CN113319867B - Arrow throwing robot and throwing method - Google Patents

Abstract

The invention discloses an arrow projecting robot and a projecting method, and relates to the field of robot technology. The arrow-throwing robot includes a movable frame, an arrow-holding transfer mechanism, an arrow-throwing mechanism and an arrow angle adjustment mechanism; the arrow-holding and transfer mechanism includes a bearing frame, a lifting plate, a rotary drive assembly, a lift drive assembly, Multi-degree-of-freedom manipulator arm and gripper; the arrow projection mechanism is set on the frame, on which there is an arrow hanging position for hanging the arrow, which is used to hang the arrow hanging on the arrow hanging position Throw it out. An arrow throwing method, applied to an arrow throwing robot, the throwing method is as follows: 1, grab the arrow; 2, hang the arrow on the throwing rack; 3, adjust the hanging posture of the arrow; 4, throw the arrow Archery arrows. The advantage of the invention is that the automatic grasping, transferring and launching of arrows can be realized, the whole archery process does not need manual intervention, and the degree of intelligence and automation is high.

Description

Arrow throwing robot and throwing method

technical field

The invention relates to the technical field of robots, in particular to an arrow projecting robot and a projecting method.

Background technique

With the advancement of technology, various kinds of robots have appeared in modern society, including robots that play games with people. People play games and competitions with robots, which greatly stimulates people's enthusiasm for participation and enables people to learn a lot of scientific and technological knowledge. Therefore, game robots have appeared in various technological venues, and various game robots are attracting The majority of tourists, especially young people, bring them endless joy and useful knowledge.

Archery is a traditional game and competition for our people, but compared with other sports, there are relatively few people who like archery. The main reason is that archery is mostly a single-player sport, which lacks competitiveness and is difficult to arouse people's interest. Therefore, it is very meaningful to develop an archery robot to meet the needs of archery enthusiasts, arouse the public's interest in archery, and make the participants gain knowledge and happiness in the archery competition with the archery robot.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies of the prior art, and to provide an arrow throwing robot and a throwing method, which can enable participants to gain knowledge and happiness in the archery competition with the archery robot, which is beneficial to the promotion of archery.

The technical scheme of the present invention is: the arrow-throwing robot includes a movable frame, an arrow-holding and transferring mechanism, an arrow-throwing mechanism and an arrow-angle adjustment mechanism;

The movable frame includes a frame, a front wheel, a front wheel drive mechanism, a rear wheel and a rear wheel drive mechanism; the frame is a square frame with wheel installation areas at the front and rear corners; The wheels are respectively arranged in the wheel installation areas at the two corners of the front end of the frame; the two groups of front wheel drive mechanisms are respectively associated with the two front wheels to drive the two front wheels to rotate independently; the two rear wheels are respectively arranged at the rear end of the frame In the wheel installation area at the two corners; two sets of rear wheel drive mechanisms are respectively associated with the two rear wheels to drive the two rear wheels to rotate independently;

The arrow grasping and transferring mechanism includes a bearing frame, a lifting plate, a rotary drive assembly, a lifting drive assembly, a multi-degree-of-freedom mechanical arm and a gripper; the bearing frame includes an upper plate, a middle plate, a lower plate and a guide rod, and the upper plate and the middle plate and the lower plate are arranged at intervals from top to bottom, the number of guide rods is multiple, all the guide rods are arranged in parallel and vertically, and the guide rods are respectively fixed with the upper board, the middle board and the lower board from top to bottom, so as to connect It forms an integral bearing frame, and the bearing frame is provided with an action area between the upper plate and the middle plate for the movement of the lifting plate; the lifting plate is provided with a plurality of guide holes, and the lifting plate passes through the guide holes on the lifting plate and all guides. The rod is installed in a sliding fit and is located in the action area of the bearing frame; the rotation driving component is located at the lower end of the bearing frame and is associated with the bearing frame, which is used to drive the bearing frame to rotate; the lifting driving component is installed on the bearing frame and is associated with the lifting plate, The lifting plate is driven to move up and down along the guide rod; the rear end of the multi-degree-of-freedom mechanical arm is fixedly connected with the lifting plate, and the front end is connected with the clamping jaw; the clamping jaw is provided with a clamping station for catching arrows;

The arrow ejection mechanism is arranged on the rack, and an arrow hanging position for hanging the arrow is arranged on the frame, which is used for projecting the arrow hanging on the arrow hanging position;

The arrow angle adjustment mechanism is arranged on the frame and is located at the lower end of the arrow projection mechanism, and is used for adjusting the angle of the arrow hung on the arrow hanging position.

