CN114923364A - Arrow projection mechanism with two degrees of freedom - Google Patents

Abstract

The invention discloses a two-degree-of-freedom arrow projection mechanism, comprising a two-degree-of-freedom head, an arrow limiter mechanism and a launch drive mechanism. The two-degree-of-freedom head includes a pitch drive module and a yaw drive module. The positioning mechanism and the launch drive mechanism are integrally installed on the two-degree-of-freedom head. The pitch drive module and the yaw drive module respectively enable the arrow limit mechanism and the launch drive mechanism to complete the pitch and yaw motion; the arrow limit mechanism includes a fixed limit. Position and movable limit, the fixed limit respectively limits the arrow from four directions of up, down, left and right, and the movable limit prevents the rotation of the arrow; the launch drive mechanism includes a launch part and a trigger part, and the trigger part can drive the launch part to open and close Movement, when it closes to the nearest point, the launching part contacts the arrow shaft and drives the arrow shaft to fly out with friction. The present invention realizes accurate delivery within a certain distance space range, and the error is controlled at the centimeter level. It can be applied to many non-handover delivery occasions that require high precision.

Description

A two-degree-of-freedom arrow projection mechanism

technical field

The invention relates to the technical field of robots, in particular to a mechanism for realizing precise arrow projection.

Background technique

At present, the robot industry at home and abroad is developing rapidly, and robot technology has been widely used in fields such as medicine, industrial and agricultural production and even military. In many working conditions, there is an accurate delivery of items, such as the delivery of water life-saving equipment, and the delivery of high-rise fire relief materials. At present, there are few solutions for accurate throwing of items in production and civilian use. If the delivery of objects can be realized by machinery, the accuracy and reliability will be guaranteed in many occasions.

The application number is CN202110657724.3, and the patent titled "Arrow Projection Robot and Projection Method" adopts a motor-driven swing wall projection method of arrow projection, which has a simple structure but occupies a huge space, and because of the swing arm Long, the driving force is not high. Longer swing arms magnify control errors and reduce projection accuracy

In addition, in the patent with the application number of CN201210040804.5 and the title of "A Blowing Arrow", aerodynamic launch is its power method. If the emission mass is too large, the accuracy of emission is directly affected by the stability of the gas source.

SUMMARY OF THE INVENTION

The present invention mainly solves the technical problems existing in the prior art. The invention is a two-degree-of-freedom arrow launching mechanism. The invention realizes precise delivery within a space range of a certain distance, and the error is controlled at the centimeter level. It can be applied to many non-handover delivery occasions that require high precision.

In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions:

A two-degree-of-freedom arrow projection mechanism, characterized in that it comprises a two-degree-of-freedom head, an arrow limiter mechanism and a launch drive mechanism, wherein,

The two-degree-of-freedom cloud platform includes a pitch drive module and a yaw drive module, the arrow limit mechanism and the launch drive mechanism are integrally installed on the two-degree-of-freedom cloud platform, and the pitch drive module and the yaw drive module are respectively used. The arrow limit mechanism and the launch drive mechanism complete the pitch motion and the yaw motion;

The arrow limit mechanism includes a fixed limit and a movable limit, the fixed limit respectively limits the arrow from four directions of up, down, left and right, and the movable limit prevents the rotation of the arrow;

The launch driving mechanism includes a launch part and a trigger part, the trigger part can drive the launch part to open and close, and when it is closed to the nearest point, the launch part contacts the arrow shaft and drives the arrow shaft to fly out with frictional force.

Further, the pitch drive module and the yaw drive module share the same drive module, and the drive module includes a brushless servo motor, a motor base, a first press coupling, an output bearing, and a gear output shaft, wherein the The brushless servo motor is fixedly installed on the motor base and is sequentially connected to the output bearing and the gear output shaft through a first sheet-pressing coupling, and the end of the gear output shaft is provided with a gear.

Further, the pitch drive module includes a side plate, a rib plate, a drive module, a pitch support shaft and a pitch driven gear, wherein the bottoms of the two side plates are fixedly connected to the yaw drive module, and the rib plates are connected by side rib connectors. Between the two side plates, the gear output shaft of the drive module protrudes from the rib plate and meshes with the gear on the pitch driven gear. A pitch support plate is provided on the top of the pitch driven gear, and the pitch driven gear is connected to the side. The plate is hinged through the pitching rotary shaft, the pitch driven gear is provided with an arc-shaped groove in the middle, and the pitch-limiting pin is arranged in the arc-shaped groove and is fixedly connected with the side plate.

