the vibration of the launching mechanism 40 after the launching mechanism 40 is activated, so as to enable the launching mechanism 40 to shoot more accurately. Further, the elasticity of the elastic support is adjustable, so that the required elasticity can be selected according to requirements to adapt to different shooting speeds.

Alternatively, in some embodiments of the present invention, the angle adjusting mechanism 50 is installed in combination with the launching mechanism 40, specifically, the angle adjusting mechanism 50 is located below or on one side of the launching mechanism 40, and the second driving mechanism 30 drives the angle adjusting mechanism 50 to move integrally with the launching mechanism 40; in other embodiments of the present invention, the angle adjustment mechanism 50 is installed in combination with the second driving mechanism 30, specifically, the angle adjustment mechanism 50 is located below or on one side of the second driving mechanism 30, and the angle adjustment mechanism 50 drives the second driving mechanism 30 and the launching mechanism 40 to move integrally.

Further, as shown in fig. 2, the launching device may further include a moving base 60, the launching device may be conveniently moved by the moving base 60 to rapidly adjust the launching device to the working position, and a locking member (not shown) may be further disposed on the moving base 60 to lock the moving base 60 after the launching device is moved to the working position, so that the launching device is kept fixed relative to the working position, and the launching device is ensured to keep its stability during working, and will not be displaced due to the launching of the projectile to affect the launching effect.

Referring to fig. 3, in the embodiment of the present invention, the first driving mechanism 20 includes a first driving member 21 and a first supporting member 22 supporting the first driving member 21, and a driving shaft 211 of the first driving member is connected to the second driving mechanism 30. Further, the first driving mechanism 20 further includes a first guiding element 23, the first guiding element 23 is fixed on the first supporting element 22, and the second driving mechanism 30 is provided with a first guiding portion 34 (refer to fig. 4, and will be described later) which is matched with the first guiding element 23. In this embodiment, the first support 22 and the first guide 23 together define a range of movement of the second drive mechanism 30 and the firing mechanism 40 as a whole in the first direction of movement.

In some embodiments, the first support member 22 may include a first support plate 221 and a second support plate 222, the first driving member 21 is fixed to the first support plate 221, the driving shaft 211 of the first driving member sequentially passes through the first support plate 221 and the second support plate 222, the first guide member 23 is fixed between the first support plate 221 and the second support plate 222, the first guide member 23 is disposed in parallel with the driving shaft 211 of the first driving member, and when the driving shaft 211 of the first driving member is connected to the second driving mechanism 30, the first guide member 23 is matched with the first guide portion 34 of the second driving mechanism 30, so that the second driving mechanism 30 can move linearly along the first guide member 23.

In this embodiment, the first guide 23 may include one or more guide rods.

In some embodiments, the first driving member 21 may be a motor, the driving shaft 211 of the first driving member may be a threaded rod correspondingly, and the first driving member 21 and the second driving mechanism 30 are in threaded transmission; in other embodiments, the first driving member 21 may be a cylinder, the driving shaft 211 of the first driving member may be a piston rod, and the first driving member 21 and the second driving mechanism 30 are in piston transmission; of course, in other embodiments of the present application, the first driving member 21 may also adopt other driving devices that can drive the second driving mechanism 30 to achieve linear motion, and is not limited herein.

Further, the first driving mechanism 20 further includes a connecting member 24, and the connecting member 24 is used for connecting the first driving mechanism 20 and the mounting base 10. In some embodiments, it may be that the first support member 22 and the connecting member 24 are an integrated structure, or the first guide member 23 and the connecting member 24 are an integrated structure, or the first support member 22, the first guide member 23 and the connecting member 24 are an integrated structure.

Referring further to fig. 4, in the embodiment of the present invention, the second driving mechanism 30 includes a second driving member 31 and a second supporting member 32 supporting the second driving member 31, and a driving shaft 311 of the second driving member is cooperatively connected with the launching mechanism 40. Further, the second driving mechanism 30 further includes a second guiding element 33, the second guiding element 33 is fixed on the second supporting element 32, and a second guiding portion (described later) matched with the second guiding element 33 is provided on the launching mechanism 40. In the present embodiment, the second support 32 and the second guide 33 together define the range of movement of the launching mechanism 40 in the second direction of movement.

