CN112378293A - Double-shooting-impact-resisting machine vehicle and implementation method - Google Patents
Double-shooting-impact-resisting machine vehicle and implementation method Download PDFInfo
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- CN112378293A CN112378293A CN202011331702.XA CN202011331702A CN112378293A CN 112378293 A CN112378293 A CN 112378293A CN 202011331702 A CN202011331702 A CN 202011331702A CN 112378293 A CN112378293 A CN 112378293A
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- 235000021307 Triticum Nutrition 0.000 claims abstract description 9
- 210000003813 thumb Anatomy 0.000 claims description 43
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- 230000033001 locomotion Effects 0.000 claims description 4
- 238000012360 testing method Methods 0.000 claims description 4
- 238000004088 simulation Methods 0.000 claims description 2
- 238000003756 stirring Methods 0.000 claims description 2
- 238000005480 shot peening Methods 0.000 claims 5
- 239000008188 pellet Substances 0.000 claims 4
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- 230000008901 benefit Effects 0.000 abstract description 7
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- 239000000725 suspension Substances 0.000 abstract description 2
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- 235000007340 Hordeum vulgare Nutrition 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H7/00—Armoured or armed vehicles
- F41H7/005—Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors
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Abstract
The invention relates to a double-shot-impact-resistance robot vehicle and an implementation method thereof. The bottom frame is provided with a suspension shock absorber, and the machine vehicle can walk in all directions by means of the wheat wheels. The large magazine supplies bullets to a pan head trajectory of the large pan head in an intermediate bullet supply mode, the bullets smoothly enter the launching port through the designed shifting wheel sheet and are launched out, the small magazine adopts a lower bullet supply mode, and after the interior of the small driving plate rotates, small bullets enter the tabletting position through the designed trajectory, are endowed with certain resistance and are launched out through the small launching runner; the design of the double cloud platforms ensures that the robot vehicle has enough shooting range. The invention has the advantages of modular design and clear hierarchy.
Description
Technical Field
The invention relates to the field of robots, in particular to a double-shot-impact-resistance robot vehicle and an implementation method thereof.
Background
At present, the main type of the confrontation type robot is single, the confrontation between the robots is a single launching mechanism with one-to-one and many-to-many, the ammunition feeding mode of the robot is mainly an upper ammunition feeding mode and a lower ammunition feeding mode, the modes respectively have respective advantages and disadvantages, the trajectory of the lower ammunition feeding is too long, the ammunition blocking risk is high, the structure is complex, and the upper ammunition feeding will increase the overall height of the robot vehicle. And the launching port of the existing shooting robot has the limitation of elevation amplitude, and the phenomenon of bullet jamming can occur above the elevation.
Disclosure of Invention
The invention solves the problems: the defects of the prior art are overcome, and the double-shot-shooting confrontation machine vehicle and the implementation method are provided to solve the problems in the background art, so that the hitting surface can be flexibly expanded, and the limitation of high-elevation-angle shooting can be broken through. The middle ammunition feeding scheme is creatively provided, and the simple, fast and stable ammunition feeding mode is realized by combining the advantages of upper and lower ammunition feeding. The effect of stable structure and light weight is achieved, and the ball gun has the advantages of wide hitting surface, high elevation angle launching and quick bullet supply.
In order to achieve the purpose, the invention is realized by the following technical scheme: a double-shooting-impact-resistance machine vehicle is characterized in that: the device comprises a large magazine module 1, a bottom frame module 2, a small cloud platform magazine module 3 and a large cloud platform module 4; the large magazine module 1, the small cradle head magazine module 3 and the large cradle head module 4 are all fixed on the upper part of the bottom frame module 2; the large magazine module 1 and the large pan-tilt module 4 are welded at the middle part of the bottom frame module 2 through the bottom frame of the bottom frame module 2, namely the front side of the robot vehicle is taken as a visual angle, wherein the large magazine module 1 is welded at one end of the middle part, and the large pan-tilt module 4 is welded at the other end of the middle part; the small holder magazine module 3 is detachably fixed at one end of the bottom frame module 2 through a screw buckle;
the bottom frame module 2 adopts a modular design, reduces weight on the basis of ensuring stability, is used for protecting and fixing other three modules and gives stable motion to the whole vehicle;
the large magazine module 1 is used for storing and transporting 42 mm large pills, and the large magazine module 1 is arranged at the rear upper part of the large holder module 4 and supplies the large pills to the large holder module 4; the large bullet channel pipe of the large bullet cabin module 1 and the holder trajectory of the large holder module 4 are in flexible connection through a fabric circular pipe to form a soft trajectory of large pills, so that a process from large bullet cabin to launching of large pills is achieved; the fixed height of the large bullet cabin module 1 is matched with the cradle head trajectory in the large cradle head module, and a certain height difference is provided, so that large bullets can have both height energy and falling tendency and falling stability;
the small cradle head magazine module 3 is used for supplying and launching 17 mm small pills, is fixed on one side of the large cradle head module 4, and is smaller than the large magazine module 1 in overall size; the small cloud platform magazine module 3, the large magazine module 1 and the large cradle head module 4 are independent and have no connection relation, so that the advantage of small size of the small cloud platform magazine module 3 is exerted, independent front and back position exchange can be carried out according to the requirement of the surrounding environment, the front and back position exchange of the launching tube of the small cloud platform magazine module 3 and the small magazine can be carried out, and flexible launching of small shots is realized;
the big cloud platform module 4 is located the machine car intermediate position promptly (with the machine car openly as the visual angle), and the little cloud platform of little cloud platform magazine module 3 is located the left side position, and initial position is at the left side front end promptly, and little cloud platform is located the left side of big cloud platform relatively, uses the machine car openly as the visual angle promptly, and big cloud platform, the two independent motion of little cloud platform, mutual noninterference.
