CN114894032A - Integrated friction wheel archery device - Google Patents
Integrated friction wheel archery device Download PDFInfo
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- CN114894032A CN114894032A CN202210713000.0A CN202210713000A CN114894032A CN 114894032 A CN114894032 A CN 114894032A CN 202210713000 A CN202210713000 A CN 202210713000A CN 114894032 A CN114894032 A CN 114894032A
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- 230000007246 mechanism Effects 0.000 claims abstract description 65
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 25
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 25
- 230000001360 synchronised effect Effects 0.000 claims description 33
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 30
- 239000004917 carbon fiber Substances 0.000 claims description 30
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 30
- 230000000087 stabilizing effect Effects 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 15
- 239000000835 fiber Substances 0.000 claims description 8
- 238000001179 sorption measurement Methods 0.000 claims description 2
- 239000004411 aluminium Substances 0.000 abstract description 8
- 230000000712 assembly Effects 0.000 description 7
- 238000000429 assembly Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 241000756122 Aristida purpurascens Species 0.000 description 3
- 230000001965 increasing effect Effects 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 235000013290 Sagittaria latifolia Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000015246 common arrowhead Nutrition 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41B—WEAPONS FOR PROJECTING MISSILES WITHOUT USE OF EXPLOSIVE OR COMBUSTIBLE PROPELLANT CHARGE; WEAPONS NOT OTHERWISE PROVIDED FOR
- F41B4/00—Friction-wheel operated launchers
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Abstract
The invention discloses an integrated friction wheel archery device, relates to an archery robot, aims to solve the problems that the archery frequency and accuracy of the robot with the archery function are not high and redundant energy is wasted in the prior art, and comprises an archery taking mechanism and a friction wheel archery mechanism; the arrow taking mechanism is arranged close to the friction wheel arrow shooting mechanism, and the friction wheel arrow shooting mechanism comprises a pair of friction wheels, a pair of motors, an aluminum U-shaped spacing keeping sheet and a pair of aluminum friction wheel shell fixing U-shaped connecting pieces; a pair of fixed U type connecting pieces of aluminium system friction pulley casing is fixed on aluminium system U type interval holding piece, and a pair of motor fixed mounting is on a pair of fixed U type connecting pieces of aluminium system friction pulley casing, and the pivot output and the friction pulley fixed connection of every motor get the arrow mechanism and set up in friction pulley archery mechanism below, get arrow mechanism and friction pulley archery mechanism and pass through the truss connection setting. The invention belongs to the field of robot archery.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an integrated friction wheel archery device.
Background
The existing robot development is not only an assistant for people's daily life, but also some robots accompanying professional sports and competitions appear, and become good partners for people's entertainment and training with more scientific training method and more stable performance. Archery is an ancient sport of human, is also a sport item with long life, and naturally also has the participation of robots.
Some shooting robots can launch only by manually pulling strings, and cannot automatically pull strings; for some robots capable of automatically pulling strings, radio frequency is often insufficient, and a plurality of arrows cannot be carried at one time. Some humanoid robots can learn to pull a string to archery, but the frequency and the accuracy of the archery function are not very high, and a lot of redundant energy waste is caused, so that a device with high archery frequency and accuracy is needed to be provided.
Disclosure of Invention
The invention aims to solve the problems that the existing robot with an archery function is not high in archery frequency and accuracy and causes redundant energy waste, and further provides an integrated friction wheel archery device.
The technical scheme adopted by the invention for solving the problems is as follows:
the device comprises an arrow taking mechanism and a friction wheel arrow shooting mechanism; the arrow taking mechanism is arranged close to the friction wheel arrow shooting mechanism, and the friction wheel arrow shooting mechanism comprises a pair of friction wheels, a pair of motors, an aluminum U-shaped spacing keeping sheet and a pair of aluminum friction wheel shell fixing U-shaped connecting pieces; a pair of fixed U type connecting pieces of aluminium system friction pulley casing is fixed on aluminium system U type interval holding piece, and a pair of motor fixed mounting is on a pair of fixed U type connecting pieces of aluminium system friction pulley casing, and the pivot output and the friction pulley fixed connection of every motor get the arrow mechanism and set up in friction pulley archery mechanism below, get arrow mechanism and friction pulley archery mechanism and pass through the truss connection setting.
The invention has the beneficial effects that:
1. the invention can load a plurality of arrows at one time, and can quickly drive to a designated position to launch targets at any positions. Through a plurality of iterations, the performance of the robot is stable, the arrow hitting efficiency is high, the mass of the robot is not more than 25 kg, and the robot can be carried conveniently.
