CN112033223B

CN112033223B - Intelligent target vehicle

Info

Publication number: CN112033223B
Application number: CN202010880006.8A
Authority: CN
Inventors: 明伟; 刘江林; 莫绍强
Original assignee: Chongqing College of Electronic Engineering
Current assignee: Chongqing College of Electronic Engineering
Priority date: 2020-08-27
Filing date: 2020-08-27
Publication date: 2023-01-17
Anticipated expiration: 2040-08-27
Also published as: CN112033223A

Abstract

The invention relates to a movable target, and provides an intelligent target vehicle, which comprises a vehicle body, a target frame and an arrow target, wherein the arrow target comprises a frame and a target body, and further comprises an arrow taking device, a collecting tank and a controller, wherein the arrow taking device comprises: a clamping mechanism for clamping an arrow shot on the target body; a lifting mechanism for moving the clamping mechanism closer to or away from the target body; a longitudinal movement mechanism for moving the lifting mechanism in the longitudinal direction; a traverse mechanism for moving the longitudinal movement mechanism in the lateral direction; a first grating fixed to a front end of the frame in a lateral direction; and a second grating fixed to a front end of the frame in a longitudinal direction; the collecting tank is arranged on the vehicle body and is used for collecting the arrow taken down from the target body by the arrow collecting device. According to the intelligent target vehicle provided by the invention, by arranging the arrow taking device, each arrow shot into the target body can be timely taken down, so that interference on the subsequently shot arrow is avoided, the damage of the arrow caused by collision between the arrow and the arrow is avoided, the arrow is not required to be manually taken, and time and labor are saved.

Description

Intelligent target vehicle

Technical Field

The invention relates to a movable target, in particular to an intelligent target vehicle.

Background

At present, in the indoor archery practice, an intelligent target car capable of changing the motion route according to needs appears, and the problems still existing at present are that:

1. the arrow shot on the arrow target possibly interferes with the subsequent shot arrow, so that the training performance of the archer is influenced, and the arrow is possibly damaged;

2. after the arrow shot on the arrow target reaches a certain number, the arrow needs to be taken down in time by manpower, otherwise the interference and damage between the arrow are aggravated, the arrow shooting training is seriously influenced, and the problem of time and labor waste caused by manual arrow taking also exists.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an intelligent target vehicle to solve the problems in the background technology.

In order to achieve the above object, the present invention provides an intelligent target vehicle, including a vehicle body, a target stand and an arrow target, wherein the arrow target includes a frame and a target body arranged in the frame, and further includes an arrow taking device, a collecting tank and a controller, the arrow taking device includes:

a clamping mechanism for clamping an arrow shot on the target body;

an elevating mechanism for moving the clamping mechanism closer to or away from the target;

a longitudinal movement mechanism for moving the lifting mechanism in a longitudinal direction;

a traverse mechanism for moving the longitudinal movement mechanism in a lateral direction, the traverse mechanism being provided at a front end of the frame;

a first grating fixed to a front end of the frame in a lateral direction; and

a second grating fixed to a front end of the frame in a longitudinal direction;

the collecting tank is arranged on the vehicle body and is used for recovering the arrow taken down from the target body by the arrow taking device;

the controller is electrically connected with the clamping mechanism, the lifting mechanism, the longitudinal moving mechanism, the transverse moving mechanism, the first grating and the second grating.

Further, the clamping mechanism includes:

a first base connected to the elevating mechanism and driven by the elevating mechanism;

the first screw is rotationally arranged on the first base and is provided with two sections of threads with opposite rotating directions;

the clamping arm is sleeved on the two sections of threads of the first screw respectively, is in threaded connection with the first screw and is in sliding connection with the first base;

the clamping plates are respectively arranged on the inner side of each clamping arm and are in rotating connection with the clamping arms;

the first motor is arranged on one clamping arm and is used for driving one clamping plate to rotate; and

the second motor is arranged on the first base and used for driving the first screw rod to rotate;

the first motor and the second motor are electrically connected with the controller;

the collecting groove is arranged below the front end of the arrow target.

