CN114894032B - Integral friction wheel archery device - Google Patents
Integral friction wheel archery device Download PDFInfo
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- CN114894032B CN114894032B CN202210713000.0A CN202210713000A CN114894032B CN 114894032 B CN114894032 B CN 114894032B CN 202210713000 A CN202210713000 A CN 202210713000A CN 114894032 B CN114894032 B CN 114894032B
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- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 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 34
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 31
- 239000004917 carbon fiber Substances 0.000 claims description 31
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 31
- 230000000087 stabilizing effect Effects 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 12
- 239000000835 fiber Substances 0.000 claims description 10
- 210000000078 claw Anatomy 0.000 claims description 4
- 238000001179 sorption measurement Methods 0.000 claims description 2
- 239000004411 aluminium Substances 0.000 abstract description 6
- 239000002699 waste material Substances 0.000 abstract description 2
- 241000756122 Aristida purpurascens Species 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010073 coating (rubber) Methods 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
- 230000003287 optical effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
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Abstract
The invention relates to an integral friction wheel archery robot, which aims to solve the problems that the frequency and the accuracy of the existing archery robot with the archery function are not high, and a lot of redundant energy waste is caused, 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 interval retaining plate and a pair of aluminum friction wheel shell fixing U-shaped connecting pieces; the fixed U-shaped connecting pieces of a pair of aluminium friction wheel shells are fixedly arranged on the aluminium U-shaped interval maintaining pieces, the motors are fixedly arranged on the fixed U-shaped connecting pieces of the pair of aluminium friction wheel shells, the output end of a rotating shaft of each motor is fixedly connected with the friction wheel, the arrow taking mechanism is arranged below the arrow taking mechanism, and the arrow taking mechanism are connected through a truss. 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 robots are not just assistants of people in daily life, and have appeared some robots accompanying professional sports and games, so that the robots become good partners for people to entertain and train in a more scientific training method and more stable exertion. Archery is an ancient exercise of human beings, is an exercise item with long life, and naturally takes part in robots.
Some shooting robots can emit only by manually pulling strings and cannot automatically pull strings; for some robots capable of automatically pulling strings, the radio frequency is insufficient, and a plurality of arrows cannot be carried at one time. Some humanoid robots can learn string-pulling archery, but the frequency and 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 needs to be provided.
Disclosure of Invention
The invention aims to solve the problems that the frequency and the accuracy of an existing robot archery with an archery function are not high, and a lot of redundant energy is wasted, and further provides an integrated friction wheel archery device.
The invention adopts the technical proposal for solving the problems 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, a pair of motors, an aluminum U-shaped interval retaining plate and a pair of aluminum friction wheel shell fixing U-shaped connecting pieces; the fixed U-shaped connecting pieces of a pair of aluminium friction wheel shells are fixedly arranged on the aluminium U-shaped interval maintaining pieces, the motors are fixedly arranged on the fixed U-shaped connecting pieces of the pair of aluminium friction wheel shells, the output end of a rotating shaft of each motor is fixedly connected with the friction wheel, the arrow taking mechanism is arranged below the arrow taking mechanism, and the arrow taking mechanism are connected through a truss.
The beneficial effects of the invention are as follows:
1. the invention can load a plurality of arrows at one time, can quickly travel to a designated position and launch targets at any position. The invention has stable performance after several iterations, high arrow hit efficiency, and the robot quality not more than 25 kg, and is convenient for carrying.
2. The archery device is different from other archery robots, and the whole set of process from arrow taking to archery can be completed without manual assistance. The device can be used for transmitting at any place instead of fixed-point transmission, thereby greatly improving the applicability and the interest. As a special archery robot, the application has no other redundant functions, which also enables him to save a lot of costs and quality, being the most preferred in archery robots.
3. The automatic arrow taking device has a turnover function, can attach to the downward arrow placement habit in the conventional case, can save the operation of auxiliary machines 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 application.
Fig. 3 is a front view of the arrow taking mechanism of the present application.