2. The archery device is different from other archery robots, and the complete process from arrow taking to archery can be completed without manual assistance. It can be launched anywhere, not only fixed point launching, thus greatly improving applicability and interest. The invention has no other redundant functions as a special archery robot, which also enables him to save a lot of cost and mass, and becomes the most preferable in archery robots.
3. The automatic arrow taking device has a turning function, can be attached to the placing habit that an arrow is downward in the conventional situation, can save the operation of an auxiliary machine, and improves the working efficiency.
Drawings
Fig. 1 is a front view of the overall structure of the present application.
FIG. 2 is a front view of the friction wheel archery mechanism of the present application.
FIG. 3 is a front view of the arrow taking mechanism of the present application.
FIG. 4 is a schematic view of an arrow taking lateral shifting assembly.
FIG. 5 is a schematic diagram of five groups of arrow taking and grasping assemblies, in which 35 is a first group of arrow taking and grasping assemblies, 36 is a second group of arrow taking and grasping assemblies, 37 is a third group of arrow taking and grasping assemblies, 38 is a fourth group of arrow taking and grasping assemblies, and 39 is a fifth group of arrow taking and grasping assemblies.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1-5, and the integrated friction wheel archery device comprises an arrow taking mechanism and a friction wheel archery mechanism; the arrow taking mechanism is arranged close to the friction wheel arrow shooting mechanism, and the friction wheel arrow shooting mechanism comprises a pair of friction wheels 45, a pair of motors 44, an aluminum U-shaped interval keeping sheet 43 and a pair of aluminum friction wheel shell fixing U-shaped connecting pieces 41; a pair of aluminum friction wheel shell fixing U-shaped connecting pieces 41 are fixedly arranged on an aluminum U-shaped spacing retaining piece 43, a pair of motors 44 are fixedly arranged on the pair of aluminum friction wheel shell fixing U-shaped connecting pieces 41, the rotating shaft output end of each motor 44 is fixedly connected with a friction wheel 45, an arrow taking mechanism is arranged below the friction wheel archery mechanism, and the arrow taking mechanism and the friction wheel archery mechanism are connected through a truss 46.
When launching arrow in this embodiment, the arrow body is on getting the arrow mechanism, and the arrow body is on the upper side, and the arrow body becomes 42 degrees angles with the horizontal plane. With the axis of the friction wheel 45 at 30 degrees to the horizontal. The friction angle can ensure that the length of the arrow rubbed by the friction wheel is increased as much as possible, and arrow feathers can be prevented from being rubbed, so that damage to the arrow feathers is avoided, and the accuracy of archery interference caused by collision with the arrow feathers is avoided. The truss 46 on the one hand can greatly reduce the weight of the frame while ensuring the rigidity and the strength, and reduce the processing cost and the processing time. The space can be utilized to the maximum extent, the part which is vacant in the middle is given to the arrow-taking and shooting part, so that the structure of the whole machine is compact, the space is saved, and meanwhile, the flexibility of the machine can be ensured due to the compact structure. The lighter aluminum piece of the embodiment also reduces the mass of the machine, reduces the gravity center of the machine so as to improve the stability of the machine when moving, the aluminum U-shaped spacing keeping sheet 43 keeps the spacing between the two friction wheels fixed and is smaller than the diameter of the arrow shaft, thereby having larger interference amount and larger launching friction force when launching,
in the embodiment, the friction wheel 45 is embedded into the friction wheel hub, and the friction wheel is coated with rubber, so that the friction wheel has better friction force and better temperature stability, can be smoothly launched in different environments, and can realize high-speed rotation of the friction wheel in the minimum space. The arrow that will get arrow mechanism and snatch through the frictional force of a pair of friction pulley 45 launches through frictional force, hugs closely the setting at friction pulley 45 externally mounted aluminium system friction pulley shell 42 simultaneously, has realized the maximize utilization in space, and aluminium system friction pulley shell 42 protects friction pulley 45. The truss 46 is a machine frame made of square tubes made of carbon fiber materials and riveting pieces of carbon fiber plates, and lightening holes are formed in the aluminum friction wheel shell 42 and the truss 46, so that air circulation is facilitated besides lightening, temperature can be kept constant better, and higher launching precision is guaranteed.
In this embodiment, the motor 44 is a Dajiang 3508 motor, and the manufacturer is Dajiang scientific and technological innovation company, Shenzhen.