In some embodiments, the second support 32 may include an intermediate plate 321, a first side plate 322 and a second side plate 323, the first side plate 322 and the second side plate 323 are fixed at two ends of the intermediate plate 321 oppositely, the second driving member 31 is fixed at the first side plate 322, the driving shaft 311 of the first driving member sequentially passes through the first side plate 322 and the second side plate 323, the second guiding member 33 is fixed between the first side plate 322 and the second side plate 323, the second guiding member 33 is arranged in parallel with the driving shaft 311 of the second driving member, and when the driving shaft 311 of the second driving member is connected to the launching mechanism 40 in a matching manner, the second guiding member 33 and the second guiding portion on the launching mechanism 40 are engaged with each other, so that the launching mechanism 40 can move linearly along the second guiding member 33.

Further, the first guiding portion 34 is disposed on the middle plate 321, and the first guiding portion 34 may be one or more grooves disposed on the middle plate 321, or one or more sliding blocks with grooves fixed on the guiding portion, or one or more through holes passing through the middle plate 321, or one or more sliding blocks with through holes fixed on the middle plate 321, where the grooves and the through holes will cooperate with the first guiding member 23 to achieve a guiding function.

Further, a connecting portion (not shown) is disposed on the middle plate 321 for connecting the transmission shaft 211 of the first driving mechanism. In some embodiments, middle panel 321, first side panel 322, and second side panel 323 may be a unitary structure.

In some embodiments, the second driving member 31 may be a motor, the driving shaft 311 of the second driving member may be a threaded rod correspondingly, and the second driving member 31 and the firing mechanism 40 are in threaded transmission; in other embodiments, the second driving member 31 may be a cylinder, the driving shaft 311 of the second driving member may be a piston rod, and the piston transmission is performed between the second driving member 31 and the launching mechanism 40; of course, in other embodiments of the present application, the second driving member 31 may also adopt other driving devices that can drive the launching mechanism 40 to achieve linear motion, and is not limited herein.

With further reference to fig. 5, in some embodiments of the present invention, the launching mechanism 40 includes a seat 41, and a projectile portion 42 and a launching portion 43 fixed to the seat 41 in parallel, the projectile portion 42 and the launching portion 43 are combined to form a trajectory of the projectile motion, the projectile portion 42 is used for wave feeding of the projectile, and the launching portion 43 is used for providing power to accelerate and launch the projectile; wherein the kicker 42 kicks the projectile so that the projectile enters the launcher 43 along the trajectory, and the launcher 43 accelerates the projectile in the trajectory so that the projectile is launched at an angle.

In this embodiment, the seat 41 includes a base plate 411 and a carrier plate 412 which are separated by a certain distance, and as shown in fig. 6, the bullet-poking part 42 comprises an ejection tube 421, a bullet box 422, a bullet-poking disc 423 and a bullet-poking motor (not shown), the ejection pipe 421 is butted with the launching part 43, the poking disc 423 is positioned at the bottom of the ejection box 422, and is fixed on the carrier 412, the poking and ejecting motor is fixed between the substrate 411 and the carrier 412, and the rotating shaft of the bullet poking motor is connected with the bullet poking disc 423, the bullet poking disc 423 comprises a plurality of bullet cavities for containing the bullets, when the bullet poking motor drives the bullet poking disc 423, the bullets in the bullet cavities sequentially enter the launching part 43 through the bullet outlet pipe 421, the bullets are accelerated and launched by the launching part 43, the number of the shots entering the launching part 43 in unit time can be adjusted by adjusting the rotating speed of the bullet poking motor, so that the shot launching frequency can be adjusted.

Further, referring back to fig. 5, the launching section 43 includes an accelerating tube 431, a launching tube 432 and an accelerating assembly 433, the accelerating tube 431 is abutted with the launching tube 432, meanwhile, the accelerating tube 431 is also abutted with the discharging tube 421, and the accelerating assembly 433 accelerates the shot in the accelerating tube 431 to make the shot be launched through the launching tube 432.

In some embodiments, the acceleration assembly 433 includes friction wheels 4331 disposed at two opposite sides of the acceleration tube 431 and a friction wheel motor (not labeled) for driving the friction wheels 4331 to rotate, the friction wheel motor is fixed on the seat 41, such as the base plate 411 shown in fig. 5, and a rotating shaft of the friction wheel motor passes through the carrier plate 412 and is connected with the friction wheels 4331; the part of the accelerating tube 431, which is opposite to the friction wheel 4331, is of a hollow structure, when the accelerating assembly 433 accelerates the projectile, the friction wheel 4331 is in direct contact with the projectile, kinetic energy is given to the projectile in a friction mode, different initial kinetic energy can be given to the projectile by adjusting the rotating speed of the friction wheel motor driving the friction wheel 4331 to rotate, and therefore the launching speed of the projectile is adjusted.