Fig. 4 is a schematic view of the arrow taking lateral movement assembly.
Fig. 5 is a schematic diagram of five sets of arrow taking and grabbing components, in which 35 is a first set of arrow taking and grabbing components, 36 is a second set of arrow taking and grabbing components, 37 is a third set of arrow taking and grabbing components, 38 is a fourth set of arrow taking and grabbing components, and 39 is a fifth set of arrow taking and grabbing components.
Detailed Description
The first embodiment is as follows: 1-5, an integrated friction wheel archery device according to the present embodiment includes 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 retaining 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 aluminum U-shaped interval maintaining pieces 43, a pair of motors 44 are fixedly arranged on the aluminum friction wheel shell fixing U-shaped connecting pieces 41, the output end of a rotating shaft of each motor 44 is fixedly connected with a friction wheel 45, an arrow taking mechanism is arranged below the friction wheel arrow shooting mechanism, and the arrow taking mechanism and the friction wheel arrow shooting mechanism are connected through a truss 46.
When the arrow is launched in the embodiment, the arrow body is arranged on the arrow taking mechanism, the arrow is upwards, and the arrow body forms an angle of 42 degrees with the horizontal plane. While the friction wheel 45 axis is at 30 degrees to the horizontal. The friction angle can ensure that the length of the friction wheel friction arrow rod is increased as much as possible, and the arrow feather can be prevented from being rubbed, so that the arrow feather is prevented from being damaged, and the arrow is prevented from being interfered with due to the fact that the arrow feather is encountered. Truss 46 on the one hand, the truss structure can greatly reduce the mass of the frame while ensuring rigidity and strength, and reduce processing cost and processing time. The space can be utilized to the greatest extent, the part which is left out in the middle is given to the arrow taking and shooting part, so that the whole machine is compact in structure, space is saved, and meanwhile, the flexibility of the machine can be guaranteed due to the compact structure. The aluminum product of the embodiment is lighter and also reduces the mass of the machine, reduces the center of gravity of the machine so as to improve the stability of the machine during movement, the aluminum U-shaped interval maintaining piece 43 keeps the interval between the two friction wheels fixed and smaller than the diameter of the arrow rod, thereby giving larger emission friction force due to larger interference amount during emission,
In this embodiment, the friction wheel 45 is a hub of a nested friction wheel, and the rubber material for rubber coating 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 a minimum space. The arrow grabbed by the arrow grabbing mechanism is launched through friction force by the friction force of the pair of friction wheels 45, and meanwhile, the aluminum friction wheel shell 42 is arranged outside the friction wheels 45 in a closely attached mode, so that the space utilization is maximized, and the aluminum friction wheel shell 42 protects the friction wheels 45. The truss 46 is a machine frame made of square tubes made of carbon fiber materials and carbon fiber plate riveting sheets, and the aluminum friction wheel housing 42 and the truss 46 are provided with lightening holes, so that ventilation is facilitated besides lightening, the temperature can be kept constant better, and accordingly higher emission precision is guaranteed.
In this embodiment, the motor 44 is a da jiang 3508 motor, and the manufacturer is a da jiang technological innovation company in Shenzhen city.
The second embodiment is as follows: referring to fig. 1 and 3, an integral friction wheel arrow shooting device according to the present embodiment is described, where the arrow taking mechanism includes at least two sets of arrow taking and grabbing components and an arrow taking and grabbing component fixing plate 32, the at least two sets of arrow taking and grabbing components are horizontally mounted on the arrow taking and grabbing component fixing plate 32 along the length direction of the arrow taking and grabbing component fixing plate 32, and each set of arrow taking and grabbing components includes 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; the pair of clamping jaw stabilizing pieces 6 are oppositely and oppositely driven through the pair of clamping jaw driving carbon fiber gears 8, the group of carbon fiber sheet clamping jaw claw pieces 7 are arranged on the pair of clamping jaw stabilizing pieces 6, the arrow body positioning carbon fiber sheet 5 and the arrow positioning piece 9 are respectively arranged on the pair of clamping jaw stabilizing pieces 6, the group of carbon fiber sheet clamping jaw pieces 7 and the mounting plates of the arrow component fixing plates 32 at two sides of the pair of clamping jaw driving carbon fiber gears 8, each pair of clamping jaw stabilizing pieces 6 are in driving connection through the clamping jaw driving air cylinder 13, and the arrow component fixing plates 32 are arranged below the pair of friction wheels 45.