The second embodiment is as follows: the embodiment is described with reference to fig. 1 and 3, and the arrow taking mechanism of the integrated friction wheel archery device in the embodiment comprises at least two sets of arrow taking and grabbing components and an arrow taking component fixing plate 32, wherein the at least two sets of arrow taking and grabbing components are horizontally installed on the arrow taking component fixing plate 32 along the length direction of the arrow taking component fixing plate 32, and each set of arrow taking and grabbing components comprises an arrow body positioning carbon fiber sheet 5, a pair of clamping jaw stabilizing pieces 6, a set of carbon fiber sheet clamping jaw sheets 7, a pair of clamping jaw transmission carbon fiber gears 8, an arrow positioning piece 9 and a clamping jaw driving cylinder 13; a pair of clamping jaw stabilizing parts 6 are oppositely and oppositely arranged through a pair of clamping jaw transmission carbon fiber gears 8, a group of carbon fiber sheet clamping jaw sheets 7 are installed on the pair of clamping jaw stabilizing parts 6, arrow body positioning carbon fiber sheets 5 and arrow head positioning parts 9 are respectively arranged on the pair of clamping jaw stabilizing parts 6, the group of carbon fiber sheet clamping jaw sheets 7 and mounting plates of arrow taking component fixing plates 32 on two sides of the pair of clamping jaw transmission carbon fiber gears 8, each pair of clamping jaw stabilizing parts 6 are in driving connection through clamping jaw driving cylinders 13, and the arrow taking component fixing plates 32 are arranged below a pair of friction wheels 45.
A set of carbon fiber piece clamping jaw piece 7 includes two at least carbon fiber piece clamping jaw piece 7, a pair of clamping jaw stabilizing member 6 includes two clamping jaw stabilizing member 6, a pair of clamping jaw transmission carbon fiber gear 8 includes two clamping jaw transmission carbon fiber gear 8, every clamping jaw stabilizing member 6 rotates to connect through the pivot and installs on rocket body location carbon fiber piece 5 every clamping jaw stabilizing member 6 on fixed mounting have a clamping jaw transmission carbon fiber gear 8, two clamping jaw transmission carbon fiber gear 8 mesh settings relatively, install at least one carbon fiber piece clamping jaw piece 7 on every clamping jaw stabilizing member 6, a set of carbon fiber piece clamping jaw piece 7 on a pair of clamping jaw stabilizing member 6 is relative the lock setting, every clamping jaw stabilizing member 6 in the clamping jaw stabilizing member 6 revolutes the axle rotation connection through clamping jaw driving cylinder 13 drive clamping jaw stabilizing member 6. The carbon fiber clamping jaw sheet 7 for positioning the arrow body clamps the arrow body, so that the posture of the arrow is ensured, and no obstruction is caused during the launching of the arrow. When an arrow is taken, the gripper is driven by the gripper driving cylinder 13, and the two gripper transmission carbon fiber gears 8 are meshed to ensure that the synchronous gripper is closed, so that the arrow body can be grasped. Rubber blocks for increasing friction force are adhered to the clamping jaw stabilizing pieces, so that the stability of the arrow is ensured. The size of the clamping jaw and the arrow body positioning carbon fiber sheet are opened as much as possible, so that the arrow taking fault tolerance rate is increased, and the arrow taking success rate is improved. The rest is the same as the first embodiment.
The third concrete implementation mode: the embodiment is described with reference to fig. 1 and 4, and the arrow taking mechanism of the integrated friction wheel archery device of the embodiment further comprises an arrow taking rotating motor 25, a motor synchronous pulley 28, a rotating shaft synchronous pulley 12, an arrow taking transverse moving component, an arrow taking mechanism connecting plate and an arrow taking lifting component; get arrow rotating electrical machines 25 fixed mounting on getting arrow lateral shifting subassembly, motor synchronous pulley 28 suit is on getting arrow rotating electrical machines 25, pivot synchronous pulley 12 rotates to be connected on getting arrow lateral shifting subassembly, motor synchronous pulley 28 and pivot synchronous pulley 12 pass through synchronous belt transmission and are connected, pivot synchronous pulley 12 is fixed with getting arrow subassembly fixed plate 32, get the arrow lateral shifting subassembly setting on getting arrow mechanism connecting plate, get arrow mechanism connecting plate setting on getting arrow lifting unit.
Get arrow rotating electrical machines 25 Da Jiang RM6020 cloud platform motor, the manufacturer is Shenzhen Shang science and technology innovation company. Through motor synchronous pulley 28, pivot synchronous pulley 12 and hold-in range 1: 1 drives the arrow taking component fixing plate 32 to perform 180-degree reciprocating rotation by being transmitted to the rotating shaft. The primary synchronous belt transmission ensures that the motor is not subjected to overturning moment, and the service life of the motor can be ensured to be longer. The tensioning device between the motor and the rotating shaft can ensure accurate meshing of the synchronous belt, and meanwhile, certain damping is provided for rotation so that the rotation is more stable.