The further technical scheme of the present invention is: the arrow projection mechanism includes a projection frame, a rotating shaft A, a driving motor A and a support; one end of the projection frame is the rear end, and the other end is the front end, and the projection frame is provided with a U for hanging arrows at the front end. The shaft A is arranged horizontally and is fixedly connected to the projectile rack. One end of the shaft A is movably installed on the frame through a bearing, and the other end of the shaft A is connected to the shaft of the drive motor A through a coupling; the drive motor A is fixedly installed On the frame, its shaft rotates to drive the rotation axis A, which in turn drives the projectile to rotate in the vertical plane; the bracket is fixedly installed on the frame and is on the rotation path of the projectile. When the bracket is connected to the lower end of the middle of the projectile When they touch each other, the projectile frame is in a horizontal state; the arrows are hung and placed in a U-shaped notch.

A further technical solution of the present invention is: the arrow angle adjustment mechanism includes a steering gear, a connecting rod and a C-shaped holder; the steering gear is directly or indirectly fixedly installed on the frame, and the shaft of the steering gear is connected with the front end of the connecting rod; The C-shaped handle is located just below the front end of the projectile rack, one end of which is open and the other end is closed, and the closed end is connected to the rear end of the connecting rod.

A further technical solution of the present invention is that: the clamping claw comprises a base, a C-shaped half claw, a gear and an opening and closing drive motor; the base is fixedly installed at the front end of the multi-degree-of-freedom mechanical arm; one side of the C-shaped half claw is provided with an inner arc The other side is provided with an outer arc surface, one end is provided with a rotating shaft B, the other end is arranged with a plurality of teeth at intervals, and there are slits between adjacent teeth, and the two C-shaped half-side claws are respectively rotatably installed on the rotating shaft B through the rotating shaft B. The two sides of the base are arranged with the inner arc surfaces facing each other; when the two C-shaped half-claws are rotated and closed, the teeth and seams of the two C-shaped half-claws are staggered and connected; when the two C-shaped half-claws are turned back and opened , the teeth of the two C-shaped half claws are separated from each other to form an opening; the two gears are fixedly installed on the two C-shaped half claws, mesh with each other, and are arranged coaxially with the two rotating shafts B respectively; the opening and closing drive motor is fixed It is installed on the base and is associated with one of the two rotating shafts B to drive the rotating shaft B and the C-shaped half claw connected to the rotating shaft B to rotate synchronously, and drive the other rotating shaft B and the other through the meshing of the two gears. A C-shaped half claw rotates synchronously; the clamping station is located between the two C-shaped half claw.

A further technical solution of the present invention is as follows: the rotary drive assembly includes a disc motor, a plane bearing and a base plate; the disc motor is fixedly installed on the base plate, and its shaft extends vertically upward, and after passing through the lower plate of the bearing frame, it is fixed Connected to the lower end of the middle plate of the bearing frame; the plane bearing is arranged between the bottom plate and the lower plate of the bearing frame, the upper half of the plane bearing is fixedly connected with the lower plate of the bearing frame, and the lower half of the plane bearing is fixedly connected with the bottom plate.

A further technical solution of the present invention is: the lift drive assembly includes a drive motor B, a driving wheel, a driven wheel, a timing belt and an L-shaped connecting seat; the driving motor B is fixedly installed on the upper surface of the middle plate of the bearing frame; the driving wheel is fixed It is installed on the shaft of the drive motor B; the driven wheel is movably installed on the upper plate of the bearing frame through the bearing and the bearing seat, and the synchronous belt is tensioned and wound between the driving wheel and the driven wheel; one end of the L-shaped connecting seat is connected to the synchronous belt Fixed connection, and the other end is fixedly connected with the lifting plate.

A further technical solution of the present invention is that the vertical plane swept by the rotation path of the C-shaped handle coincides with the vertical plane swept by the rotation path of the projectile rack.