Further, the pitching rotation axis includes pitching fixing bolts penetrating the side plate and the pitching support plate, the pitching needle bearing is arranged between the side plate and the pitching support plate, and the two sides of the side plate and the pitching support plate are respectively A pitching support rib bearing is provided, and the other end of the pitching fixing bolt is fastened and connected by a pitching fixing nut.

Further, the yaw drive module includes a base, a drive support plate, a drive module, a yaw bearing assembly, a yaw driven ring gear, a yaw support plate, and a yaw support aluminum tube; wherein, the yaw The bearing assembly includes a yaw bearing, an inner ring of the yaw bearing and an outer ring of the yaw bearing, the drive module is fixedly connected above the drive support plate, the inner ring of the yaw bearing is installed under the drive support plate, the base, the drive The support plate, the inner ring of the yaw bearing is fixedly connected, the components are relatively fixed, the gear output shaft of the drive module is meshed with the yaw driven ring gear, and the outer ring of the yaw bearing buckles the bearing on the yaw support plate, two The yaw support plate sandwiches the yaw driven ring gear, and the yaw support plate, the yaw driven ring gear, the yaw bearing outer ring and the yaw support aluminum tube are relatively fixed.

Further, the arrow limit mechanism and the launch drive mechanism are integrally mounted on the two-degree-of-freedom pan/tilt through a fixed connector, and the fixed connector includes a reference carbon fiber board, a front aluminum tube, and a rear aluminum tube. The tube and the upper connecting plate, wherein the front aluminum tube is fixedly connected to the left and right sides of the front end of the reference carbon fiber board, and the rear aluminum tube is fixedly connected to the left and right sides of the rear end of the reference carbon fiber board and cantilevered rearward. The upper connecting plate It is fixed on the upper surface of the front aluminum tube, wherein the outer side of the front aluminum tube is fixedly connected with the pitch support plate.

Further, the rotation limit is a tail limit, and the tail limit is realized by a feather divider at the tail; the fixed limit includes a left and right limit, a lower limit, a head limit and an upper limit; the fixed limit The limit includes left and right limit, lower limit, head limit and tail limit, wherein the left and right limit includes the round head nail fixing seat and the fixed seat respectively distributed on the two ends of the upper connecting plate and the rear limit connecting plate The left and right limit round head nails in the round head nail fixing seat, the rear limit connecting plate 35 is fixed on the aluminum tube on the rear side; the lower limit includes being fixed on the reference carbon fiber through the lower limit plate fixing seat The lower limit plate on the plate and the lower limit round head nails arranged between the aluminum tubes on the rear side, wherein the lower limit round head nails are connected to the lower limit nail fixing seat above the rear side support plate, wherein the rear side support plate is fixedly connected Between the two rear aluminum tubes; the head limit includes a head limit support block, a head limit support and a head limit bearing, and the head limit support block is fixedly connected to the reference carbon fiber board , the head limit support is fixed on the head limit support block, the head limit bearing is fixed on the head limit support, and the head limit bearings on both sides are respectively arranged on both sides of the arrow head , the upper limit includes a rotary pressing cylinder fixing seat fixed on the upper connecting plate, the rotary pressing cylinder is fixedly connected to the rotary pressing cylinder fixing seat, and the front end of the rotary pressing cylinder fixing seat is connected The hook button is rotated and the pressing cylinder drives the hook button to rotate to upper limit the arrow.

Further, a cylinder tail long clamp block, a cylinder tail short clamp block and a linear cylinder are sequentially arranged between the upper connecting plate and the reference carbon fiber board, and the feather separator is fixedly connected to the cylinder rod of the linear cylinder.

Further, the launching part includes a rubber tire skin, a wheel hub, a launching drive motor, an upper-layer mounting plate, a middle-layer mounting plate, a lower-layer mounting plate, a first sliding rail, a first sliding block, an upper and lower connecting piece, and the tire skin is sleeved on the upper and lower layers. On the hub, the hub is sleeved on the motor rotor of the launch drive motor, the motor is mounted on the mounting plate, the upper mounting plate, the middle mounting plate, and the lower mounting plate are fixedly connected in sequence, and the lower side of the lower mounting plate is installed with a first slider. The first slide rail is fixedly installed on the reference carbon fiber board, the first upper and lower connecting pieces are fixedly connected to the lower mounting board, and Dean is located between the first sliders on both sides, and the upper and lower connecting pieces are set downward on the reference carbon fiber board The groove in the middle is connected with the triggering part, and the triggering part drives the first sliding block to slide along the first sliding rail for guiding the opening and closing movement.