The large magazine module 1 comprises: a large thumb wheel 101, a thumb wheel cover 102, a thumb wheel motor 103, a thumb wheel sheet 104, a large magazine frame 105, a large magazine plate 106, a large ballistic elbow 107 and a large ballistic pipe 108; big thumb wheel 101 and thumb wheel cover 102 coaxial assembly, thumb wheel motor 103 is fixed at big bullet storehouse board 106 downside, saves space and has the protectiveness simultaneously, and thumb wheel motor 103 is fixed in thumb wheel cover 102 bottom center simultaneously, with big thumb wheel 101 rigid coupling, big ballistic bend 107 and the concentric rigid coupling of play mouth of thumb wheel cover 102, big ballistic tube 108 and the concentric rigid coupling of last port of big ballistic bend 107, wherein thumb wheel piece 104 is fixed at the inboard play mouth of thumb wheel cover 102, and big magazine frame 105 and big bullet storehouse board 106 mutual rigid coupling constitute a bullet storehouse mouth.
When the double-shooting confrontation machine vehicle starts to move, the thumb wheel motor 103 rotates to drive the large thumb wheel 101 to rotate at the same speed, so that large pills in the large magazine are fed into the inner side bullet outlet of the thumb wheel cover 102. Thereby entering the interior of the large head module 4.
The bottom frame module 2 includes: comprises a vehicle bottom frame 201, a first floor layer 208, a second floor layer 209, a protection plate supporting frame 206, a protection plate supporting plate 207, a damping spring group 202, a wheat wheel 205 and a flash protection plate 203; the bottom frame 201 is fixedly connected with each other to form a frame, and a first bottom plate layer 208 and a second bottom plate layer 209 are fixed on the frame and used for placing related control accessories; the protection board support frame 206 is fixedly connected with the protection board support plate 207 and is used for fixing the flash protection board 203; the damping spring group 202 and the wheat wheel 205 are used as wheel mechanisms to be jointly connected and fixed in the frame; the wheel housing 204 is fixed at the four corners of the frame to protect the wheel.
In the process of advancing, retreating and in-situ rotation of the double-shooting confronting robot vehicle, the four wheat wheels 205 are respectively set to correspondingly rotate. In the process of ascending and descending the double-shot-shooting-resistance robot vehicle, the four wheat wheels 205 are not in the same horizontal position, and the four damping spring sets 202 have different compression lengths, so that the double-shot-shooting-resistance robot vehicle can be ensured to stably ascend and descend. Other parts in the bottom frame module 2 are structurally fixed, so that the stability of the whole base is ensured.