A further technical solution of the present invention is: the front wheel drive mechanism includes a motor A and a coupling A, the motor A is fixedly installed on the frame, and its crankshaft is connected with the front wheel through the coupling A; the rear wheel drive mechanism includes an arch frame, guide rod, floating plate, shock-absorbing spring, motor B and coupling B; the arch frame is fixedly installed on the frame; the guide rod passes through the floating plate, and is connected to the arch frame and the machine at the upper and lower ends respectively. The frame is fixedly connected; the floating plate is movably sleeved on the guide rod and is located between the arch frame and the frame; the shock-absorbing spring is sleeved on the guide rod and is located between the arch frame and the floating plate, which makes the floating plate through elastic force. Keep pressing down on the frame; the motor B is fixedly installed on the floating plate, and its shaft is connected to the rear wheel through the coupling B; the front wheel and the rear wheel are omnidirectional wheels, and any two adjacent full The angle between the wheels is 90°.

The technical scheme of the present invention is: an arrow projection method, which is applied to the above-mentioned arrow projection robot. Before the automatic projection operation is performed, the arrow projection robot is in an initial state, and in the initial state:

a. The connecting rod is rotated to the vertical state and is located at the lower end of the steering gear;

b. The lower end of the middle part of the projectile rack is in contact with the bracket;

c. The teeth of the two C-shaped half-jaws of the jaws are separated from each other to form an opening;

The ejection method is as follows:

S01, grab the arrow:

a. On the one hand, start the drive motor B, and drive the lifting plate to move vertically along the guide rod through the operation of the synchronous belt; the shaft of the arrow to the target;

b. The opening and closing drive motor is started, so that the two C-shaped half-side claws of the clamping jaw are closed, and the arrow shaft is firmly clamped between the two C-shaped half-side claws of the clamping jaw;

S02, hang the arrows on the projectile rack:

a. On the one hand, start the drive motor B, and drive the lifting plate to move vertically along the guide rod through the operation of the synchronous belt. On the other hand, adjust the posture of the multi-degree-of-freedom mechanical arm to realize the adjustment of the jaw posture, so that the arrow shaft extends into the projectile in the U-shaped notch of the frame;

b. The opening and closing drive motor is started, so that the two C-shaped half-side claws of the clamping jaw are separated, and the arrow is hung in the U-shaped gap of the projectile through the step surface between the arrow and the arrow shaft, and is in a vertical state;

S03, adjust the hanging posture of the arrow: the steering gear is activated, driving the connecting rod to rotate, and adjusting the angle formed by the arrow and the horizontal plane through the C-shaped support;

S04, throwing arrows:

The drive motor A starts, and drives the front end of the ejection rack to rotate to the front and top of the rack. When the ejection rack stops rotating, the arrows placed on the ejection rack are thrown out;

In this step, the faster the rotation speed of the projectile rack is, the farther the projectile distance is, and vice versa.

Compared with the prior art, the present invention has the following advantages:

1. The automatic grasping, transferring and launching of arrows can be realized. The whole archery process does not require manual intervention, and the degree of intelligence and automation is high, which enables participants to gain knowledge and happiness in the archery competition with the archery robot, which is conducive to archery Promotion of sports.

2. The C-shaped handle moves the arrow shaft to adjust the hanging attitude of the arrow on the ejection rack, so that the arrow maintains the stable attitude before ejection, and avoids the arrow swaying on the ejection rack, resulting in inaccurate ejection direction. It has the effect of adjusting the arrow's projection trajectory.

3. The plane bearing is arranged between the bearing frame and the bottom plate. On the one hand, the plane bearing ensures the rotation stability of the bearing frame, and on the other hand, it shares most of the weight of the bearing frame for the disc motor, which protects the disc motor. effect.

4. The rotation drive component, the lift drive component, and the multi-degree-of-freedom mechanical arm can be actuated separately to adjust the spatial posture of the gripper.

5. The two rear wheels are installed on the frame using a "floating" installation structure (the rear wheels are connected to the motor B, which is installed on the floating plate, which is associated with the frame through the shock-absorbing spring). On the one hand, the projectile rack will have a greater impact on the rack when it is raised and lowered. This structure can effectively unload the impact or vibration transmitted to the rack, avoid damage to the components installed on the rack due to impact or vibration, and prolong the prolongs the life of rack-mounted components. On the other hand, the "floating" installation structure adopted by the two rear wheels ensures that the two front wheels and the two rear wheels can all contact the ground, which reduces the installation accuracy requirements of the front and rear wheels, and avoids the need for a certain The omnidirectional wheel does not touch the ground, which leads to the failure of the frame movement control, which ensures the reliability of the ball machine.