Further, the triggering part includes a front section of the crankshaft, a middle section of the crankshaft and a rear section of the crankshaft; the front section of the crankshaft and the rear section of the crankshaft are fixedly connected through a hole on the middle section; the front section of the crankshaft is mounted on the front end fixing seat through a support bearing of the front section of the crankshaft, The front end fixing seat is fixedly connected with the reference carbon fiber board, the rear section of the crankshaft is connected with the motor shaft of the crankshaft motor through the second pressing coupling, the crankshaft motor is connected with the reference carbon fiber board through the crankshaft motor seat, and the crank bearing capacity is installed on each side of the two cranks Bearing, the other end is installed with a needle roller bearing, and the two cranks are respectively installed between the front section of the crankshaft and the middle section of the crankshaft, the middle section of the crankshaft and the rear section of the crankshaft. The other end of the crank is connected with the sliding seat through the bearing, which drives the sliding seat to open and close A second sliding block is installed on the lower side of the sliding seat, and a second sliding rail is arranged on the lower side of the second sliding block, and the second sliding rail and the second sliding block play a guiding role.

Compared with the prior art, the beneficial effects of the present invention are as follows:

1. The structure serves the function, the crankshaft can be enlarged by 4 times the eccentric distance, and under a certain clamping distance, a smaller volume can be achieved. The light weight is high, and the overall weight does not exceed 2kg, which can adapt to many work scenarios. At the same time, the lightweight design reduces the inertia, and the flexibility of the gimbal is greatly improved, adapting to more scenes that require rapid movements. The mechanism design is compact and the drive system is centralized, which is beneficial to the configuration of the electrical system.

2. The mechanism adopts all degrees of freedom constraints except the forward direction of launch. On the one hand, it can achieve the excellent stability of the launch object in the mechanism, and on the other hand, it provides a guarantee for the launch accuracy.

3. The driving method is friction speed control. Thanks to the development of servo motor closed-loop control technology at this stage, high-precision speed control can be achieved. At the same time, the trigger method adopts the dead point of the linkage mechanism, which ensures the clamping accuracy and reduces the requirement of triggering driving force. The mechanism launch accuracy is excellent. The projection distance of the mechanism is greater than 15m, and the error is less than 5cm.

Description of drawings

Figure 1 is an isometric view of the present invention.

FIG. 2 is an isometric view of a two-degree-of-freedom pan/tilt head of the present invention.

FIG. 3 is an exploded view of the drive module of the present invention.

Figure 4 is an axonometric view of the yaw part of the present invention.

Figure 5 is an exploded view of the yaw part of the present invention.

Figure 6 is an axonometric view of the pitch part of the present invention.

FIG. 7 is an exploded view of the rotating shaft of the pitch part of the present invention.

FIG. 8 is a schematic diagram of the limit position of the present invention.

Figure 9 is an isometric view of the arrow limit position of the present invention.

FIG. 10 is an exploded view of the arrow position limit of the present invention.

Figure 11 is an isometric view of the launch part of the launch drive of the present invention.

Figure 12 is an exploded view of the friction launch slide of the present invention.

Figure 13 is an isometric view of the trigger portion of the firing drive.

Figure 14 is an exploded view of the trigger part of the launch drive.

(a), (b), (c), (d) of FIG. 15 are schematic diagrams of crankshaft movements.

(e), (f), (g), and (h) in FIG. 16 are schematic diagrams of the launching action.

In the attached picture:

1-Brushless servo motor, 2-First press coupling, 3-Motor base, 4-Gear output shaft, 5-Output bearing; 6-Drive module, 7-Drive support plate, 8-Yaw bearing outside Ring, 9-Yaw support aluminum tube, 10-Base, 11-Yaw bearing inner ring, 12-Yaw support plate, 13-Yaw driven ring gear, 14-Yaw bearing; 15-Pitch driven Gear, 16-pitch limit pin, 17-gear, 18-side plate, 19-rib plate, 20-side rib connecting piece, 21-pitch support plate, 22-pitch set bolt, 23-pitch support rib bearing , 24- pitching needle roller bearing, 25- pitching set nut; 26- front aluminum tube, 27- left and right limit round head nails, 28- round head nail fixing seat, 29- hook button, 30- upper side connection Plate, 31- Rotating Down Pressing Cylinder Holder, 32- Rotating Down Pressing Cylinder, 33- Rear Aluminum Tube, 34- Linear Cylinder, 35- Rear Limit Connection Plate, 36- Lower Limit Round Head Nail, 37- Split Feather device, 38-lower limit pin fixing seat, 39-rear side support plate, 40-cylinder head fixing seat, 41-cylinder tail short clamp block, 42-cylinder tail long clamp block, 43-lower limit plate, 44-lower limit Position plate fixing seat, 45- head limit support block, 46- head limit support, 47- head limit bearing, 48- benchmark carbon fiber plate; 49- wheel hub, 50- rubber tire skin, 51- launch drive Motor, 52-upper mounting plate, 53-middle mounting plate, 54-lower mounting plate, 55-upper and lower connecting pieces, 56-first sliding rail, 57-first sliding block, 58-sliding bearing, 59-sliding Seat, 60-Second Slider, 61-Second Slide Rail, 62-Crank Bearing, 63-Crankshaft Motor, 64-Crankshaft Motor Seat, 65-Second Press Coupling, 66-Crankshaft Rear Section , 67-Crank, 68-Needle bearing, 69-Crankshaft middle, 70-Crankshaft front, 71-Crankshaft front support bearing, 72-Front fixed seat.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the specific embodiments and the accompanying drawings. It should be understood that these descriptions are exemplary only, and are not intended to limit the scope of the invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concepts of the present invention.

Referring to Figures 1-14, the present invention provides a technical solution: a two-degree-of-freedom arrow projection mechanism, comprising three parts: a two-degree-of-freedom head, an arrow limiter, and a launch drive. Among them, the main function of the two-degree-of-freedom PTZ is to provide the pitch angle and yaw angle required for projection, and to provide the connection hole position with the base 10. The arrow limit provides the limitation of the initial position of the arrow shaft and provides accurate target space attitude. The launch driving part is the power source of the projection, by clamping the arrow shaft, enough friction force is generated to push the arrow shaft out.

As shown in Figure 2, the two-degree-of-freedom head includes a pitch drive module and a yaw drive module. The arrow limiter mechanism and the launch drive mechanism are integrally installed on the two-DOF head, and the pitch drive module and the yaw drive module are integrally installed on the two-DOF head. The drive module enables the arrow limit mechanism and the launch drive mechanism to complete pitch motion and yaw motion respectively. The pitch drive module and the yaw drive module share the same drive module 6 . As shown in FIG. 3 , the drive module 6 includes a brushless servo motor 1 , a motor base 3 , a first press coupling 2 , and an output bearing 5 , Gear output shaft 4, wherein the brushless servo motor 1 is fixedly installed on the motor base 3 through the first press coupling 2 to connect the output bearing 5 and the gear output shaft 4 in turn, the gear output shaft 4 The ends are provided with gears 17 . As shown in FIG. 6 , the pitch drive module includes a side plate 18 , a rib plate 19 , a drive module 6 , a pitch support shaft and a pitch driven gear 15 , wherein the bottom of the two side plates 18 is fixedly connected to the yaw drive module, and the rib plate 19 is connected between the two side plates 18 through the side rib connecting piece 20. The gear output shaft 4 of the drive module 6 passes through the rib plate 19 and meshes with the gear on the pitch driven gear 15. The top of the pitch driven gear 15 is provided with The pitch support plate 21, the pitch driven gear 15 and the side plate 18 are hinged through the pitch rotation axis, the pitch driven gear 15 is provided with an arc groove in the middle, and the pitch limit pin 16 is arranged in the arc groove middle. The pitching rotation shaft includes pitching fixing bolts 22 penetrating the side plate 18 and pitching support plate 21 , and pitching needle bearing 24 is arranged between the side plate 18 and pitching support plate 21 , and the side plate 18 and pitching support plate 21 Both sides are respectively provided with pitch support rib bearings 23 , and the other end of the pitch tightening bolt 22 is fastened and connected by a pitch tightening nut 25 . The drive module 6 is mounted on the side plate 18 on one side, and the gear of the gear output shaft 4 protrudes from the outside to engage with the pitch driven gear 15 for transmission. The pitch limit pin 16 is installed on the side plate 18 on the same side to limit the range of motion of the hinge. The pitch rotation axis has two left and right. The specific structure is shown in Figure 7. The side plate 18 and the pitch support plate 21 sandwich the pitch needle roller bearing 24 in the middle. connect.