Further, the lifting mechanism includes:

the second base is arranged on the longitudinal moving mechanism and is driven by the longitudinal moving mechanism;

the electric push rod is arranged on the second base, the free end of the electric push rod is connected with the first base, and the electric push rod is electrically connected with the controller; and

and one end of the guide rod is fixedly connected with the second base, and the other end of the guide rod is connected with the first base in a sliding manner.

Further, the longitudinal movement mechanism includes:

a third base, which is arranged on the transverse moving mechanism and is driven by the transverse moving mechanism;

the second screw is rotatably arranged on the third base;

the connecting block is arranged on the third base in a sliding mode, sleeved on the second screw rod, connected with the second screw rod in a threaded mode and fixedly connected with the second base; and

and the third motor is arranged on the third base, is used for driving the second screw rod to rotate, and is electrically connected with the controller.

Further, the traversing mechanism comprises:

the upper end and the lower end of the frame are respectively provided with one belt transmission mechanism which comprises a transmission belt and a belt wheel;

the connecting shaft is used for coaxially connecting the belt wheels of the two belt transmission mechanisms so as to enable the two belt transmission mechanisms to synchronously work; and

and the fourth motor is used for driving one of the belt transmission mechanisms to work and is electrically connected with the controller.

The invention has the beneficial effects that: according to the intelligent target vehicle provided by the invention, by arranging the arrow taking device, each arrow shot into the target body can be timely taken down, so that interference on the subsequently shot arrow is avoided, the damage of the arrow caused by collision between the arrow and the arrow is avoided, the arrow is not required to be manually taken, and time and labor are saved.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is a perspective view of an intelligent target car according to an embodiment of the present invention;

FIG. 2 is a perspective view of an arrow taking device;

FIG. 3 is a perspective view of a partial structure of an arrow taking device;

FIG. 4 is a perspective view of a partial structure of an arrow target and an arrow taking device.

Reference numerals are as follows:

10-vehicle body, 20-target frame, 31-frame, 32-target body, 40-arrow taking device, 41-clamping mechanism, 411-first base, 412-first screw rod, 413-clamping arm, 414-clamping plate, 415-first motor, 416-second motor, 42-lifting mechanism, 421-second base, 422-electric push rod, 423-guide rod, 43-longitudinal movement mechanism, 431-third base, 432-second screw rod, 433-connecting block, 434-third motor, 44-transverse movement mechanism, 441-belt transmission mechanism, 442-connecting shaft, 443-fourth motor, 45-first grating, 46-second grating and 50-collecting tank.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.

In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and encompass, for example, both fixed and removable connections or integral parts thereof; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1 to 4, the present embodiment provides an intelligent target vehicle, which includes a vehicle body 10, a target stand 20, an arrow taking device 40, a collecting tank 50 and a controller.

The bottom of the vehicle body 10 is provided with road wheels and is driven by a driving device. The target 20 is fixed to the vehicle body 10, and the target 20 may be a movable structure that can be adjusted in elevation or a fixed structure that cannot be adjusted. The arrow target is fixed on the target stand 20, the arrow target comprises a frame 31 and a target body 32 arranged in the frame 31, the target body 32 is preferably of a rectangular structure, and correspondingly, the frame 31 is also of a rectangular structure.

The arrow taking device 40 is arranged at the front end of the frame 31 and comprises a clamping mechanism 41, a lifting mechanism 42, a longitudinal moving mechanism 43, a transverse moving mechanism 44, a first grating 45 and a second grating 46.

The clamping mechanism 41 is used for clamping the arrow shot on the target body 32, the clamping mechanism 41 is arranged on the lifting mechanism 42, the lifting mechanism 42 is arranged on the longitudinal moving mechanism 43, the longitudinal moving mechanism 43 is arranged on the transverse moving mechanism 44, and the transverse moving mechanism 44 is arranged on the frame 31.