6. The four omnidirectional wheels form a 90° angle. Compared with the traditional parallel arrangement of the front and rear wheels, this structure can realize the self-locking of the frame when it is stationary, and avoid the frame when it is stationary. Slippage occurs, on the other hand, by individually controlling the rotational speed of each omnidirectional wheel, free movement of the frame in all directions can be achieved.

The present invention will be further described below with reference to figures and embodiments.

Description of drawings

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the structural principle diagram of the rotary drive assembly;

Fig. 3 is the structural representation of the rack;

Figure 4 is a schematic structural diagram of a rear wheel drive mechanism;

Figure 5 is a schematic structural diagram of a gripper;

Fig. 6 is the state diagram when the arrow projection method S01 step ends;

Fig. 7 is the state diagram when the arrow projection method S02 step finishes;

Fig. 8 is the state diagram when the arrow projection method S03 step ends;

FIG. 9 is a state diagram at the end of step S04 of the arrow projecting method.

Legend description: frame 11; wheel mounting area 111; front wheel 12; motor A131; coupling A132; rear wheel 14; arch frame 151; guide rod 152; floating plate 153; Shaft B156; upper plate 211; middle plate 212; lower plate 213; guide rod 214; lift plate 22; disc motor 231; plane bearing 232; bottom plate 233; motor B241; ; L-shaped connecting seat 245; multi-degree-of-freedom mechanical arm 25; clamping jaw 26; base 261; C-shaped half jaw 262; gear 263; opening and closing drive motor 264; Motor A33; bracket 34; steering gear 41; connecting rod 42; C-shaped handle 43.

Detailed ways

Example 1:

As shown in Figure 1-5, the arrow-throwing robot includes a movable frame, an arrow-holding and transferring mechanism, an arrow-throwing mechanism and an arrow-angle adjustment mechanism.

The movable frame includes a frame 11, a front wheel 12, a front wheel drive mechanism, a rear wheel 14 and a rear wheel drive mechanism. The frame 11 is a square frame, and wheel mounting areas 111 are respectively provided at the two corners of the front end and the two corners of the rear end. The two front wheels 12 are respectively arranged in the wheel installation areas 111 at the two corners of the front end of the frame 11 . The two groups of front wheel drive mechanisms are respectively associated with the two front wheels 12 to drive the two front wheels 12 to rotate independently. The front wheel drive mechanism includes a motor A131 and a coupling A132. The motor A131 is fixedly installed on the frame 11, and its crankshaft is connected to the front wheel 12 through the coupling A132. The two rear wheels 14 are respectively arranged in the wheel installation areas 111 at the two corners of the rear end of the frame 11 . Two sets of rear wheel drive mechanisms are respectively associated with the two rear wheels 14 to drive the two rear wheels 14 to rotate independently. The rear wheel drive mechanism includes an arch frame 151 , a guide rod 152 , a floating plate 153 , a damping spring 154 , a motor B155 and a coupling B156 . The arch frame 151 is fixedly mounted on the frame 11 . The guide rod 152 passes through the floating plate 153 and is fixedly connected to the arch frame 151 and the frame 11 at the upper and lower ends respectively. The floating plate 153 is movably sleeved on the guide rod 152 and is located between the arch frame 151 and the frame 11 . The shock-absorbing spring 154 is sheathed on the guide rod 152 and is located between the arch frame 151 and the floating plate 153 , which keeps the floating plate pressed down on the frame 11 by elastic force. The motor B155 is fixedly mounted on the floating plate 153, and its crankshaft is connected with the rear wheel 14 through the coupling B156.

The arrow grasping and transferring mechanism includes a bearing frame, a lifting plate 22 , a rotation driving component, a lifting driving component, a multi-degree-of-freedom mechanical arm 25 and a clamping jaw 26 . The bearing frame includes an upper plate 211, a middle plate 212, a lower plate 213 and a guide rod 214. The upper plate 211, the middle plate 212 and the lower plate 213 are arranged at intervals from top to bottom. There are multiple guide rods 214. All the guide rods 214 are arranged in parallel and vertically, and the guide rods 214 are respectively fixed with the upper plate 211, the middle plate 212 and the lower plate 213 from top to bottom, so as to form an integral bearing frame, the bearing frame is on the upper plate 211 and the middle plate 212. There is an action area 215 between which the lift plate can move. The lift plate 22 is provided with a plurality of guide holes, the lift plate 22 is installed in sliding fit with all the guide rods 214 through the guide holes on the lift plate 22, and is located in the action area 215 of the carrying frame. The rotation driving assembly is located at the lower end of the bearing frame and is associated with the bearing frame, and is used for driving the bearing frame to rotate. The lift drive assembly is mounted on the carrier frame and is associated with the lift plate 22 to drive the lift plate 22 to move up and down along the guide rod 214 . The rear end of the multi-degree-of-freedom mechanical arm 25 is fixedly connected with the lifting plate 22 , and the front end is connected with the clamping jaw 26 . The clamping jaw 26 is provided with a clamping station for grasping the arrow.