In some embodiments, the relative distance between the friction wheels 4331 disposed on either side of the acceleration tube 431 is adjustable to accommodate the launch of different sizes and gauges of projectiles.

In some embodiments, a positioning portion (not shown) is disposed within the acceleration tube 431 near the projectile entrance, and the positioning portion can position the projectile before the acceleration assembly 433 accelerates the projectile.

In some embodiments, the method is not limited to the above-mentioned bullet-poking method disclosed in this embodiment, and may also be driven by pneumatic or hydraulic methods.

Optionally, the seat 41 further includes a movable plate 413 located between the base plate 411 and the carrier plate 412, a certain distance is provided between the movable plate 413 and the base plate 411 and the carrier plate 412, the angle adjusting mechanism 50 may be disposed between the movable plate 413 and the base plate 411, the kick-out motor and the friction wheel motor are disposed between the carrier plate 412 and the movable plate 413, and the angle of the movable plate 413 may be adjusted by the angle adjusting mechanism 50, so as to adjust the angles of the carrier plate 412 and the emitting portion 43 above the movable plate 413.

Further, the second guiding portion is disposed at the bottom of the base plate 411, and the second guiding portion may be disposed at one or more grooves at the bottom of the base plate 411, or one or more sliders with grooves fixed at the bottom of the base plate 411, or one or more through holes penetrating through the base plate 411, or one or more sliders with through holes fixed at the bottom of the base plate 411, where the grooves and through holes will cooperate with the second guiding element 33 to achieve the guiding function.

Based on the above embodiment, the transmitting device further includes a detecting module (not shown) and a control module (not shown) mounted on the mounting base 10 and connected to each other; the detection module detects the motion parameters of the shot launched by the launching mechanism 40 and transmits the motion parameters to the control module; the control module dynamically controls working parameters of the first driving mechanism 20, the second driving mechanism 30 and the launching mechanism 40 according to preset motion parameters and the motion parameters. In some embodiments, the detection module is further configured to detect the operating states of the first driving mechanism 20, the second driving mechanism 30 and the launching mechanism 40, so as to precisely control the operating states of the first driving mechanism 20, the second driving mechanism 30 and the launching mechanism 40. In this embodiment, the motion parameters of the projectile include a launch angle, a launch trajectory, a launch speed, a launch frequency, and the like; the operating parameters of the first driving mechanism 20 and the second driving mechanism 30 include a driving distance, a driving speed, and the like, and the operating parameters of the launching mechanism 40 include a rotation speed of a kick motor, a rotation speed of a friction wheel motor, a distance between friction wheels 4331, and the like. Through presetting relevant parameters in the control module, the automatic operation of the transmitting device can be realized, the transmitting efficiency and the transmitting precision are effectively improved, the testing time can be greatly saved when the product is subjected to impact testing, and the testing precision can be effectively improved.

The relevant components and functions of the control module and the detection module described in this embodiment will be further described in the relevant embodiments in the transmission system below.

Compared with the prior art, the transmitting device provided by the embodiment of the invention has at least the following beneficial effects:

(1) the two driving mechanisms with different driving directions can realize accurate fixed-point test in one area, namely, the test of a single point is converted into a planar test, so that the flexibility is high, the dynamic impact test of different positions of a product can be realized, and different test scene requirements are met;

(2) the launching angle of the launching mechanism 40 when launching the projectile can be adjusted through the angle adjusting mechanism 50, so that the movement track of the projectile can be adjusted, and the flexibility of the launching device for launching the projectile is improved;

(3) the launching mechanism 40 provided by the embodiment of the invention can realize the adjustment of the launching frequency and the launching speed of the projectile;

(4) the automatic operation of the transmitting device can be realized through the detection module and the control module, and the transmitting efficiency and the transmitting precision can be effectively improved;

(5) in addition, the transmitting device provided by the invention can also be used as a teaching aid for demonstrating the parabolic motion track of an object at different angles and speeds.

The embodiment of the present invention provides a projectile launching system, which includes a remote control device and the launching device (refer to fig. 1 to 6) described in any of the above embodiments, where the launching device includes a detection module and a control module, and the remote control device controls the adjustment of the corresponding operating parameters of the first driving mechanism 20, the second driving mechanism 30 and the launching mechanism 40 in the process of launching a projectile through the control module in the launching device.