The group of carbon fiber sheet clamping jaw claw pieces 7 comprises at least two carbon fiber sheet clamping jaw claw pieces 7, the pair of clamping jaw stabilizing pieces 6 comprises two clamping jaw stabilizing pieces 6, the pair of clamping jaw transmission carbon fiber gears 8 comprises two clamping jaw transmission carbon fiber gears 8, each clamping jaw stabilizing piece 6 is rotationally connected and installed on each clamping jaw stabilizing piece 6 on the arrow body positioning carbon fiber sheet 5 through a rotating shaft, one clamping jaw transmission carbon fiber gear 8 is fixedly installed, the two clamping jaw transmission carbon fiber gears 8 are oppositely meshed, at least one carbon fiber sheet clamping jaw piece 7 is installed on each clamping jaw stabilizing piece 6, the group of carbon fiber sheet clamping jaw pieces 7 on the pair of clamping jaw stabilizing pieces 6 are oppositely buckled and arranged, and one clamping jaw stabilizing piece 6 in each pair of clamping jaw stabilizing pieces 6 is rotationally connected through a clamping jaw driving cylinder 13 driving clamping jaw stabilizing piece 6. The arrow body is clamped by the arrow body positioning carbon fiber sheet clamping jaw sheets 7, so that the posture of the arrow is ensured, and no obstruction is ensured during the launching of the arrow. When an arrow is taken, the arrow body can be grasped by driving the clamping jaw driving air cylinder 13, and the two clamping jaw driving carbon fiber gears 8 are meshed to ensure synchronous clamping jaw closing. Rubber blocks for increasing friction force are adhered to the clamping jaw stabilizing pieces, so that the stability of an arrow is guaranteed. The size of the clamping jaw and the arrow body positioning carbon fiber sheet are opened as much as possible, so that the fault tolerance of arrow taking is increased, and the success rate of arrow taking is improved. The other is the same as in the first embodiment.
And a third specific embodiment: referring to fig. 1 and 4, the present embodiment of an integral friction wheel arrow shooting device is described, where the arrow taking mechanism further includes an arrow taking rotary motor 25, a motor synchronous pulley 28, a rotating shaft synchronous pulley 12, an arrow taking lateral movement assembly, an arrow taking mechanism connecting plate, and an arrow taking lifting assembly; the arrow taking rotary motor 25 is fixedly arranged on an arrow taking transverse moving assembly, the motor synchronous pulley 28 is sleeved on the arrow taking rotary motor 25, the rotating shaft synchronous pulley 12 is rotationally connected on the arrow taking transverse moving assembly, the motor synchronous pulley 28 and the rotating shaft synchronous pulley 12 are in transmission connection through a synchronous belt, the rotating shaft synchronous pulley 12 is fixed with an arrow taking assembly fixing plate 32, the arrow taking transverse moving assembly is arranged on an arrow taking mechanism connecting plate, and the arrow taking mechanism connecting plate is arranged on an arrow taking lifting assembly.
The arrow rotating motor 25 is a Sinkiang RM6020 cradle head motor, and the manufacturer is Shenzhen Dajiang science and technology innovation company. Through the motor synchronous pulley 28, the rotating shaft synchronous pulley 12 and the synchronous belt 1: and 1 is transmitted to the rotating shaft to drive the arrow taking assembly fixing plate 32 to carry out 180-degree reciprocating rotation. The motor is ensured not to be overturned by the primary synchronous belt transmission, and the service life of the motor can be ensured to be longer. The tensioning device in the middle of motor and pivot can guarantee the accurate meshing of hold-in range, provides certain damping for rotating simultaneously and makes the rotation more stable.