The arrow ejection mechanism is arranged on the frame 11, and an arrow hanging position for hanging the arrow is arranged on the frame 11, which is used for throwing the arrow hanging on the arrow hanging position. The hanging position of the arrow is a U-shaped notch 311 . The arrow projection mechanism includes a projection frame 31 , a rotating shaft 32 , a drive motor A33 and a bracket 34 . One end of the ejection rack 31 is the rear end, and the other end is the front end. The ejection rack 31 is provided with a U-shaped notch 311 at the front end for hanging arrows. The rotating shaft 32 is arranged horizontally and is fixedly connected with the ejection frame 31. One end of the rotating shaft 32 is movably installed on the frame 11 through a bearing, and the other end of the rotating shaft 32 is connected to the crankshaft of the driving motor A33 through a coupling. The drive motor A33 is fixedly installed on the frame 11, and its crankshaft rotates to drive the rotation shaft 32 to rotate, thereby driving the projectile frame 31 to rotate in a vertical plane. The bracket 34 is fixedly installed on the frame 11 and is on the rotation path of the ejection rack 31. When the bracket 34 is in contact with the lower end of the middle of the ejection rack 31, the ejection rack 31 is in a horizontal state and cannot be rotated downward.

The arrow angle adjustment mechanism is arranged on the frame 11 and is located at the lower end of the arrow projection mechanism, which is used to adjust the angle of the arrow hung on the arrow hanging position. The arrow angle adjustment mechanism includes a steering gear 41 , a connecting rod 42 and a C-shaped handle 43 . The steering gear 41 is indirectly fixed and installed on the frame 11 , and the shaft of the steering gear 41 is connected to the front end of the connecting rod 42 . The C-shaped handle 43 is located just below the front end of the projectile frame 31 , one end of which is open and the other end is closed, and its closed end is connected to the rear end of the connecting rod 42 . turn inside.

Preferably, the front wheel 12 and the rear wheel 14 are both omnidirectional wheels, and the included angle between any two adjacent omnidirectional wheels 13 is 90°. On the one hand, this structure can realize the self-locking of the frame 11 in a static state, so as to prevent the frame 11 from slipping when it is at rest, and on the other hand, by individually controlling the rotation speed of each omnidirectional wheel, the omnidirectional direction of the frame 11 can be realized. Move freely.

Preferably, the rotary drive assembly includes a disc motor 231 , a plane bearing 232 and a base plate 233 . The disc motor 231 is fixedly mounted on the bottom plate 233, and its shaft extends vertically upward, passes through the lower plate 213 of the bearing frame, and is fixedly connected to the lower end of the middle plate 212 of the bearing frame. The plane bearing 232 is arranged between the bottom plate 233 and the lower plate 213 of the carrier frame. This structural design can prevent the bearing of the disc motor 231 from being too heavy while realizing the rotation function, and can distribute the load to the plane bearing 232 and the bottom plate 233 .

Preferably, the lift drive assembly includes a drive motor B241 , a driving pulley 242 , a driven pulley 243 , a timing belt 244 and an L-shaped connecting seat 245 . The driving motor B241 is fixedly mounted on the upper surface of the middle plate 212 of the carrier frame. The driving wheel 242 is fixedly mounted on the crankshaft of the drive motor B241. The driven pulley 243 is movably mounted on the upper plate 211 of the bearing frame through the bearing and the bearing seat, and the synchronous belt 244 is tensioned and wound between the driving pulley 242 and the driven pulley 243 . One end of the L-shaped connecting seat 245 is fixedly connected with the timing belt 244 , and the other end is fixedly connected with the lifting plate 22 .