Specifically, in the present embodiment, fig. 7 is a schematic block diagram of the launching system, and on one hand, the control module is configured to drive the driving members in the first driving mechanism 20 and the second driving mechanism 30 respectively and control the movement of the driving members, and adjust the launching position of the projectile, for example, when the driving members are motors, the control module drives the motors in the first driving mechanism 20 and the second driving mechanism 30 and controls the movement of the motors; on the other hand, the control module is also used for controlling the movement of a projectile poking motor in the projectile poking part 42 of the launching mechanism 40, adjusting the launching frequency of the projectile, and controlling an accelerating component 433 in the launching part 43 of the launching mechanism 40, and adjusting the launching speed of the projectile; in yet another aspect, the control module is further configured to drive the angle adjustment mechanism 50 and control the movement of the angle adjustment mechanism 50 to adjust the launch angle of the projectile.

The detection module is used for acquiring the motion parameters of the projectile and acquiring the working states of the first driving mechanism 20, the second driving mechanism 30 and the launching mechanism 40; the control module dynamically controls the working parameters of the first driving mechanism 20, the second driving mechanism 30 and the launching mechanism 40 according to the preset movement parameters of the projectile and the movement parameters of the projectile acquired by the detection module and by combining the working states of the first driving mechanism 20, the second driving mechanism 30 and the launching mechanism 40.

The embodiment of the invention provides a shooting robot, which comprises a chassis, a power system arranged on the chassis and the launching device in any embodiment; specifically, with reference to fig. 1 to 6, the launching device includes a mounting base 10, a first driving mechanism 20, a second driving mechanism 30 and a launching mechanism 40; the first driving mechanism 20 is mounted on the mounting base 10 and drives the second driving mechanism 30 and the launching mechanism 40 to move integrally in a first direction; the second drive mechanism 30 drives the firing mechanism 40 in a second direction. In some embodiments, the mount 10 may include a base 11 and a bracket 12 fixed to the base 11, wherein the base 11 may be a portion of the chassis.

In some embodiments the firing robot is also equipped with a protective shell that can detect the impact of the shot fired from other shot-firing devices or the firing robot.

In other embodiments, the structure of the transmitting device can refer to the related technical content in the foregoing embodiments, and is not described herein again. The shooting robot adopting the launching device described in the previous embodiment has all the functions and beneficial effects of the launching device, so that the shooting robot can launch the shots from different angles to adapt to different shooting scenes.

It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention without limiting its scope. This invention may be embodied in many different forms and, on the contrary, these embodiments are provided so that this disclosure will be thorough and complete. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and modifications can be made, and equivalents may be substituted for elements thereof. All equivalent structures made by using the contents of the specification and the attached drawings of the invention can be directly or indirectly applied to other related technical fields, and are also within the protection scope of the patent of the invention.

Claims

A projectile launching device, comprising: the device comprises a mounting seat, a first driving mechanism, a second driving mechanism and a transmitting mechanism;

the first driving mechanism is arranged on the mounting seat and drives the second driving mechanism and the launching mechanism to integrally move in a first direction; the second driving mechanism drives the launching mechanism to move in a second direction.
The launching device as defined in claim 1, further comprising an angle adjustment mechanism for adjusting a launch angle at which the launch mechanism launches the projectile.
The launch device of claim 2 wherein said angular adjustment mechanism comprises a horizontal angular adjustment assembly and a vertical angular adjustment assembly.
The launching device as defined in claim 2, wherein the angle adjustment mechanism is mounted in combination with the launching mechanism, and the second driving mechanism drives the angle adjustment mechanism to move integrally with the launching mechanism; or