The small holder magazine module 3 consists of two emission support plates 301, a magazine and a holder; the small magazine bottom 314 and the small magazine plate 315, two launching support plates 301 are vertically fixed at two sides of a horizontal rotation support plate 305, a small ballistic rotating pipe 304 is used for connecting a bullet inlet of the launching support plate 301 and a bullet inlet of the horizontal rotation support plate 305, a pitch shaft (pitch shaft) motor 307 is fixed on a motor support member 308 and is jointly fixed on the launching support plates 301 to drive a launching pipe 303 part to vertically rotate, the launching pipe 303 is fixed on a pan-tilt head through a launching pipe fixing member, a yaw (horizontal rotation) shaft motor 306 is fixed on a yaw shaft motor support 310 and jointly supports the upper pan-tilt head part and horizontally rotates by 270 degrees; the ballistic rotating piece 311 is connected with the right port of the small ballistic straight pipe 309 and fixed below the yaw axis motor support 310, and the bullet outlet of the small dial 313 is connected with the left port of the small ballistic straight pipe 309 and fixedly connected with the bottom of a small magazine consisting of a small magazine bottom 314 and a small magazine plate 315; the two small launching wheels 302 are fixed at two sides of the middle position of the holder, and when the holder rotates at a high speed, small pills sent by the trajectory pass through the middle position of the wheels, so that the initial speed is given to the pills, and the pills are launched out through the launching tube 303; the small cloud platform camera 316 is disposed at the upper end of the small transmitting wheel 302 and used for detecting and collecting the surrounding environment information.
The small dial 313 rotates to send small pills into the small ballistic straight tube 309, the small pills smoothly enter a pore channel in the middle of the yaw axis motor 306 through the ballistic rotating piece 311 and the ballistic trajectory behind the small ballistic rotating piece, and enter the middle of the two small launching rotating wheels 302 through the small ballistic rotating tube 304, the small cloud platform camera 316 positioned at the upper end of the small launching rotating wheels 302 collects environmental data, so that the yaw axis motor 306 and the pitch axis motor 307 are controlled to enable the launching tube 303 of the small cloud platform magazine module 3 to rotate in a range pointing to a target object, the small launching rotating wheels 302 rotate at a high speed, and the small pills are given a certain initial speed to be launched through the launching tube 303.
The large pan-tilt module 4 includes: a pan head trajectory 401, a trajectory stirring piece 402, a trajectory motor 403, a pan head support plate 404, a pan head brushless motor 405, a motor support 406, a pan head shield 407, a pan head support horizontal plate 408, a pan head support vertical plate 409, a trajectory part 412, a large transmitting tube 414, a pan head brushless motor II 415 and a large pan head camera 416; the cradle head brushless motor 405 and the cradle head brushless motor 415 control the integral rotation of the cradle head together; the horizontal pan/tilt support plate 408 and the vertical pan/tilt support plate 409 jointly support the whole large pan/tilt module;
the ballistic dial-up piece 402 is fixed on the ballistic motor 403 and is jointly fixed on the pan-tilt ballistic 401, the pan-tilt ballistic 401 is fixed at the rear end of the ballistic part 412, the large launching tube 414 is fixed at the front end of the ballistic part 412, the two large launching wheels 413 are respectively fixed at the left side and the right side of the ballistic part 412, and the projectile is driven to be launched by the high-speed rotation of the wheels; the motor drives the ballistic dial-up 402 to rotate to control the shot launching time from a large magazine, the two pan-tilt support plates 404 support the whole part of a large pan-tilt, the pan-tilt brushless motor 405 is fixed on the motor support 406 and fixed on the pan-tilt support plates 404 together to drive the rotating pan-tilt part to rotate around the pitch axis, the pan-tilt shutters 407 are fixed at the two ends of the pan-tilt support plates 404, and the pan-tilt brushless motor 415 supports and drives the rotating pan-tilt part to rotate around the yaw axis.
Big shots enter the holder trajectory 401 through the fabric round tube, the trajectory motor 403 drives the trajectory shifting piece 402 to rotate, the big shots are sent into the trajectory part 412, the two big launching wheels 413 on the left and right of the trajectory part 412 rotate at high speed, initial speed is given to the big shots, and the big shots are launched out through the big launching tube 414. The cradle head brushless motor 405 and the cradle head brushless motor 415 drive the rotating cradle head part to rotate in the horizontal direction and the numerical direction, and the image transmission piece 410 collects front image information and is matched with the front image information, so that large shots are emitted out to hit a target range.
A thumb wheel sheet 104 fixed in the thumb wheel cover 102 is subjected to simulation test and physical test to obtain a right-angled triangle body with radian, the height of which is within 4-8 mm and the length of which is within 8-10mm, and the radian of the right-angled triangle body is required to be more than 35 degrees and less than 50 degrees of tangency angle with the bottom surface of the triangle; big shot can enough be in the cover can be in the same direction as smooth rotation get into big trajectory return bend 107, can not lead to big shot to block inside the pipeline because of rocking simultaneously, also can not lead to whole big courage storehouse module to produce harmful vibration, arouses unstablely.
The rotation amplitude of the second cradle head brushless motor 415 reaches 200 degrees, and the target rotation of the large cradle head is realized under the source information transmission of the large cradle head camera 416.