In this embodiment, the motor synchronous pulley 28 is provided with the synchronous pulley baffle 26, the rotating shaft synchronous pulley 12 is provided with the rotating shaft synchronous pulley baffle 30, and the synchronous belt is prevented from separating from the motor synchronous pulley 28 and the rotating shaft synchronous pulley 12 by the synchronous pulley baffle 26 and the rotating shaft synchronous pulley baffle 30, so that the motor synchronous pulley 28 and the rotating shaft synchronous pulley 12 can work normally. The rotating shaft synchronous pulley 12 is rotationally connected with the arrow taking transverse moving assembly through a deep groove ball bearing, and the rotating shaft synchronous pulley 12 rotates on the arrow taking transverse moving assembly through the deep groove ball bearing to realize rotation of the arrow taking assembly fixing plate 32. The other is the same as in the first embodiment.
The specific embodiment IV is as follows: referring to fig. 1 and 3, an integral friction wheel arrow shooting device according to the present embodiment is described, and the arrow taking lateral movement assembly includes a lateral movement mounting plate 15, a lateral movement driving motor, a lateral movement gear 16, two lateral movement linear guide rails 3, two lateral movement limiting blocks 14 and a plurality of lateral movement sliding blocks 29; the two traverse linear guide rails 3 are relatively and fixedly arranged on the arrow taking mechanism connecting plate in parallel, the two traverse limiting blocks 14 are symmetrically arranged at two ends of the traverse mounting plate 15, the traverse mounting plate 15 is slidably arranged on the two traverse linear guide rails 3 through a plurality of traverse sliding blocks 29, the traverse mounting plate 15 is provided with a plurality of teeth matched with the traverse gear 16 along the length direction, the traverse driving motor is fixedly arranged on the arrow taking mechanism connecting plate, the traverse gear 16 is fixedly arranged on the output end of the traverse driving motor rotating shaft, and the traverse gear 16 is meshed with the teeth of the traverse mounting plate 15. The other is the same as in the first embodiment.
The transverse 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 arrow shooting mechanism, so that sequential shooting is realized, and the loading and the shooting are generally carried out for 5 times. The transverse gear 16 is fixed by adopting a counter bore optical axis fixing ring, the transverse gear 16 of the transverse driving motor adopts a tensioning sleeve tensioning mode, and the gear rack is made of carbon fiber plates. Is slid on the traversing linear guide 3 by a plurality of traversing sliders 29.
Fifth embodiment: referring to fig. 1 and 4, an integral friction wheel arrow shooting device according to the present embodiment is described, and an arrow taking lifting assembly includes 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 on 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.
In this embodiment, the motor driving gear 52 is driven by the vertical driving motor 2 to vertically move along the vertical guide rail frame, so that the height of the arrow and the height of the launching are adjusted, and each vertical driving motor 2 is externally provided with a motor protection shell 1 to protect the vertical driving motor 2. The others are the same as in the first, second, third or fourth embodiments.
Specific embodiment six: referring to fig. 1 and 5, the present embodiment of an integral friction wheel archery device is described, and the archery taking mechanism further includes two fiber tubes 4, two cylinder fixing plates 33, two archery taking telescopic cylinders 20, a plurality of linear bearings 21 and a plurality of connecting angle codes 34; get the arrow and snatch the subassembly and be five groups, five groups get the arrow and snatch the subassembly and set up on getting arrow subassembly fixed plate 32 along getting arrow subassembly fixed plate 32 length direction, be located in the middle and get arrow and snatch the subassembly and pass through angle sign indicating number fixed mounting on getting arrow subassembly fixed plate 32's mounting panel, two fibre pipes 4 are installed on five groups get arrow and snatch the mounting panel of subassembly relatively parallel, two fibre pipes 4 with be located in the middle get arrow snatch the mounting panel fixed connection of subassembly, two get arrow telescopic cylinder 20 cartridge respectively in the centre get arrow snatch the both sides of subassembly mounting panel, every get arrow telescopic cylinder 20's cylinder body and get arrow snatch the mounting panel fixed connection of subassembly through cylinder fixed plate 33 and get arrow subassembly fixed plate 32 tip, and every get arrow telescopic cylinder 20's piston rod pass one get arrow subassembly fixed plate 32 and get arrow snatch the mounting panel fixed connection of subassembly with the centre, be located and get arrow snatch the fibre pipe 4 of subassembly on the cover of subassembly and be equipped with the sleeve pipe on the fibre pipe, and be located and get arrow subassembly fixed plate 32 upper end and get the mounting panel that the arrow snatch the assembly is equipped with the arrow snatch assembly.