The angle adjusting mechanism and the second driving mechanism are installed in a combined mode, and the angle adjusting mechanism drives the second driving mechanism and the launching mechanism to move integrally.
The projectile apparatus as claimed in claim 1 or 2, wherein said launching mechanism comprises a seat portion, and a kicking portion and a launching portion secured side-by-side to said seat portion, said kicking portion and launching portion combining to form a trajectory of projectile motion, wherein said kicking portion kicks a projectile to cause it to enter said launching portion along said trajectory, said launching portion accelerating the projectile in said trajectory to cause it to be launched at an angle.
The launching device of claim 5, wherein the launching section comprises an acceleration tube that interfaces with the launch tube, a launch tube, and an acceleration assembly that accelerates the projectile within the acceleration tube for launching through the launch tube.
The launch device of claim 6 wherein a locating portion is provided in said acceleration tube adjacent the projectile entrance, said locating portion being adapted to locate the projectile prior to the acceleration assembly accelerating the projectile.
The launching device as claimed in claim 6, wherein the accelerating assembly comprises friction wheels oppositely arranged at two sides of the accelerating tube and a friction wheel motor driving the friction wheels to rotate, the friction wheel motor is fixed on the seat, wherein the part of the accelerating tube facing the friction wheels is of a hollow structure, and when the accelerating assembly accelerates the projectile, the friction wheels are in direct contact with the projectile.
The launching device as claimed in claim 8, characterised in that the relative distance between the friction wheels arranged on both sides of the acceleration tube is adjustable.
The launching device of claim 1 or 2, wherein the first drive mechanism comprises a first drive member and a first support member supporting the first drive member, the drive shaft of the first drive member being in mating connection with the second drive mechanism.
The firing apparatus as claimed in claim 10, wherein said first driving mechanism further includes a first guide member fixed to said first support member, and said second driving mechanism is provided with a first guide portion engaged with said first guide member.
The firing device as claimed in claim 1 or 2, wherein the second drive mechanism includes a second drive member and a second support member supporting the second drive member, the drive shaft of the second drive member being cooperatively connected with the firing mechanism.
The firing apparatus as claimed in claim 12, wherein said second drive mechanism further includes a second guide member secured to said second support member, said firing mechanism being provided with a second guide portion that cooperates with said second guide member.
The launch device according to claim 1 or 2, characterized in that it further comprises a detection module and a control module mounted on said mounting and connected to each other; the detection module detects the motion parameters of the shot launched by the launching mechanism and transmits the motion parameters to the control module;

and the control module dynamically controls the working parameters of the first driving mechanism, the second driving mechanism and the launching mechanism according to preset motion parameters and the motion parameters.
The projectile launching system is characterized by comprising a remote control device and a launching device, wherein the remote control device controls the adjustment of working parameters corresponding to a first driving mechanism, a second driving mechanism and a launching mechanism in the projectile launching process through a control module in the launching device;

the transmitting apparatus, characterized by comprising: the device comprises a mounting seat, a first driving mechanism, a second driving mechanism and a transmitting mechanism;

the first driving mechanism is arranged on the mounting seat and drives the second driving mechanism and the launching mechanism to integrally move in a first direction; the second driving mechanism drives the launching mechanism to move in a second direction.
The launching system of claim 15, wherein the launching device further comprises an angle adjustment mechanism for adjusting a launch angle at which the launching mechanism launches the projectile.
The launching system of claim 16, wherein the angular adjustment mechanism includes a horizontal angular adjustment assembly and a vertical angular adjustment assembly.
The firing system as claimed in claim 16, wherein said angle adjustment mechanism is mounted in combination with said firing mechanism, said second drive mechanism driving said angle adjustment mechanism to move integrally with said firing mechanism; or

The angle adjusting mechanism and the second driving mechanism are installed in a combined mode, and the angle adjusting mechanism drives the second driving mechanism and the launching mechanism to move integrally.
The launching system as claimed in claim 15 or 16, characterized in that the launching mechanism comprises a seat, and a kicker and a launcher secured side by side to the seat, the kicker and the launcher forming in combination a trajectory of the projectile motion, wherein the kicker kicks the projectile to cause the projectile to enter the launcher along the trajectory, and the launcher accelerates the projectile in the trajectory to cause the projectile to be launched at an angle.
The launching system of claim 19, wherein the launching section comprises an acceleration tube that interfaces with the launch tube, a launch tube, and an acceleration assembly that accelerates the projectile within the acceleration tube for launching the projectile through the launch tube.
The launching system as recited in claim 20, characterised in that a locating portion is provided in the acceleration tube adjacent the projectile entrance, said locating portion being adapted to locate the projectile prior to the acceleration assembly accelerating the projectile.
The launching system as claimed in claim 20, wherein the accelerating assembly includes friction wheels oppositely disposed at two sides of the accelerating tube and a friction wheel motor for driving the friction wheels to rotate, the friction wheel motor is fixed to the seat, wherein a portion of the accelerating tube facing the friction wheels is a hollow structure, and when the accelerating assembly accelerates the projectile, the friction wheels are in direct contact with the projectile.
The launching system as claimed in claim 22, characterised in that the relative distance between the friction wheels arranged on both sides of the accelerating tube is adjustable.
The firing system as claimed in claim 15 or 16, wherein the first drive mechanism includes a first drive member and a first support member supporting the first drive member, the drive shaft of the first drive member being cooperatively connected with the second drive mechanism.
The firing system as claimed in claim 24, wherein said first drive mechanism further includes a first guide member secured to said first support member, said second drive mechanism having a first guide portion disposed thereon for engaging said first guide member.
The firing system as claimed in claim 15 or 16, wherein the second drive mechanism includes a second drive member and a second support member supporting the second drive member, the drive shaft of the second drive member being cooperatively connected with the firing mechanism.
The firing system as claimed in claim 26, wherein said second drive mechanism further includes a second guide member secured to said second support member, said firing mechanism being provided with a second guide portion for cooperating with said second guide member.
The launching system as claimed in claim 15 or 16, characterized in that the launching device further comprises a detection module and a control module mounted on the mount and connected to each other; the detection module detects the motion parameters of the shot launched by the launching mechanism and transmits the motion parameters to the control module;