The pan-tilt trajectory 401 is connected with the large trajectory tube 108 through a fabric round tube, and has considerable ductility, so that it is ensured that the shots can smoothly enter the pan-tilt trajectory 401 from the large trajectory tube 108 under any condition.
The horizontal pan/tilt support plate 408 is fixedly connected to the vertical pan/tilt support plate 409 in a pi shape, and is directly fixed to the bottom plate layer by the designed L-shaped angle code, so as to support the whole large pan/tilt module.
The small dial 313 and the trajectory rotating piece 311 are fixed in the middle of the small cloud platform magazine module in the long axis direction, and the bullet outlet of the small dial 313 and the left port of the trajectory rotating piece 311 are in tangent positions by rotating the respective position angles, so that the small trajectory straight pipe 309 is connected, the clamping between the trajectories is guaranteed, the trajectory of small shots is smooth, and the trajectory length is greatly reduced.
The pressing piece 317 is located at the rear part of the small launching rotor 302, and forms a certain degree of blocking to the small shot entering through a certain bending angle and a certain elastic range, and the shot cannot be clamped. Last transmitting tube 303 mounting is the major axis form that is interior round square (inside is hollow cylinder, and the outside is the cuboid) for connecting transmitting tube and dolomitic platform rotating part, guarantee the axiality of going away the bullet of shot, realize simultaneously that the vibration that the shot was launched can reduce with the same amplitude, increase the shot precision of launching.
The invention relates to a method for realizing a double-shot-impact-resistance robot vehicle, which comprises a bottom frame, a large magazine module, a large holder module and a small cloud platform magazine module; the bottom framework constructs the basic structural logic of the whole machine vehicle, the flash protection plate is associated with the control equipment on the first layer and the second layer of the bottom plate, and the flash protection plate can flash red and blue lamps in time to send signals and protect the control equipment on the bottom plate; the large impeller is driven by a motor to rotate, the pills are transmitted to a pill outlet of the impeller cover in a rotating mode, ascend along a large ballistic bend pipe until passing through an outlet of a large ballistic pipe and directly enter the cradle head ballistic through a fabric round pipe, and the ballistic impeller rotates timely under the control of the corresponding motor to convey the large pills to a large launching rotating wheel and launch the large pills accordingly; the large magazine is lifted to a certain position by means of the structure of the bottom frame and matched with the position of the large holder module; the small driving plate rotates to press small pills into a designed small trajectory, and finally the small pills enter a small launching runner to be launched out; the small cloud platform camera observes surrounding information and provides image data, automatic scanning is finally achieved, and the large cloud platform camera observes surrounding information and provides information data.
The invention provides a double-shooting confrontation machine vehicle, which has the following beneficial effects:
(1) the large magazine module abandons the traditional structure with clear upper and lower ammunition feeding, combines the advantages of the upper and lower ammunition feeding, effectively avoids the defects of complex lower ammunition feeding structure and overlong trajectory and the defect of overhigh height of the whole robot vehicle caused by the upper ammunition feeding, adopts an intermediate ammunition feeding mode, further reduces the vertical distance between the height of the magazine and the height of the holder, can realize simplification in structure, effectively reduces the whole height of the robot vehicle, and can realize simple and rapid ammunition feeding;
(2) this machine car possesses two cloud platforms, can possess more wide discernment visual angle, and single cloud platform machine car in the past can only be that cloud platform discernment visual angle is very wide, but the magazine memory space is by the restriction very little, perhaps the magazine storage bullet volume is very big, but cloud platform discernment visual angle is very narrow. The design of the double cloud platforms of the machine vehicle ensures that the magazine has enough magazine storage capacity and simultaneously has a large identification visual angle, and meanwhile, the modular design can ensure that the positions of the cloudlet platform and the magazine in the cloudlet platform magazine module can be quickly exchanged so as to realize the real adjustment of the visual angle of the cloud platforms, so that the machine vehicle has more flexibility, and the failure rate of the whole vehicle can be greatly reduced by independently controlling the cloud platforms with different sizes;
(3) although the double cloud platforms are added, the whole machine vehicle is balanced in structural arrangement, the bottom frame is designed in a blocking mode, efficient utilization of material objects is achieved, the modules can be accurately analyzed in a structural mode through the organized modular design, light weight is achieved, the size and the weight of the machine vehicle are small, and the machine vehicle can be guaranteed to rotate more flexibly in practical application;
(4) the wheels of the machine vehicle adopt four barley wheels, and the machine vehicle realizes omnidirectional movement by adopting suspension and shock absorption, and compared with the traditional machine vehicle which adopts a common wheel design, the machine vehicle is limited to move only in X and Y axes. The machine vehicle has more flexibility and more sufficient adaptation to the field;
(5) the large magazine of the machine vehicle is added with the designed poking wheel sheet, the design is changed into a new design scheme, if the poking wheel sheet is not added, the high-speed bullet supply is limited, and the phenomena of bullet jamming and even bullet magazine explosion easily occur in the high-speed bullet supply due to centrifugal force. And the poking wheel piece is added to ensure that the bullet feeding speed of the bullet cabin is not limited, and the big bullet can smoothly move no matter how high the speed is, and no jamming occurs.