In this embodiment, get the extension of arrow telescopic cylinder 20 through the control, it drives the arrow of getting arrow subassembly fixed plate 32 tip and snatch the subassembly and remove along fibre pipe 4 length direction through getting the telescopic cylinder 20 of arrow, get the arrow of getting arrow subassembly fixed plate 32 tip and snatch the subassembly and remove through the drive of acting as go-between adjacent arrow of getting of taking of subassembly fixed plate 32 tip, five groups of arrow snatch the same distance between the subassembly after removing, the telescopic cylinder 20 extension of this moment is got in the control, snatch the arrow on the arrow frame, get the distance between five groups of arrow snatch the subassembly through getting the telescopic cylinder 20 adjustment, when the telescopic cylinder 20 shrink of arrow is got in the control, it snatch the subassembly and be equipped with the limit bracket and snatch the corner bracket 40 and snatch the fixed connection of the corner bracket 40 and be equipped with the fixed connection of the limit bracket 40 and snatch the fixed angle of the arrow of the five groups of arrow subassembly and snatch the fixed plate 32 tip and snatch the fixed plate 40 and snatch the fixed connection of the fixed angle bracket is guaranteed to the distance between the adjacent arrow of the arrow subassembly and the fixed plate 32 tip of the arrow of taking the arrow assembly. The other is the same as in the first embodiment.
Seventh embodiment: referring to fig. 1, the present embodiment is described as an integrated friction wheel archery device, which further includes 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 machined 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 cylinder body of the arrow taking moving cylinder 54 is fixedly arranged on the truss 46, and the end portion of a 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 arrow taking moving work is realized. The other is the same as in the first embodiment.
Eighth embodiment: the present embodiment is described with reference to fig. 1, and the integrated friction wheel archery device of the present embodiment further includes a gas cylinder 48, where the gas cylinder 48 is connected with the jaw driving cylinder 13 and the archery telescopic cylinder 20 and provides a gas source. The end of the gas cylinder 48 is provided with a gas cylinder mouth 47, and gas is supplied through the gas cylinder mouth 47. The other is the same as in the second embodiment.
Detailed description nine: referring to fig. 1 and 4, the present embodiment of an integrated friction wheel arrow shooting device is described, and the arrow taking mechanism further includes 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 symmetrical about the center of the transverse moving mounting plate 15 and fixedly mounted on the transverse moving mounting plate 15, the two electromagnet limiting plates 23 are symmetrical about the center of the arrow taking assembly fixing plate 32 and fixedly mounted on the arrow taking assembly fixing plate 32, and each electromagnet limiting plate 23 is in adsorption fit with the electromagnet 22. Through the electromagnet absorption spacing, start the electromagnet and fix the angle when laminating, guaranteed the stability after also having guaranteed to rotate to predetermined angle when having guaranteed the angle. The other is the same as in the fourth embodiment.
Detailed description ten: referring to fig. 1 and 2, the present embodiment is described as an integrated friction wheel archery device, and the friction wheel archery mechanism further includes 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 comprises a limiting rod and two limiting bearings, wherein the two limiting bearings are mounted on the limiting rod. In the present embodiment, the vertical rail frame is limited by a limiting rod and two limiting bearings when running in the direction of the friction wheel 45. The other is the same as in the first embodiment.