Install synchronous pulley baffle 26 on motor synchronous pulley 28 in this embodiment, install pivot synchronous pulley baffle 30 on the pivot synchronous pulley 12, prevent through synchronous pulley baffle 26 and pivot synchronous pulley baffle 30 that the hold-in range from breaking away from at motor synchronous pulley 28 and pivot synchronous pulley 12, and then guarantee motor synchronous pulley 28 and pivot synchronous pulley 12 and normally work. The rotating shaft synchronous belt pulley 12 is rotatably connected with the arrow taking transverse moving assembly through a deep groove ball bearing, and the rotating shaft synchronous belt pulley 12 rotates on the arrow taking transverse moving assembly through the deep groove ball bearing to realize the rotation of the arrow taking assembly fixing plate 32. The rest is the same as the first embodiment.
The fourth concrete implementation mode: the embodiment is described with reference to fig. 1 and 3, and the arrow taking transverse moving assembly of the embodiment comprises a transverse moving mounting plate 15, a transverse moving driving motor, a transverse moving gear 16, two transverse moving linear guide rails 3, two transverse moving limiting blocks 14 and a plurality of transverse moving sliders 29; two traverse linear guide 3 are parallel relatively and fixedly installed on getting arrow mechanism connecting plate, two traverse stoppers 14 symmetry set up at traverse mounting panel 15 both ends, traverse mounting panel 15 slides through a plurality of traverse sliders 29 and sets up on two traverse linear guide 3, traverse mounting panel 15 is equipped with a plurality of teeth with sideslip gear 16 complex along length direction, sideslip driving motor fixed mounting is on getting arrow mechanism connecting plate, sideslip gear 16 fixed mounting is on the output end of sideslip driving motor pivot, sideslip gear 16 and the tooth meshing of sideslip mounting panel 15. The rest is the same as the first embodiment.
The transverse moving driving motor is a Dajiang 3508 motor, and the manufacturer is Shenzhen Dajiang scientific and technological innovation company. The traversing gear 16 drives the traversing mounting plate 15 to move, and arrows are respectively aligned with the friction wheel archery mechanisms, so that sequential launching is realized, and the launching is generally carried out for 5 times by one-time filling. The transverse gear 16 is fixed in a counter bore optical axis fixing ring mode, the transverse gear 16 of the transverse driving motor is tensioned in a tensioning sleeve mode, and the gear rack is made of carbon fiber plates. The carriage slides on the traverse linear guide 3 via a plurality of traverse sliders 29.
The fifth concrete implementation mode: the embodiment is described with reference to fig. 1 and 4, and the arrow taking lifting assembly of the embodiment comprises a plurality of vertical sliders 29-1, two vertical driving motors 2, a vertical guide rail frame, two lifting motor driving gears 52, two tensioning sleeves 53 and two vertical limiting blocks 10; two vertical limiting blocks 10 are installed at the top end of a vertical guide rail frame, an arrow taking mechanism connecting plate is vertically arranged on the vertical guide rail frame in a sliding mode through a plurality of vertical sliding blocks 29-1, two vertical driving motors 2 are fixedly installed on the arrow taking mechanism connecting plate, an elevating motor driving gear 52 is fixedly installed at the output end of a rotating shaft of each vertical driving motor 2 through a tensioning sleeve 53, a plurality of teeth are arranged on the vertical guide rail frame in the vertical direction, and the elevating motor driving gear 52 is meshed with teeth of one vertical guide rail frame respectively.
In the embodiment, the vertical driving motor 2 drives the motor driving gear 52 to vertically move along the vertical guide rail frame, so that the height of an arrow is taken and the height position of the arrow is adjusted, and a motor protection shell 1 is arranged outside each vertical driving motor 2 to protect the vertical driving motor 2. The other is the same as the first, second, third or fourth embodiments.