Drawings
FIG. 1 is a schematic overall view of the inventive machine vehicle;
FIG. 2 is a schematic view of the large magazine mechanism of the present invention;
FIG. 3 is a schematic view of the bottom frame structure of the present invention;
FIG. 4 is a schematic view of a magazine of a small pan/tilt head according to the present invention;
FIG. 5 is a schematic bottom view of a cradle magazine of the dolomitic table of the present invention;
fig. 6 is a schematic structural diagram of the large tripod head of the present invention.
In the figure: 1 large magazine module, 2 bottom frame module, 3 small cloud platform magazine module, 4 large pan head module, 101 large thumb wheel, 102 thumb wheel cover, 103 thumb wheel motor, 104 thumb wheel piece, 105 large magazine rack, 106 large magazine plate, 107 large ballistic elbow, 108 large ballistic tube, 201 car bottom rack, 202 shock-absorbing spring set, 203 flash protection plate, 204 wheel cover, 205 wheat wheel, 206 protection plate support rack, 207 protection plate support plate, 208 bottom plate one layer, 209 bottom plate two layers, 301 launching support plate, 302 small launching runner, 303 launching tube, 304 small ballistic transfer tube, 305 horizontal rotation support plate, 306yaw axis motor, 307pitch axis motor, 308 motor support, 309 small ballistic straight tube, 310yaw axis motor support, 311 ballistic transfer piece, 312 launching tube mount, 313 small dial, 314 small magazine bottom, 315 small bullet magazine plate, small cloud platform camera, 316 tabletting tablet, 401 cloud platform dial piece, 402 ballistic tablet, 403 ballistic motor, 404 pan-tilt support plate, 405 pan-tilt brushless motor, 406 motor support, 407 pan-tilt shield, 408 pan-tilt support horizontal plate, 409 pan-tilt support vertical plate, 410 image transmission piece, 411 transmission support plate, 412 ballistic part, 413 large transmission wheel, 414 large transmission tube, 415 pan-tilt brushless motor two, 416 large pan-tilt camera.
Detailed Description
The technical scheme of the invention is further explained by combining the drawings and the embodiment
As shown in fig. 1 to 3, the double-shot-peening-opposed robot vehicle of the present invention includes: the device comprises a large magazine module 1, a bottom frame module 2, a small cloud platform magazine module 3 and a large tripod head module 4; the core of the large magazine module 1 is formed by coaxially assembling a large thumb wheel 101 and a thumb wheel cover 102, a thumb wheel motor 103 is fixed at the center of the bottom of the thumb wheel cover 102 and fixedly connected with the large thumb wheel 101, a large ballistic elbow 107 is fixedly connected with a bullet outlet of the thumb wheel cover 102 concentrically, a large ballistic tube 108 is fixedly connected with an upper port of the large ballistic elbow 107 concentrically, and a thumb wheel sheet 104 is fixed at an inner bullet outlet of the thumb wheel cover 102. The large magazine frame 105 and the large magazine plate 106 are fixedly connected with each other to form a magazine mouth.
The bottom frame 201 of the bottom frame module 2 is fixedly connected with each other to form a frame, and the first floor layer 208 and the second floor layer 209 are fixed on the frame and used for placing related control accessories. The protection plate support frame 206 is fixedly connected with the protection plate support plate 207 and is used for fixing the flash protection plate 203 together, the wheel mechanism is fixedly connected in a vehicle frame by the damping spring group 202 and the wheat wheel 205 together, and the wheel cover 204 is fixed at the four corners of the vehicle frame to protect the position of the wheel.