The first grating 45 and the second grating 46 are fixed to the front end of the frame 31 in the lateral direction and the longitudinal direction, respectively. The first gratings 45 each comprise pairs of ir emitters and ir receivers, the ir emitters being mounted in one housing and the ir receivers being mounted in another housing, each housing having a plurality of ir emitters or ir receivers mounted therein, respectively. The infrared transmitter and the infrared receiver are respectively located on two opposite rims of the frame 31.

A controller (not shown in the drawings) is mounted on the vehicle body 10, and is electrically connected to the above-described clamping mechanism 41, the lifting mechanism 42, the longitudinal movement mechanism 43, the lateral movement mechanism 44, the first grating 45, and the second grating 46.

The collection tank 50 is mounted on the vehicle body 10, and the collection tank 50 collects the arrow taken off from the target body 32 by the arrow taking-off and collecting device 40.

In the present embodiment, the traverse mechanism 44 moves the vertical movement mechanism 43 to one end of the frame 31, so that the vertical movement mechanism 43 and the lifting mechanism 42 thereon do not affect the archery practice. After a trainer shoots a single arrow on the target body 32, the position of the arrow is determined through the first optical grating 45 and the second optical grating 46, then the controller controls the longitudinal moving mechanism 43 to move to a position which can enable the arrow to be clamped by the clamping mechanism 41 in subsequent operation, then the transverse moving mechanism 44 drives the longitudinal moving mechanism 43 to be close to the arrow and reach a proper position, then the clamping mechanism 41 clamps the arrow, then the lifting mechanism 42 enables the clamping mechanism 41 to be far away from the target body 32, so that the arrow is pulled out of the target body 32 by the clamping mechanism 41, then the transverse moving mechanism 44 brings the pulled arrow to the edge position of the frame 31, then the clamping mechanism 41 releases the arrow, the arrow falls into the collecting groove 50 below, and finally the lifting mechanism 42 lowers the clamping mechanism 41 to prepare for the next arrow taking operation. After a certain number of arrows are collected in the collection trough 50, the vehicle body 10 is moved to a designated position for the handler to remove from the collection trough 50.

By arranging the arrow taking device 40, each arrow shot into the target body 32 can be timely taken down, interference on the subsequent shot arrows is avoided, damage to the arrows caused by collision between the arrows is avoided, the arrows do not need to be taken manually, and time and labor are saved.

In one embodiment, the clamping mechanism 41 includes a first base 411, a first screw 412, a clamping arm 413, a clamping plate 414, a first motor 415, and a second motor 416. The first base 411 is fixedly connected to the lifting mechanism 42 and driven by the lifting mechanism 42. The first screw 412 is rotatably mounted on the first base 411 and has two threads with opposite rotation directions. The clamping arms 413 are respectively sleeved on two sections of threads of the first screw 412, each clamping arm 413 is in threaded connection with one section of threads, and meanwhile the clamping arms 413 are also in sliding connection with the first base 411. A clamping plate 414 is respectively installed at the inner side of each clamping arm 413, the clamping plate 414 is rotatably connected with the clamping arm 413, and one of the two clamping plates 414 is driven by a first motor 415 installed on the corresponding clamping arm 413. A second motor 416 is mounted on the first base 411, and is used for driving the first screw 412 to rotate. Both the first motor 415 and the second motor 416 are electrically connected to the controller, and the collection trough 50 is mounted below the forward end of the arrow target.

In this embodiment, after the two clamping arms 413 approach each other and cause the two clamping plates 414 to clamp the arrow, the lifting mechanism 42 raises the clamping mechanism 41 so that the arrow is drawn out, then the first motor 415 drives the clamping plate 414 connected thereto to rotate 90 ° again, and the other clamping plate 414 rotates 90 ° together, so that the drawn arrow is rotated from being substantially perpendicular to the front end surface of the target body 32 to being substantially parallel to the front end surface of the target body 32, then the traversing mechanism 44 moves a certain distance again, and finally the arrow falls into the collecting tank 50 below after the clamping mechanism 41 releases the arrow. The purpose of setting up like this is that collecting vat 50 can make full use of automobile body 10's length or width install, and can not extend outside automobile body 10, and then cause the shared space of whole intelligent target car great, and also pleasing to the eye not.