The sixth specific implementation mode: the embodiment is described with reference to fig. 1 and 5, and the arrow taking mechanism of the integrated friction wheel archery device of the embodiment further comprises two fiber tubes 4, two cylinder fixing plates 33, two arrow taking telescopic cylinders 20, a plurality of linear bearings 21 and a plurality of connecting angle codes 34; the arrow taking and grabbing component is five groups, the five groups of arrow taking and grabbing components are arranged on the arrow taking component fixing plate 32 along the length direction of the arrow taking component fixing plate 32, the arrow taking and grabbing component positioned in the middle is fixedly arranged on a mounting plate of the arrow taking component fixing plate 32 through corner connectors, two fiber tubes 4 are relatively parallelly arranged on the mounting plate of the five groups of arrow taking and grabbing components, the two fiber tubes 4 are fixedly connected with the mounting plate of the arrow taking and grabbing component positioned in the middle, two arrow taking telescopic cylinders 20 are respectively inserted and arranged on two sides of the arrow taking and grabbing component mounting plate in the middle, a cylinder body of each arrow taking telescopic cylinder 20 is fixedly connected with the mounting plate of the arrow taking and grabbing component at the end part of the arrow taking component fixing plate 32 through a cylinder fixing plate 33, a piston rod of each arrow taking telescopic cylinder 20 penetrates through the mounting plate of the arrow taking component fixing plate 32 and is fixedly connected with the mounting plate of the arrow taking and grabbing component in the middle, and the mounting plate of the arrow taking and grabbing component at the upper end part of the arrow taking and the adjacent arrow taking and grabbing component fixing plate 32 are fixedly connected The pipe 4 is sleeved with a sleeve, two ends of the sleeve are respectively provided with a linear bearing 21, and a pull wire is arranged on the mounting plate of the arrow grabbing component positioned at the upper end part of the arrow grabbing component fixing plate 32 and the mounting plate of the adjacent arrow grabbing component.
In the embodiment, the arrow taking telescopic cylinder 20 is controlled to extend, the arrow taking grabbing components at the end part of the arrow taking component fixing plate 32 are driven by the arrow taking telescopic cylinder 20 to move along the length direction of the fiber tube 4, the arrow taking grabbing components at the end part of the arrow taking component fixing plate 32 are driven by pull wires to move adjacent arrow taking grabbing components during moving, the distances between the five groups of arrow taking grabbing components are the same after moving, the arrow taking telescopic cylinder 20 is controlled to extend and stop moving during the time, an arrow on an arrow frame is grabbed, the distances between the five groups of arrow taking grabbing components are adjusted by the arrow taking telescopic cylinder 20, when the arrow taking telescopic cylinder 20 contracts, the arrow taking grabbing components at the end part of the arrow taking component fixing plate 32 are driven by the cylinder end part of the arrow taking telescopic cylinder 20 to push the adjacent arrow taking grabbing components to move through the sleeve so that the distances between the five groups of arrow taking grabbing components are gradually reduced until the distances between the five groups of arrow grabbing components are the same, the cylinder fixing plate 33 is connected with a mounting plate of the arrow grabbing component through a limiting side plate 19, an angle piece 34 is further arranged in the embodiment, one end of the limiting angle piece 34 is fixedly connected with the arrow grabbing component fixing plate 32 at the arrow grabbing component positions, located in the middle, of the five-group arrow grabbing component and located at the end of the arrow grabbing component fixing plate 32, the other end of the limiting angle piece 34 limits the arrow grabbing component, the straight line direction distance of adjacent arrow grabbing components is guaranteed to be equal, one end of the fixing angle piece 40, located in the middle, of the five-group arrow grabbing component, is fixedly connected with the arrow grabbing component fixing plate 32, and the other end of the fixing angle piece 40 is fixedly connected with the mounting plate of the middle arrow grabbing component. The rest is the same as the first embodiment.
The seventh embodiment: the embodiment is described with reference to fig. 1, and the integrated friction wheel archery device of the embodiment further comprises two arrow taking moving cylinders 54 and a plurality of arrow taking moving sliders 55; the bottom of the vertical guide rail frame is provided with a plurality of arrow taking moving sliding blocks 55, two main frame sliding rails are processed on the truss 46, the vertical guide rail frame is arranged on the truss 46 in a sliding mode through the arrow taking moving sliding blocks 55, the arrow taking moving cylinder 54 is fixedly installed on the truss 46, and the end portion of the piston rod of the arrow taking moving cylinder 54 is fixedly connected with the bottom of the vertical guide rail frame.
In the embodiment, the arrow taking moving cylinder 54 is controlled to drive the vertical guide rail frame to move on the truss 46, so that the arrow taking moving work is realized. The rest is the same as the first embodiment.
The specific implementation mode is eight: the embodiment is described with reference to fig. 1, and the integrated friction wheel archery device further comprises an air cylinder 48, wherein the air cylinder 48 is connected with the clamping jaw driving air cylinder 13 and the arrow taking telescopic air cylinder 20 and provides an air source. An air cylinder opening 47 is provided at the end of the air cylinder 48, and air is supplied through the air cylinder opening 47. The rest is the same as the second embodiment.