and the control module dynamically controls the working parameters of the first driving mechanism, the second driving mechanism and the launching mechanism according to preset motion parameters and the motion parameters.
A shooting robot is characterized by comprising a chassis, a power system and a launching device which are arranged on the chassis,

the transmitting apparatus, characterized by comprising: the device comprises a mounting seat, a first driving mechanism, a second driving mechanism and a transmitting mechanism;

the first driving mechanism is arranged on the mounting seat and drives the second driving mechanism and the launching mechanism to integrally move in a first direction; the second driving mechanism drives the launching mechanism to move in a second direction.
The shooting robot of claim 29, wherein the launching device further comprises an angle adjustment mechanism for adjusting a launch angle at which the launching mechanism launches the projectile.
The firing robot of claim 30, wherein the angular adjustment mechanism includes a horizontal angular adjustment assembly and a vertical angular adjustment assembly.
The shooting robot of claim 30, wherein the angle adjusting mechanism is installed in combination with the shooting mechanism, and the second driving mechanism drives the angle adjusting mechanism to move integrally with the shooting mechanism; or

The angle adjusting mechanism and the second driving mechanism are installed in a combined mode, and the angle adjusting mechanism drives the second driving mechanism and the launching mechanism to move integrally.
A shooting robot as claimed in claim 29 or 30, characterized in that the launching mechanism comprises a seat part, and a kicking part and a launching part which are fixed side by side to the seat part and which in combination form a trajectory of the projectile motion, wherein the kicking part kicks the projectile so that the projectile enters the launching part along the trajectory, and the launching part accelerates the projectile in the trajectory so that the projectile is launched at an angle.
The firing robot of claim 33, wherein the launching section includes an acceleration tube that interfaces with the launch tube, a launch tube, and an acceleration assembly that accelerates the projectiles within the acceleration tube for launching the projectiles through the launch tube.
A shooting robot as claimed in claim 34, characterized in that a positioning part is provided in the acceleration tube near the projectile entrance, said positioning part being adapted to position the projectile before the acceleration assembly accelerates the projectile.
The shooting robot of claim 34, wherein the accelerating assembly comprises friction wheels oppositely arranged on two sides of the accelerating tube and a friction wheel motor for driving the friction wheels to rotate, the friction wheel motor is fixed on the seat, wherein a part of the accelerating tube, which faces the friction wheels, is of a hollow structure, and when the accelerating assembly accelerates the shot, the friction wheels are in direct contact with the shot.
The shooting robot of claim 36, wherein a relative distance between the friction wheels provided at both sides of the acceleration tube is adjustable.
The shooting robot of claim 29 or 30, wherein the first driving mechanism comprises a first driving member and a first supporting member supporting the first driving member, and a driving shaft of the first driving member is fittingly connected with the second driving mechanism.
The shooting robot of claim 38, wherein the first driving mechanism further comprises a first guide member fixed to the first support member, and the second driving mechanism is provided with a first guide portion engaged with the first guide member.
The shooting robot of claim 29 or 30, wherein the second driving mechanism comprises a second driving member and a second supporting member supporting the second driving member, and a driving shaft of the second driving member is fittingly connected with the shooting mechanism.
The firing robot of claim 40, wherein the second drive mechanism further includes a second guide member secured to the second support member, the firing mechanism being provided with a second guide portion that cooperates with the second guide member.
A shooting robot as claimed in claim 29 or 30, characterized in that the launching device further comprises a detection module and a control module mounted on the mount and connected to each other; the detection module detects the motion parameters of the shot launched by the launching mechanism and transmits the motion parameters to the control module;

and the control module dynamically controls the working parameters of the first driving mechanism, the second driving mechanism and the launching mechanism according to preset motion parameters and the motion parameters.