As shown in Figures 4 and 5, the yaw drive module includes a base 10, a drive support plate 7, a drive module 6, a yaw bearing 14, a yaw driven ring gear 13, a yaw support plate 12, and a yaw support aluminum tube 9; wherein, the yaw bearing 14 includes a yaw bearing inner ring 11 and a yaw bearing outer ring 8, the drive module 6 is fixedly connected above the drive support plate 7, and the yaw bearing inner ring 11 is installed on the drive Below the support plate 7, the base 10, the drive support plate 7, and the yaw bearing inner ring 11 are fixedly connected, and the components are relatively fixed. The bearing outer ring 8 buckles the bearing on the yaw support plate 12, the two yaw support plates 12 sandwich the yaw driven ring gear 13, the yaw support plate 12, the yaw driven ring gear 13, the yaw driven ring gear 13, The bearing outer ring 8 and the yaw supporting aluminum tube 9 are relatively fixed.

The arrow limit is shown in Figure 9, which is divided into fixed limit and movable limit. The movable limit has degrees of freedom, and the fixed limit is fixed relative to the tilt head. The fixed limit includes the left and right limit, the lower limit, the head limit and the upper limit, and the rotation limit is the tail limit; The rotary pressing cylinder 32 is fixedly connected to the rotary pressing cylinder fixing seat 31 , the front end of the rotary pressing cylinder fixing seat 31 is connected to the hook button 29 , and the rotary pressing cylinder drives the hook button 29 to rotate to the arrow support Carry out the upper limit, which is an independent degree of freedom and can be opened and closed; wherein the left and right limit includes the round head nail fixing seat 28 distributed on the two ends of the upper connecting plate 30 and the rear limit connecting plate 35 and fixed on the The left and right limit round head nails 27 in the round head nail fixing seat 28, the rear limit connecting plate 35 is fixed on the rear aluminum pipe 33; The lower limit plate 43 on the reference carbon fiber board 48 and the lower limit round head nails 36 arranged between the aluminum tubes 33 on the rear side are composed of three limit round head nails on the left and right, respectively fixed on the upper connecting plate. 30 and the rear limit connecting plate 35 are distributed in the front, middle and rear parts of the tilting head structure. The lower limit round head nail 36 is connected to the lower limit pin fixing seat 38 and is fixed above the rear support plate 39, wherein the rear support plate 39 is fixedly connected between the two rear aluminum pipes 33 through the cylinder head fixing seat 40; The head limit includes a head limit support block 45, a head limit support 46 and a head limit bearing 47. The head limit support block 45 is fixedly connected to the reference carbon fiber board 48, and the head limit The support 46 is fixed on the head limit support block 45, the head limit bearing 47 is fixed on the head limit support, and the head limit bearings 47 on both sides are respectively arranged on both sides of the arrow head. The arrow is dragged to prevent it from sliding down the track, and the rotation limit is the tail limit, which is realized by the feather divider 37 at the tail. The specific limiting method is shown in Figure 8, the left and right are round head nails, the upper side is the hook button 29, the lower side is the long plate, and the four positive directions along the normal plane of the arrow shaft are all limited by the structure. Through the multi-directional limit, the arrow has and only the freedom of forward movement. In the above-mentioned embodiment, the round head screw is a point contact limiter, which ensures a small limiter resistance. The feather separator 37 is driven by the left and right linear cylinders 34, and the linear cylinders 34 are fixed between the reference carbon fiber plate 48 and the upper connecting plate 30 through a clamping block.

Between the upper connecting plate 30 and the reference carbon fiber plate 48 are sequentially provided a cylinder tail long clamping block 42 , a cylinder tail short clamping block 41 and a linear cylinder 34 , and the feather separator 37 is slidably connected to the linear cylinder 34 . The linear cylinder 34 can drive the feather splitter 37 to expand and contract back and forth, and to straighten the feathers.

The arrow limiting mechanism and the launch drive mechanism are integrally mounted on the two-degree-of-freedom pan/tilt through a fixed connector, and the fixed connector includes a reference carbon fiber plate 48, a front aluminum tube 26, a rear aluminum tube 33 and The upper connecting plate 30, wherein the front aluminum tubes 26 are fixedly connected to the left and right sides of the front end of the reference carbon fiber board 48, and the rear aluminum tubes 33 are fixedly connected to the left and right sides of the rear end of the reference carbon fiber board 48 and cantilevered backwards. The side connecting plate 30 is fixed on the upper surface of the front aluminum tube 26 , wherein the outer side of the front aluminum tube 26 is fixedly connected to the pitch support plate 21 .