The specific implementation method nine: the embodiment is described with reference to fig. 1 and 4, and the arrow taking mechanism of the integrated friction wheel archery device in the embodiment further comprises two electromagnets 22, two electromagnet fixing plates 24 and two electromagnet limiting plates 23; the electromagnets 22 are mounted on the electromagnet fixing plates 24, the two electromagnet fixing plates 24 are centrosymmetric about the traverse mounting plate 15 and are fixedly mounted on the traverse mounting plate 15, the two electromagnet limiting plates 23 are centrosymmetric about the arrow taking assembly fixing plate 32 and are fixedly mounted on the arrow taking assembly fixing plate 32, and each electromagnet limiting plate 23 and the electromagnet 22 are arranged in an adsorption fit mode. Adsorb spacingly through the electro-magnet, start the electro-magnet when the laminating and fix the angle, also guaranteed to rotate the stability after the predetermined angle when having guaranteed the angle. The rest is the same as the fourth embodiment.
The detailed implementation mode is ten: the embodiment is described with reference to fig. 1 and fig. 2, and the integrated friction wheel archery device of the embodiment further comprises a positioning member 40; the positioning member 40 is fixedly mounted on the truss 46 below the friction wheel 45, and the positioning member 40 includes a limiting rod and two limiting bearings, and the two limiting bearings are mounted on the limiting rod. In this embodiment, the vertical guide rail bracket is limited by the limiting rod and the two limiting bearings when moving toward the direction of the friction wheel 45. The rest is the same as the first embodiment.
Principle of operation
When the rocket launcher is in operation, the default is to take away the scissors which are placed downwards on the rocket frame by the arrow and then launch the scissors. As can be seen from figure 1, when the arrow is taken, the upper layer is pushed out integrally by the two arrow taking moving cylinders 54, as can be seen from figures 3 and 4, the arrow taking rotating motor 25 rotates 180 degrees, the arrow taking grabbing assembly is turned downwards by figures 1 and 5, the arrow rod is clamped after alignment, then the arrow taking rotating motor 25 rotates 180 degrees in the reverse direction, the upper layer is pulled back integrally by the moving cylinders 54, and the pair of motors 44 at the friction wheels start to rotate to prepare for shooting the arrow.
After a certain arrow is shot, the clamping jaw drives the air cylinder 13 to be loosened, and the arrow is ensured to be free of obstruction in shooting. As can be seen from FIG. 5, the traverse gear 16 drives the arrow-taking grasping assemblies to align the selected arrow-taking grasping assembly with the center of the friction wheel. Then the two lifting motor driving gears 52 push the arrow to move upwards, so that the arrow rod and the friction wheel are rubbed, and the arrow is launched. Then falls down, repeats the actions of selecting and traversing, and prepares to shoot the next arrow.
And after all the carried arrows are launched, carrying out the next round of arrow taking, and repeating the process.
Claims (10)
1. The utility model provides an integral type friction wheel archery device which characterized in that: the device comprises an arrow taking mechanism and a friction wheel arrow shooting mechanism; the arrow taking mechanism is arranged close to the friction wheel arrow shooting mechanism, and the friction wheel arrow shooting mechanism comprises a pair of friction wheels (45), a pair of motors (44), an aluminum U-shaped interval holding sheet (43) and a pair of aluminum friction wheel shell fixing U-shaped connecting pieces (41); a pair of fixed U-shaped connecting pieces (41) of aluminum friction wheel shells are fixedly arranged on an aluminum U-shaped interval retaining piece (43), a pair of motors (44) are fixedly arranged on the fixed U-shaped connecting pieces (41) of the aluminum friction wheel shells, the rotating shaft output end of each motor (44) is fixedly connected with a friction wheel (45), an arrow taking mechanism is arranged below the arrow shooting mechanism of the friction wheel, and the arrow taking mechanism and the arrow shooting mechanism of the friction wheel are connected through a truss (46).
2. The integrated friction wheel archery device according to claim 1, characterized in that: the arrow taking mechanism comprises at least two groups of arrow taking and grabbing components and an arrow taking component fixing plate (32), the at least two groups of arrow taking and grabbing components are horizontally arranged on the arrow taking component fixing plate (32) along the length direction of the arrow taking component fixing plate (32), and each group of arrow taking and grabbing component comprises an arrow body positioning carbon fiber sheet (5), a pair of clamping jaw stabilizing pieces (6), a group of carbon fiber sheet clamping jaw sheets (7), a pair of clamping jaw transmission carbon fiber gears (8), an arrow positioning piece (9) and a clamping jaw driving cylinder (13); a pair of clamping jaw stabilizing parts (6) are oppositely arranged in a transmission mode through a pair of clamping jaw transmission carbon fiber gears (8), a group of carbon fiber piece clamping jaw sheets (7) are installed on the pair of clamping jaw stabilizing parts (6), arrow body positioning carbon fiber pieces (5) and arrow positioning parts (9) are respectively arranged on mounting plates of arrow taking component fixing plates (32) on two sides of the pair of clamping jaw transmission carbon fiber gears (8), the pair of clamping jaw stabilizing parts (6) are in driving connection through clamping jaw driving cylinders (13), and the arrow taking component fixing plates (32) are arranged below a pair of friction wheels (45).