Preferably, the clamping jaw 26 includes a base 261 , a C-shaped half jaw 262 , a gear 263 and an opening and closing driving motor 264 . The base 261 is fixedly mounted on the front end of the multi-degree-of-freedom robotic arm 25 . One side of the C-shaped half claw 262 is provided with an inner arc surface, the other side is provided with an outer arc surface, one end is provided with a rotating shaft, the other end is provided with a plurality of teeth at intervals, and there are slits between adjacent teeth. The half-side claws 262 are respectively rotatably installed on both sides of the base 261 through the rotating shaft, and the inner arc surfaces are arranged opposite to each other. When the two C-shaped half-claws 262 are rotated toward each other and closed, the teeth and the slits of the two C-shaped half-claws 262 are inserted in a staggered manner. When the two C-shaped half-claws 262 are rotated back and opened, the teeth of the two C-shaped half-claws 262 are separated from each other to form an opening. The two gears 263 are fixedly mounted on the two C-shaped half-side claws 262 respectively, mesh with each other, and are respectively arranged coaxially with the two rotating shafts. The opening and closing drive motor 264 is fixedly installed on the base 261 and is associated with one of the two rotating shafts to drive the rotating shaft and the C-shaped half claw 262 connected to the rotating shaft to rotate synchronously, and drive the other through the meshing of the two gears. The root shaft rotates synchronously with another C-shaped half claw 262 . The gripping station is located between the two C-shaped half jaws 262 .

Preferably, the vertical plane swept by the rotation path of the C-shaped handle 43 coincides with the vertical plane swept by the rotation path of the projectile rack 31 . Based on this structure, when the C-shaped holder 43 adjusts the angle of the arrow, the adjusted arrow will also be on the vertical plane swept by the rotation path of the ejector frame 31, which is beneficial to maintain the stability and stability of the arrow. Accuracy.

An arrow throwing method, based on the above-mentioned arrow throwing robot, before the automatic throwing operation is performed, the arrow throwing robot is in an initial state, and in the initial state:

a. The connecting rod 42 is rotated to a vertical state, and is located at the lower end of the steering gear 41;

b. The lower end of the middle part of the projectile frame 31 is in contact with the bracket 34;

c. The teeth of the two C-shaped half jaws 262 of the clamping jaw 26 are separated from each other to form an opening.

S01, grab the arrow:

a. On the one hand, start the drive motor B241, and drive the lifting plate 22 to move vertically along the guide rod 214 through the operation of the synchronous belt 244; The opening of the clamping jaw 26 is facing the shaft of the target arrow;

b. The opening and closing drive motor 4234 is activated to close the two C-shaped half-side claws 262 of the clamping jaw 26 , and the arrow shaft is firmly clamped between the two C-shaped half-side claws 262 of the clamping jaw 26 .

S02, hang the arrows on the projectile rack:

a. On the one hand, start the drive motor B241, and drive the lifting plate 22 to move vertically along the guide rod 214 through the operation of the synchronous belt 244; The arrow shaft extends into the U-shaped notch 311 of the ejection rack 31;

b. The opening and closing drive motor 4234 is activated to separate the two C-shaped half-side claws 262 of the clamping jaw 26, and the arrow is hung in the U-shaped notch 311 of the projectile frame 31 through the step surface between the arrow and the arrow shaft, and upright.

S03, adjust the hanging posture of the arrow: the steering gear 41 is activated to drive the connecting rod 42 to rotate, and the angle formed by the arrow and the horizontal plane is adjusted through the C-shaped handle 43.

S04, throwing arrows: the driving motor A33 is started, and drives the front end of the throwing rack 31 to rotate upwards. When the throwing rack 31 stops rotating, the arrows placed on the throwing rack 31 are thrown out;

In this step, the faster the rotation speed of the ejection frame 31 is, the longer the ejection distance is, and vice versa.