Principle of operation
When the invention works, the scissors with the arrow downwards placed on the arrow rest are required to be taken away by default and then are launched. It can be seen from fig. 1 that when taking an arrow, the upper layer is pushed out integrally by the two arrow taking moving cylinders 54, and then rotated 180 degrees by the arrow taking rotating motor 25, the arrow taking grabbing assembly is turned down by fig. 1 and 5, the arrow shaft is clamped after alignment, then the arrow taking rotating motor 25 rotates reversely for 180 degrees, and then the upper layer is pulled back integrally by the moving cylinders 54, and a pair of motors 44 at the friction wheel start to rotate to prepare for shooting an arrow.
After a certain arrow is shot, the clamping jaw driving cylinder 13 is loosened, so that the arrow is ensured not to be blocked when being shot. As can be seen from fig. 5, the traversing gear 16 drives the arrow-picking and grabbing assembly such that the selected arrow-picking and grabbing assembly is aligned with the center of the friction wheel. Then the two lifting motor driving gears 52 push the arrow shaft to move upwards, so that the arrow shaft 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.
After all the carried arrows are launched, carrying out the next round of arrow taking, and repeating the process.
Claims (7)
1. An integral type friction pulley archery device, its 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 positioning piece (40), a pair of friction wheels (45), a pair of motors (44), an aluminum U-shaped interval retaining piece (43) and a pair of aluminum friction wheel shell fixing U-shaped connecting pieces (41); the arrow taking mechanism comprises at least two groups of arrow taking grabbing components, an arrow taking component fixing plate (32), 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;
A pair of aluminum friction wheel shell fixing U-shaped connecting pieces (41) are fixedly arranged on aluminum U-shaped interval maintaining pieces (43), a pair of motors (44) are fixedly arranged on the aluminum friction wheel shell fixing U-shaped connecting pieces (41), the output end of a rotating shaft of each motor (44) is fixedly connected with a friction wheel (45), an arrow taking mechanism is arranged below the friction wheel arrow shooting mechanism, the arrow taking mechanism and the friction wheel arrow shooting mechanism are connected and arranged through a truss (46),
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 components 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 claw pieces (7), a pair of clamping jaw transmission carbon fiber gears (8), an arrow positioning piece (9) and a clamping jaw driving cylinder (13); the pair of clamping jaw stabilizing pieces (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 arranged on the pair of clamping jaw stabilizing pieces (6), arrow body positioning carbon fiber sheets (5) and arrow positioning pieces (9) are respectively arranged on the pair of clamping jaw stabilizing pieces (6), the group of carbon fiber sheet clamping jaw sheets (7) and the mounting plates of arrow taking component fixing plates (32) at two sides of the pair of clamping jaw transmission carbon fiber gears (8), each pair of clamping jaw stabilizing pieces (6) are in driving connection through a clamping jaw driving cylinder (13), the arrow taking component fixing plates (32) are arranged below the pair of friction wheels (45),
An arrow taking rotary motor (25) is fixedly arranged on an arrow taking transverse moving assembly, a motor synchronous pulley (28) is sleeved on the arrow taking rotary motor (25), a rotating shaft synchronous pulley (12) is rotationally connected on the arrow taking transverse moving assembly, the motor synchronous pulley (28) and the rotating shaft synchronous pulley (12) are in transmission connection through a synchronous belt, the rotating shaft synchronous pulley (12) is fixed with an arrow taking assembly fixing plate (32), the arrow taking transverse moving assembly is arranged on an arrow taking mechanism connecting plate, the arrow taking mechanism connecting plate is arranged on an arrow taking lifting assembly,
The locating piece (40) is fixedly arranged on a truss (46) below the friction wheel (45), the locating piece (40) comprises a limiting rod and two limiting bearings, and the two limiting bearings are arranged on the limiting rod.