3. The integrated friction wheel archery device according to claim 2, characterized in that: the arrow taking mechanism further comprises an arrow taking rotating motor (25), a motor synchronous belt pulley (28), a rotating shaft synchronous belt pulley (12), an arrow taking transverse moving assembly, an arrow taking mechanism connecting plate and an arrow taking lifting assembly; get arrow rotating electrical machines (25) fixed mounting on getting arrow lateral shifting subassembly, motor synchronous pulley (28) suit is on getting arrow rotating electrical machines (25), pivot synchronous pulley (12) rotate to be connected on getting arrow lateral shifting subassembly, motor synchronous pulley (28) and pivot synchronous pulley (12) are connected through synchronous belt transmission, pivot synchronous pulley (12) are fixed with getting arrow subassembly fixed plate (32), it sets up on getting arrow mechanism connecting plate to get arrow mechanism connecting plate, it sets up on getting arrow lifting unit to get arrow mechanism connecting plate.
4. An integrated friction wheel archery device according to claim 3, characterized in that: the arrow taking transverse moving assembly comprises a transverse moving mounting plate (15), a transverse moving driving motor, a transverse moving gear (16), two transverse moving linear guide rails (3), two transverse moving limiting blocks (14) and a plurality of transverse moving sliding blocks (29); two sideslip linear guide (3) are parallel fixed mounting relatively on getting arrow mechanism connecting plate, two sideslip stopper (14) symmetry set up at sideslip mounting panel (15) both ends, sideslip mounting panel (15) slide through a plurality of sideslip slider (29) and set up on two sideslip linear guide (3), sideslip mounting panel (15) are equipped with a plurality of and sideslip gear (16) complex tooth along length direction, sideslip driving motor fixed mounting is on getting arrow mechanism connecting plate, sideslip gear (16) fixed mounting is on the output of sideslip driving motor pivot, sideslip gear (16) and the tooth meshing of sideslip mounting panel (15).
5. An integrated friction wheel archery device according to claim 3, characterized in that: the arrow taking lifting assembly comprises a plurality of vertical sliding blocks (29-1), two vertical driving motors (2), a vertical guide rail frame, two lifting motor driving gears (52), two tensioning sleeves (53) and two vertical limiting blocks (10); two vertical limiting blocks (10) are installed at the top end of a vertical guide rail frame, an arrow taking mechanism connecting plate is vertically arranged on the vertical guide rail frame in a sliding mode through a plurality of vertical sliding blocks (29-1), two vertical driving motors (2) are fixedly installed on the arrow taking mechanism connecting plate, a lifting motor driving gear (52) is fixedly installed at the output end of a rotating shaft of each vertical driving motor (2) through a tensioning sleeve (53), a plurality of teeth are arranged on the vertical guide rail frame in the vertical direction, and the lifting motor driving gear (52) is meshed with the teeth of one vertical guide rail frame respectively.
6. The integrated friction wheel archery device according to claim 2, characterized in that: the arrow taking mechanism further comprises two fiber tubes (4), two cylinder fixing plates (33), two arrow taking telescopic cylinders (20), a plurality of linear bearings (21) and a plurality of connecting angle connectors (34); the arrow grabbing components are five groups, the five groups of arrow grabbing components are arranged on an arrow grabbing component fixing plate (32) along the length direction of the arrow grabbing component fixing plate (32), the arrow grabbing component positioned in the middle is fixedly arranged on a mounting plate of the arrow grabbing component fixing plate (32) through corner codes, two fiber tubes (4) are relatively parallelly arranged on the mounting plate of the five groups of arrow grabbing components, the two fiber tubes (4) are fixedly connected with the mounting plate of the arrow grabbing component positioned in the middle, two arrow grabbing telescopic cylinders (20) are respectively inserted into two sides of the mounting plate of the arrow grabbing component in the middle, a cylinder body of each arrow grabbing telescopic cylinder (20) is fixedly connected with the mounting plate of the arrow grabbing component fixing plate (32) through a cylinder fixing plate (33), and a piston rod of each arrow grabbing telescopic cylinder (20) penetrates through the mounting plate of the arrow grabbing component fixing plate (32) and is fixedly connected with the mounting plate of the arrow grabbing component in the middle, the mounting plate for fetching the arrow and grabbing the assembly and the fiber tube (4) for adjacent fetching the arrow and grabbing the assembly are sleeved with a sleeve at the upper end of the arrow fetching assembly fixing plate (32), two ends of the sleeve are respectively provided with a linear bearing (21), and the mounting plate for fetching the arrow and grabbing the assembly and the mounting plate for adjacent fetching the arrow and grabbing the assembly are provided with pull wires at the upper end of the arrow fetching assembly fixing plate (32).