Claims (7)

1. The arrow-throwing robot is characterized in that it comprises a movable frame, an arrow-holding and transferring mechanism, an arrow-throwing mechanism and an arrow-angle adjustment mechanism; The movable frame includes a frame, a front wheel, a front wheel drive mechanism, a rear wheel and a rear wheel drive mechanism; the frame is a square frame with wheel installation areas at the front and rear corners; The wheels are respectively arranged in the wheel installation areas at the two corners of the front end of the frame; the two groups of front wheel drive mechanisms are respectively associated with the two front wheels to drive the two front wheels to rotate independently; the two rear wheels are respectively arranged at the rear end of the frame In the wheel installation area at the two corners; two sets of rear wheel drive mechanisms are respectively associated with the two rear wheels to drive the two rear wheels to rotate independently; The arrow grasping and transferring mechanism includes a bearing frame, a lifting plate, a rotary drive assembly, a lifting drive assembly, a multi-degree-of-freedom mechanical arm and a gripper; the bearing frame includes an upper plate, a middle plate, a lower plate and a guide rod, and the upper plate and the middle plate and the lower plate are arranged at intervals from top to bottom, the number of guide rods is multiple, all the guide rods are arranged in parallel and vertically, and the guide rods are respectively fixed with the upper board, the middle board and the lower board from top to bottom, so as to connect It forms an integral bearing frame, and the bearing frame is provided with an action area between the upper plate and the middle plate for the movement of the lifting plate; the lifting plate is provided with a plurality of guide holes, and the lifting plate passes through the guide holes on the lifting plate and all guides. The rod is installed in a sliding fit and is located in the action area of the bearing frame; the rotation driving component is located at the lower end of the bearing frame and is associated with the bearing frame, which is used to drive the bearing frame to rotate; the lifting driving component is installed on the bearing frame and is associated with the lifting plate, The lifting plate is driven to move up and down along the guide rod; the rear end of the multi-degree-of-freedom mechanical arm is fixedly connected with the lifting plate, and the front end is connected with the clamping jaw; the clamping jaw is provided with a clamping station for catching arrows; The arrow ejection mechanism is set on the rack, and an arrow hanging position for hanging the arrow is arranged on the frame, which is used to eject the arrows hung on the arrow hanging position; the arrow ejection mechanism includes the ejection frame, rotating shaft A, driving motor A and bracket; one end of the projectile frame is the rear end, the other end is the front end, and the projectile frame is provided with a U-shaped notch at the front end for hanging arrows; the shaft A is arranged horizontally and is fixed to the projectile frame One end of the rotating shaft A is movably installed on the frame through a bearing, and the other end of the rotating shaft A is connected with the shaft of the driving motor A through a coupling; the driving motor A is fixedly installed on the frame, and its shaft rotates to drive the rotating shaft A to rotate, Then, the projectile rack is driven to rotate in the vertical plane; the bracket is fixedly installed on the rack and is on the rotation path of the projectile rack. When the bracket and the lower end of the middle part of the projectile rack are in contact, the projectile rack is in a horizontal state; the arrow hangs Placed as a U-shaped notch; The arrow angle adjustment mechanism is arranged on the frame and is located at the lower end of the arrow projection mechanism, which is used to adjust the angle of the arrow hung on the arrow hanging position; the arrow angle adjustment mechanism includes a steering gear, a connecting rod and a C-shaped handle; the steering gear is directly or indirectly fixed on the frame, and the shaft of the steering gear is connected to the front end of the connecting rod; the C-shaped handle is located just below the front end of the projectile rack, one end of which is open and the other end is closed. The closed end is connected to the rear end of the connecting rod, and the C-shaped handle rotates in the vertical plane under the driving of the steering gear. 2. The arrow-throwing robot as claimed in claim 1, wherein the gripper comprises a base, a C-shaped half claw, a gear and an opening and closing drive motor; the base is fixedly mounted on the front end of the multi-degree-of-freedom mechanical arm; C One side of the half claw is provided with an inner arc surface, the other side is provided with an outer arc surface, one end is provided with a rotating shaft B, the other end is arranged with a plurality of teeth at intervals, and there are slits between adjacent teeth, and the two C-shaped half The claws are rotatably installed on both sides of the base through the rotating shaft B, and the inner arc surfaces are arranged oppositely; when the two C-shaped half claws are rotated and closed, the teeth and seams of the two C-shaped half claws are staggered. When the C-shaped half-claw is turned back and opened, the teeth of the two C-shaped half-claws are separated from each other to form an opening; the two gears are fixedly installed on the two C-shaped half-claw respectively, mesh with each other, and are respectively connected with the two