2. The integrated friction wheel archery device of claim 1, wherein: 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 relatively parallel fixed mounting on getting arrow mechanism connecting plate, two sideslip stopper (14) symmetry set up in sideslip mounting panel (15) both ends, sideslip mounting panel (15) are through a plurality of sideslip slider (29) slip setting on two sideslip linear guide (3), sideslip mounting panel (15) are equipped with a plurality of tooth 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 of sideslip driving motor pivot, tooth meshing of sideslip gear (16) and sideslip mounting panel (15).
3. The integrated friction wheel archery device of claim 1, wherein: 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 ends of vertical guide rail frames, arrow taking mechanism connecting plates are vertically arranged on the vertical guide rail frames 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 plates, 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 frames along the vertical direction, and the lifting motor driving gear (52) is meshed with the teeth of one vertical guide rail frame respectively.
4. The integrated friction wheel archery device of claim 1, wherein: the arrow taking mechanism further comprises two fiber pipes (4), two air cylinder fixing plates (33), two arrow taking telescopic air cylinders (20), a plurality of linear bearings (21) and a plurality of connecting angle codes (34); get arrow and snatch the subassembly and be five groups, five groups get arrow and snatch the subassembly and get arrow subassembly fixed plate (32) length direction setting on getting arrow subassembly fixed plate (32), be located the centre and get arrow and snatch the subassembly and pass through angle sign indicating number fixed mounting on getting the mounting panel of arrow subassembly fixed plate (32), two fibre pipes (4) are installed relatively parallel on five groups and get arrow and snatch the mounting panel of subassembly, two fibre pipes (4) and be located the centre and get arrow and snatch the mounting panel fixed connection of subassembly, two get arrow telescopic cylinder (20) respectively cartridge in the centre and get arrow and snatch the both sides of subassembly mounting panel, the cylinder body of every get arrow telescopic cylinder (20) is through cylinder fixed plate (33) and get arrow subassembly fixed plate fixed connection of snatch the subassembly with getting arrow subassembly (32) tip, and the piston rod of every get arrow telescopic cylinder (20) pass one and get arrow subassembly fixed plate (32) and get arrow and snatch the mounting panel fixed connection of subassembly with the centre, be located and get arrow subassembly's mounting panel (4) on the tip and get arrow subassembly and snatch the fibre pipe (4) of arrow subassembly and be equipped with the straight line and snatch the end and snatch the subassembly and be equipped with the end of arrow subassembly and snatch the assembly on the adjacent arrow subassembly (32) and get the end and snatch the end and be equipped with the end of arrow subassembly and snatch the assembly and pick up assembly.
5. The integrated friction wheel archery device of claim 1, wherein: 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 machined 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), an arrow taking moving cylinder (54) cylinder body is fixedly installed on the truss (46), and the end portion of a piston rod of the arrow taking moving cylinder (54) is fixedly connected with the bottom of the vertical guide rail frame.
6. The integrated friction wheel archery device of claim 1, wherein: 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.
7. The integrated friction wheel archery device of claim 2, wherein: the arrow taking mechanism further comprises two electromagnets (22), two electromagnet fixing plates (24) and two electromagnet limiting plates (23); the electromagnets (22) are arranged on the electromagnet fixing plates (24), the two electromagnet fixing plates (24) are symmetrical about the center of the transverse moving mounting plate (15) and fixedly arranged on the transverse moving mounting plate (15), the two electromagnet limiting plates (23) are symmetrical about the center of the arrow taking component fixing plate (32) and fixedly arranged on the arrow taking component fixing plate (32), and each electromagnet limiting plate (23) is in adsorption fit with the electromagnet (22).
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| CN202210713000.0A CN114894032B (en) | 2022-06-22 | 2022-06-22 | Integral friction wheel archery device |
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| CN202210713000.0A CN114894032B (en) | 2022-06-22 | 2022-06-22 | Integral friction wheel archery device |
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| CN114894032A CN114894032A (en) | 2022-08-12 |
| CN114894032B true CN114894032B (en) | 2024-05-24 |
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Citations (5)
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| 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 |
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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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| CN114894032A (en) | 2022-08-12 |
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