As shown in fig. 4 and 5, the small cloud platform magazine module 3 is composed of a magazine and a cloud deck. Two launching support plates 301 are vertically fixed on two sides of a horizontal rotating support plate 305, a small ballistic rotating pipe 304 is used for connecting a bullet inlet of the launching support plate 301 with a bullet inlet of the horizontal rotating support plate 305, a pitch shaft motor 307 is fixed on a motor support member 308 and is jointly fixed on the launching support plate 301 to drive a part of a launching pipe 303 to vertically rotate, the launching pipe 303 is fixed on a cloud deck through a launching pipe fixing member, a yaw shaft motor 306 is fixed on a yaw shaft motor support 310 and jointly supports the cloud deck part above and horizontally rotates by 270 degrees. The ballistic rotating piece 311 is connected with the right port of the small ballistic straight pipe 309 and fixed below the yaw axis motor support 310, and the bullet outlet of the small dial 313 is connected with the left port of the small ballistic straight pipe 309 and fixedly connected with the bottom of the small magazine consisting of the small magazine bottom plate 314 and the small magazine plate 315. Two small launching wheels 302 are fixed on two sides of the middle position of the holder, and when the holder rotates at a high speed, bullets sent by the trajectory pass through the middle position of the wheels, so that the bullets are given an initial speed and are launched out through a launching tube 303. The small cloud platform camera 316 is disposed at the upper end of the small transmitting wheel 302 and used for detecting and collecting the surrounding environment information.
As shown in fig. 6, the ballistic dial-up 402 is fixed on the ballistic motor 403, and is fixed on the pan-tilt ballistic 401 together, the pan-tilt ballistic 401 is fixed at the rear end of the ballistic part 412, the large launching tube 414 is fixed at the front end, and the two large launching wheels 413 are fixed on the left and right sides of the ballistic part 412 respectively, and are driven to launch the projectile through the high-speed rotation of the wheels. The motor drives the ballistic dial-up 402 to rotate, so as to control the shot launching time from a large magazine, the two pan-tilt support plates 404 support the whole part of a large pan-tilt, the pan-tilt brushless motor 405 is fixed on the motor support 406 and is fixed on the pan-tilt support plates 404 together, the rotating pan-tilt part is driven to rotate around the pitch axis, the pan-tilt cover plate 407 is fixed at the two ends of the pan-tilt support plates 404, the pan-tilt brushless motor 415 supports and drives the rotating pan-tilt part to rotate around the yaw axis, and the pan-tilt support transverse plate 408 and the pan-tilt support vertical plate 409 support the whole large pan-tilt module.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (12)
1. A double-shooting-impact-resistance machine vehicle is characterized in that: the device comprises a large magazine module (1), a bottom frame module (2), a small cradle head magazine module (3) and a large cradle head module (4); the large magazine module (1), the small cradle head magazine module (3) and the large cradle head module (4) are all fixed on the upper part of the bottom frame module (2); the large magazine module (1) and the large pan-tilt module (4) are welded at the middle part of the bottom frame module (2) through the vehicle bottom frame of the bottom frame module (2), namely the front of the machine vehicle is taken as a visual angle, wherein the large magazine module (1) is welded at one end of the middle part, and the large pan-tilt module (4) is welded at the other end of the middle part; the small holder magazine module (3) is detachably fixed at one end of the bottom frame module (2) through a screw buckle;
the bottom frame module (2) adopts a modular design, reduces weight on the basis of ensuring stability, is used for protecting and fixing other three modules and gives stable motion to the whole vehicle;
the large magazine module (1) stores and transports 42 mm large shots, and the large magazine module (1) supplies the large shots to the large cradle head module (4) at the rear upper part of the large cradle head module (4); the large bullet channel pipe of the large bullet cabin module (1) and the holder trajectory of the large holder module (4) are in flexible connection through the fabric circular pipe to form a soft trajectory of large bullets, so that a channel from the large bullet cabin to the big bullets is constructed; the fixed height of the large magazine module (1) is matched with the cradle head trajectory in the large cradle head module (4), so that the height difference is achieved, and large shots can have both height energy and falling tendency and falling stability;
the small cradle head magazine module (3) is used for supplying and launching 17 mm small pills, is fixed on one side of the large cradle head module (4), and is smaller than the large magazine module in overall size; the small cradle head magazine module (3) is independent of the large magazine module (1) and the large cradle head module (4), no connection relation exists, the small cradle head magazine module (3) is small in size, independent front and back position exchange can be conducted according to surrounding environment requirements, the position exchange can be conducted around the small cradle head magazine module (3), the launching tube and the small magazine of the small cradle head magazine module (3) can be exchanged in the front and back positions, and flexible launching of small shots is achieved.