rotating shafts B Coaxial arrangement; the opening and closing drive motor is fixedly installed on the base and is associated with one of the two rotating shafts B, so as to drive the rotating shaft B and the C-shaped half claw connected to the rotating shaft B to rotate synchronously, and pass the two gears. The meshing drives another rotating shaft B and another C-shaped half claw to rotate synchronously; the clamping station is located between the two C-shaped half claw. 3. The arrow-throwing robot according to claim 2, characterized in that: the rotary drive assembly comprises a disc motor, a plane bearing and a base plate; the disc motor is fixedly installed on the base plate, and its crankshaft extends vertically upward, and passes through it. After passing through the lower plate of the bearing frame, it is fixedly connected to the lower end of the middle plate of the bearing frame; the plane bearing is arranged between the bottom plate and the lower plate of the bearing frame, the upper half of the plane bearing is fixedly connected with the lower plate of the bearing frame, and the The lower part is fixedly connected with the bottom plate. 4. The arrow-throwing robot as claimed in claim 3, wherein the lifting and lowering drive assembly comprises a driving motor B, a driving wheel, a driven wheel, a timing belt and an L-shaped connecting seat; the driving motor B is fixedly installed in the middle of the bearing frame On the upper surface of the plate; the driving wheel is fixedly installed on the shaft of the driving motor B; the driven wheel is movably installed on the upper plate of the bearing frame through the bearing and the bearing seat, and the synchronous belt is tensioned and wound between the driving wheel and the driven wheel. ; One end of the L-shaped connecting seat is fixedly connected with the synchronous belt, and the other end is fixedly connected with the lifting plate. 5 . The arrow-throwing robot according to claim 4 , wherein the vertical plane swept by the rotation path of the C-shaped holder coincides with the vertical plane swept by the rotation path of the projectile frame. 6 . 6. The arrow-throwing robot according to any one of claims 1-5, wherein the front wheel drive mechanism comprises a motor A and a coupling A, and the motor A is fixedly installed on the frame, and its crankshaft passes through The coupling A is connected with the front wheel; the rear wheel drive mechanism includes an arch frame, a guide rod, a floating plate, a shock-absorbing spring, a motor B and a coupling B; the arch frame is fixedly installed on the frame; the guide rod passes through The floating plate is fixedly connected with the arch frame and the frame at the upper and lower ends respectively; the floating plate is movably sleeved on the guide rod and is located between the arch frame and the frame; the shock-absorbing spring is sleeved on the guide rod and located at the Between the arch frame and the floating plate, the floating plate is kept pressed down on the frame by elastic force; the motor B is fixedly installed on the floating plate, and its shaft is connected with the rear wheel through the coupling B; the front wheel and The rear wheels are all omnidirectional wheels, and the included angle between any two adjacent omnidirectional wheels is 90°. 7. an arrow projection method, is applied to the arrow projection robot described in claim 5 or 6, it is characterized in that, before performing automatic projection operation, the arrow projection robot is in initial state, under initial state: a. The connecting rod is rotated to the vertical state and is located at the lower end of the steering gear; b. The lower end of the middle part of the projectile rack is in contact with the bracket; c. The teeth of the two C-shaped half-jaws of the jaws are separated from each other to form an opening; The ejection method is as follows: S01, grab the arrow: a. On the one hand, start the drive motor B, and drive the lifting plate to move vertically along the guide rod through the operation of the synchronous belt; the shaft of the arrow to the target; b. The opening and closing drive motor is started, so that the two C-shaped half-side claws of the clamping jaw are closed, and the arrow shaft is firmly clamped between the two C-shaped half-side claws of the clamping jaw; S02, hang the arrows on the projectile rack: a. On the one hand, start the drive motor B, and drive the lifting plate to move vertically along the guide rod through the operation of the synchronous belt. On the other hand, adjust the posture of the multi-degree-of-freedom mechanical arm to realize the adjustment of the jaw posture, so that the arrow shaft extends into the projectile in the U-shaped notch of the frame; b. The opening and closing drive motor is started, so that the two C-shaped half-side claws of the clamping jaw are separated, and the arrow is hung in the U-shaped gap of the projectile through the step surface between the arrow and the arrow shaft, and is in a vertical state; S03, adjust the hanging posture of the arrow: the steering gear is activated, driving the connecting rod to rotate, and adjusting the angle formed by the arrow and the horizontal plane through the C-shaped support; S04, throwing arrows: The drive motor A starts, and drives the front end of the ejection rack to rotate to the front and top of the rack. When the ejection rack stops rotating, the arrows placed on the ejection rack are thrown out; In this step, the faster the rotation speed of the projectile rack is, the farther the projectile distance is, and vice versa.

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