In one embodiment, the lifting mechanism 42 includes a second base 421, an electric push rod 422, a guide rod 423, and a guide rod 423. The second base 421 is provided on the longitudinal movement mechanism 43 and is driven by the longitudinal movement mechanism 43. The electric push rod 422 is fixed on the second base 421, and the free end thereof is connected with the first base 411 and electrically connected with the controller. One end of each guide rod 423 is fixedly connected with the second base 421, the other end of each guide rod 423 penetrates through the first base 411 and is slidably connected with the first base 411, the number of the guide rods 423 is preferably four, and the four guide rods 423 are distributed around the circumference of the electric push rod 422 respectively. The lifting mechanism 42 adopts an electric structure, so that the structure of the intelligent target car is simpler.

In one embodiment, the longitudinal moving mechanism 43 includes a third base 431, a second screw 432, a connecting block 433, and a third motor 434. The third mount 431 is mounted on the traverse mechanism 44 and is driven by the traverse mechanism 44. The second screw 432 is rotatably mounted on the third mount 431. The connecting block 433 is slidably disposed on the third base 431, sleeved on the second screw 432, and threadedly connected to the second screw 432, and fixedly connected to the second base 421. A third motor 434 is mounted on the third base 431, and is used for driving the second screw 432 to rotate, and is electrically connected with the controller. The driving structure of the screw nut has the advantages of simple and compact structure.

In one embodiment, the traversing mechanism 44 includes a belt drive mechanism 441, a connecting shaft 442, and a fourth motor 443. The upper end and the lower end of the frame 31 are respectively provided with a belt transmission mechanism 441, the two belt transmission mechanisms 441 are respectively positioned on the frames of the upper end and the lower end of the frame 31, and each belt transmission mechanism 441 comprises a transmission belt and a belt wheel. The connecting shafts 442 are used to coaxially connect the pulleys of the two belt drive mechanisms 441 so that the two belt drive mechanisms 441 operate synchronously, and the number of the connecting shafts 442 is two. The fourth motor 443 is used for driving one of the belt transmission mechanisms 441 to operate, and the fourth motor 443 is electrically connected with the controller. In this embodiment, the third base 431 is preferably slidably connected to the frame 31, so that the traversing mechanism 44 drives the longitudinally moving mechanism 43 to move more reliably. The traversing mechanism 44 has a simple, reliable and compact structure.

In the description of the present invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims

1. The utility model provides an intelligence target car, includes automobile body, target frame and arrow target, the arrow target includes the frame and sets up target body in the frame, its characterized in that: still including getting arrow device, collecting vat and controller, it includes to get the arrow device:

a clamping mechanism for clamping an arrow shot on the target body;

a lifting mechanism for moving the clamping mechanism closer to or away from the target;

the first grating is fixed at the front end of the frame along the transverse direction; and

a second grating fixed to a front end of the frame in a longitudinal direction;

the controller is electrically connected with the clamping mechanism, the lifting mechanism, the longitudinal moving mechanism, the transverse moving mechanism, the first grating and the second grating;

the clamping mechanism includes:

the first base is connected with the lifting mechanism and driven by the lifting mechanism;

the clamping plates are respectively arranged on the inner side of each clamping arm and are connected with the clamping arms in a rotating way;

the collecting groove is arranged below the front end of the arrow target.

2. The intelligent target vehicle of claim 1, wherein: the lifting mechanism comprises:

3. The intelligent target vehicle of claim 2, wherein: the longitudinal movement mechanism comprises:

the second screw is rotatably arranged on the third base;

4. The intelligent target vehicle of claim 1, wherein: the traversing mechanism comprises:

the belt transmission mechanisms are respectively arranged at the upper end and the lower end of the frame and comprise transmission belts and belt wheels;