7. The integrated friction wheel archery device according to claim 2, characterized in that: the device also comprises two arrow taking moving cylinders (54) and a plurality of arrow taking moving sliding blocks (55); the bottom of the vertical guide rail frame is provided with a plurality of arrow taking moving sliding blocks (55), two main frame sliding rails are processed on the truss (46), the vertical guide rail frame is arranged on the truss (46) in a sliding mode through the arrow taking moving sliding blocks (55), the arrow taking moving cylinder (54) is fixedly installed on the truss (46), and the end portion of the piston rod of the arrow taking moving cylinder (54) is fixedly connected with the bottom of the vertical guide rail frame.
8. The integrated friction wheel archery device according to claim 2, characterized in that: the device also comprises a gas cylinder (48), wherein the gas cylinder (48) is connected with the clamping jaw driving cylinder (13) and the arrow taking telescopic cylinder (20) and provides a gas source.
9. The integrated friction wheel archery device according to claim 4, characterized in that: the arrow taking mechanism also comprises two electromagnets (22), two electromagnet fixing plates (24) and two electromagnet limiting plates (23); the electromagnets (22) are mounted on the electromagnet fixing plates (24), the two electromagnet fixing plates (24) are centrosymmetric about the transverse moving mounting plate (15) and are fixedly mounted on the transverse moving mounting plate (15), the two electromagnet limiting plates (23) are centrosymmetric about the arrow taking assembly fixing plate (32) and are fixedly mounted on the arrow taking assembly fixing plate (32), and each electromagnet limiting plate (23) and the electromagnet (22) are arranged in an adsorption fit mode.
10. The integrated friction wheel archery device according to claim 1, characterized in that: the friction wheel archery mechanism further comprises a positioning piece (40); the positioning piece (40) is fixedly arranged on the truss (46) below the friction wheel (45), the positioning piece (40) comprises a limiting rod and two limiting bearings, and the two limiting bearings are arranged on the limiting rod.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210713000.0A CN114894032B (en) | 2022-06-22 | 2022-06-22 | Integral friction wheel archery device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210713000.0A CN114894032B (en) | 2022-06-22 | 2022-06-22 | Integral friction wheel archery device |
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| CN114894032A true CN114894032A (en) | 2022-08-12 |
| CN114894032B CN114894032B (en) | 2024-05-24 |
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| CN202210713000.0A Active CN114894032B (en) | 2022-06-22 | 2022-06-22 | Integral friction wheel archery device |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110052010A (en) * | 2019-05-21 | 2019-07-26 | 南华大学 | It casts robot and casts method |
| CN110832267A (en) * | 2018-11-20 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Cloud platform, shot transmitting system and robot |
| CN113305861A (en) * | 2021-06-14 | 2021-08-27 | 南华大学 | Archery robot capable of realizing arrow continuous shooting |
| CN113319867A (en) * | 2021-06-14 | 2021-08-31 | 南华大学 | Arrow casting robot and casting method |
| CN215318741U (en) * | 2021-01-29 | 2021-12-28 | 广州理工学院 | Gripping device for arrow throwing robot |
-
2022
- 2022-06-22 CN CN202210713000.0A patent/CN114894032B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110832267A (en) * | 2018-11-20 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Cloud platform, shot transmitting system and robot |
| CN110052010A (en) * | 2019-05-21 | 2019-07-26 | 南华大学 | It casts robot and casts method |
| CN215318741U (en) * | 2021-01-29 | 2021-12-28 | 广州理工学院 | Gripping device for arrow throwing robot |
| CN113305861A (en) * | 2021-06-14 | 2021-08-27 | 南华大学 | Archery robot capable of realizing arrow continuous shooting |
| CN113319867A (en) * | 2021-06-14 | 2021-08-31 | 南华大学 | Arrow casting robot and casting method |
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| CN114894032B (en) | 2024-05-24 |
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