2. The double-shot-peening-opposed robotic vehicle of claim 1, wherein: the large magazine module (1) comprises: a large thumb wheel (101), a thumb wheel cover (102), a thumb wheel motor (103), a thumb wheel sheet (104), a large bullet bin frame (105), a large bullet bin plate (106), a large ballistic elbow (107) and a large ballistic pipe (108); big thumb wheel (101) and thumb wheel cover (102) coaxial assembly, thumb wheel motor (103) are fixed at big bullet storehouse board (106) downside, save space and have the protectiveness simultaneously, simultaneously thumb wheel motor (103) are fixed at thumb wheel cover (102) bottom center, with big thumb wheel (101) rigid coupling, big ballistic bend (107) and the concentric rigid coupling of play bullet mouth of thumb wheel cover (102), big ballistic tube (108) and the concentric rigid coupling of last port of big ballistic bend (107), wherein thumb wheel piece (104) are fixed at the inboard play bullet mouth of thumb wheel cover (102), big bullet storehouse frame (105) and big bullet storehouse board (106) mutual rigid coupling constitute bullet storehouse mouth.
3. The double-shot-peening-opposed robotic vehicle of claim 1, wherein: the bottom frame module (2) comprises: the device comprises a vehicle bottom frame (201), a first base plate layer (208), a second base plate layer (209), a protection plate support frame (206), a protection plate support plate (207), a damping spring group (202), a wheat wheel (205) and a flash protection plate (203); the bottom frame (201) is fixedly connected with each other to form a frame, and a first bottom plate layer (208) and a second bottom plate layer (209) are fixed on the frame and used for placing related control accessories; the protection plate support frame (206) is fixedly connected with the protection plate support plate (207) and is used for fixing the flash protection plate (203); the damping spring group (202) and the wheat wheel (205) are used as wheel mechanisms to be connected and fixed in the frame together; the wheel covers (204) are fixed at the four corners of the frame to protect the wheels.
4. The double-shot-peening-opposed robotic vehicle of claim 1, wherein: the small holder magazine module (3) consists of two emission support plates (301), a magazine and a holder; a small magazine bottom plate (314), a small magazine plate (315), two launching support plates (301) are vertically fixed at two sides of a horizontal rotating support plate (305), a small ballistic rotating pipe (304) is used for connecting a bullet inlet of the launching support plate (301) and a bullet inlet of the horizontal rotating support plate (305), a pitch shaft motor (307) is fixed on a motor support member (308) and is jointly fixed on the launching support plate (301) to drive a part of the launching pipe (303) to vertically rotate, the launching pipe (303) is fixed on a pan head through a launching pipe fixing member, a yaw shaft motor (306) is fixed on a yaw shaft motor support (310) to jointly support the upper pan head part and drive a 270-degree horizontal rotating ballistic rotating part, the rotating member (311) is connected with a right port of the small ballistic straight pipe (309) and is fixed below the yaw shaft motor support (310), a bullet outlet of a small dial (313) is connected with a left port of the small ballistic straight pipe (309), and is fixedly connected with the bottom of the small magazine which consists of a small magazine bottom plate (314) and a small magazine plate (315); the two small launching rotating wheels (302) are fixed on two sides of the middle position of the holder, when the two small launching rotating wheels (302) rotate at a high speed, small pills sent by the trajectory pass through the middle position of the rotating wheels, the initial speed is given to the pills, and the pills are launched out through the launching tube (303); the small cloud platform camera (316) is arranged at the upper end of the small emission rotating wheel (302) and used for detecting and acquiring surrounding environment information.
5. The double-shot-peening-opposed robotic vehicle of claim 1, wherein: the big pan-tilt module (4) comprises: the system comprises a cradle head ballistic trajectory (401), a ballistic stirring piece (402), a ballistic motor (403), a cradle head supporting plate (404), a cradle head brushless motor (405), a motor support (406), a cradle head shielding plate (407), a cradle head supporting transverse plate (408), a cradle head supporting vertical plate (409), a ballistic part (412), a large transmitting tube (414), a cradle head brushless motor II (415) and a large cradle head camera (416); the cradle head brushless motor (405) and the cradle head brushless motor II (415) jointly control the integral rotation of the cradle head; the horizontal holder supporting plate (408) and the vertical holder supporting plate (409) support the whole large holder module together;
the ballistic dial-up piece (402) is fixed on a ballistic motor (403) and is jointly fixed on a tripod head ballistic (401), the rear end of a ballistic part (412) is fixed with the tripod head ballistic (401), the front end of the ballistic part is fixed with a large launching tube (414), two large launching rotating wheels (413) are respectively fixed on the left side and the right side of the ballistic part (412), and the rotating wheels rotate at high speed to drive the shots to launch; the motor drives the trajectory shifting piece (402) to rotate to control the shot launching time from a large magazine, the two cradle head supporting plates (404) support the whole part of a large cradle head, the cradle head brushless motor (405) is fixed on the motor support (406) and is jointly fixed on the cradle head supporting plate (404), the rotating cradle head part is driven to rotate around a pitch shaft, the cradle head shielding plates (407) are fixed at two ends of the cradle head supporting plate (404), and the cradle head brushless motor II (415) supports and drives the rotating cradle head part to rotate around a yaw shaft.
6. The double-shot-peening-opposed robotic vehicle of claim 2, wherein: a poking wheel sheet (104) fixed in the poking wheel cover (102) is subjected to simulation test and physical test to obtain a right-angled triangle body with the height of 4-8 mm, the length of 8-10mm and the radian, wherein the radian of the right-angled triangle body is required to be more than 35 degrees and less than 50 degrees of tangency angle with the bottom surface of the triangle; big shot can enough be in the cover can be in the same direction as smooth rotation get into big ballistic bend (107), can not lead to big shot to block in pipeline inside because of rocking simultaneously, also can not lead to whole big courage storehouse module to produce harmful vibration, arouses unstablely.
7. The double-shot peening machine vehicle of claim 5, wherein: and the rotation amplitude of the second cradle head brushless motor (415) reaches 200 degrees, and the large cradle head is rotated under the source information transmission of the large cradle head camera (416).
8. The double-shot peening machine vehicle of claim 5, wherein: the cradle head trajectory (401) is connected with the large trajectory pipe (108) through a fabric round pipe, so that the cradle head trajectory (401) has considerable ductility, and the situation that under any condition, pills can smoothly enter the cradle head trajectory (401) from the large trajectory pipe (108) is guaranteed.
9. The double-shot peening machine vehicle of claim 5, wherein: the horizontal holder supporting plate (408) and the vertical holder supporting plate (409) are fixedly connected in a pi shape and are directly fixed on one layer of the bottom plate through designed L-shaped angle codes for supporting the whole large holder module.
10. The double-shot peening machine vehicle of claim 4, wherein: the small driving plate (313) and the trajectory rotating piece (311) are fixed at the middle position of the long axis direction of the small cloud platform magazine module, and the bullet outlet of the small driving plate (313) and the left port of the trajectory rotating piece (311) are in tangent positions by rotating the respective position angles, so that the small trajectory straight pipe (309) is connected, the clamping between the trajectories is guaranteed, the trajectory of small shots is smooth, and the trajectory length is reduced.
11. The double-shot peening machine vehicle of claim 4, wherein: preforming (317) are located the rear portion of little transmission runner (302), through bend angle and elasticity scope, form the blocking to the little pellet that gets into, be unlikely to again block the pellet, last launching tube (303) mounting is the major axis form of interior round foreign side, and inside being hollow cylinder promptly, the outside is the cuboid for connect launching tube and cloudlet platform rotating part, guarantee the axiality of the bullet of walking of pellet, realize simultaneously that the vibration of little pellet transmission can reduce with the same amplitude, increase the shot precision of transmission.
12. A method for realizing a double-shooting-impact-resistance machine vehicle is characterized by comprising the following steps: the device comprises a bottom frame, a large magazine module, a large holder module and a small cloud platform magazine module; the bottom framework constructs the basic structural logic of the whole machine vehicle, the flash protection plate is associated with the control equipment on the first layer and the second layer of the bottom plate, and the flash protection plate can flash red and blue lamps in time to send signals and protect the control equipment on the bottom plate; the large impeller is driven by a motor to rotate, the pills are transmitted to a pill outlet of the impeller cover in a rotating mode, ascend along a large ballistic bend pipe until passing through an outlet of a large ballistic pipe and directly enter the cradle head ballistic through a fabric round pipe, and the ballistic impeller rotates timely under the control of the corresponding motor to convey the large pills to a large launching rotating wheel and launch the large pills accordingly; the large magazine is lifted to a certain position by means of the structure of the bottom frame and matched with the position of the large holder module; the small driving plate rotates to press small pills into a designed small trajectory, and finally the small pills enter a small launching runner to be launched out; the small cloud platform camera observes surrounding information and provides image data, automatic scanning is finally achieved, and the large cloud platform camera observes surrounding information and provides information data.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117533245A (en) * | 2024-01-09 | 2024-02-09 | 绵阳师范学院 | Multidirectional vision covered inspection robot |
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