As shown in FIG. 11 , the launch driving part is divided into a launch part and a trigger part. The launch part is located on the upper side of the reference carbon fiber board 48 , and the trigger part is located on the lower side of the reference carbon fiber board 48 , and they are connected by the upper and lower connecting pieces 55 . The trigger part can drive the launch part to open and close, and when it is closed to the nearest point, the launch part contacts the arrow shaft and drives the arrow shaft to fly out with friction. The launch part structure is shown in Figure 12, including rubber tire skin 50, wheel hub 49, launch drive motor 51, upper mounting plate 52, middle mounting plate 53, lower mounting plate 54, first slide rail 56, first slider 57 , the upper and lower connectors 55, the tire skin is sleeved on the hub 49, the hub 49 is sleeved on the motor rotor of the launch drive motor 51, the motor is installed on the mounting plate, the upper mounting plate 52, the middle mounting plate 53, the lower mounting plate 54 The first sliding block 57 is installed on the lower side of the lower mounting plate 54, the first sliding rail 56 is fixedly installed on the reference carbon fiber board 48, and the first upper and lower connecting pieces 55 are fixedly connected to the lower mounting plate 54. Dean is located between the first sliders 57 on both sides, and the upper and lower connecting pieces 55 are downwardly arranged in the grooves in the reference carbon fiber board 48 to connect with the trigger part, and the trigger part drives the first slider 57 along the The first slide rail 56 slides to guide the opening and closing movement.

As shown in Figure 13, the triggering part includes a crankshaft front section 70, a crankshaft middle section 69 and a crankshaft rear section 66; the crankshaft front section 70 and the crankshaft rear section 66 are fixedly connected through the holes on the middle section; the crankshaft front section 70 supports the bearing through the crankshaft front section 71 is installed on the front end fixing seat, the front end fixing seat is fixedly connected with the reference carbon fiber plate 48, the rear section 66 of the crankshaft is connected with the motor shaft of the crankshaft motor 63 through the second pressing coupling 65, and the crankshaft motor 63 is connected with the crankshaft motor seat 64 through the crankshaft motor. The reference carbon fiber plate 48 is connected, the crank bearing 62 is installed on both sides of the two cranks 67, and the needle roller bearing 68 is installed at the other end. During the time, the other end of the crank 67 is connected with the sliding seat 59 through the sliding bearing 58, and drives the sliding seat 59 to open and close. The second sliding block 60 is installed on the lower side of the sliding seat 59. The lower side of the block 60 is provided with a second sliding rail 61, and the second sliding rail 61 and the second sliding block 60 play a guiding role.

Actions and functions that the robot can realize in the present invention:

(1) The yaw motor of the gimbal drives the yaw ring gear to rotate, so that all the structures above the yaw large bearing rotate along the center of the bearing, and the launch track is adjusted to any yaw angle;

(2) The gimbal pitch motor drives the pitch gear to rotate, so that the launch track rotates along the pitch axis, so as to achieve a pitch angle within any range;

(3) Rotate and press the cylinder to extend to lock the arrow on the mechanism.

(4) The tail feather cylinder is extended to lock the rotation angle of the arrow.

(5) The trigger motor rotates 180 degrees, and the distance between the two driving wheels changes from the largest to the smallest, which is slightly smaller than the diameter of the arrow.

(6) The drive motor provides torque to the drive wheel, and the torque is converted into forward thrust through friction, and then shot forward.

In order to realize various parabolic trajectories, the launch adopts a two-degree-of-freedom head. Actions (1) and (2) can achieve any direction vector alignment within a certain range centered on the body of the mechanism. Realize the realization of projecting any parabolic trajectory, and realize any point within a certain range to drop arrows at any angle. Accurate limit can ensure high transmission accuracy. Actions (3) and (4) realize the 5-DOF limitation on the launching object, and the rotation and pressing down facilitates the loading of arrows. The rotation of the arrow also provides convenience for the launch drive, preventing the drive part from interfering with the nock tail. The head rest is the front and rear limit to ensure a uniform front and rear position of the arrow, thereby ensuring the same action time of the driving part and ensuring the accuracy of the landing point. Actions (5) and (6) are the final firing actions, as shown in Figures 16(e) and 16(f). The firing action is triggered by the crankshaft, as shown in Figures 15(a) and (b), (c) and (d). In the ready state, the crankshaft is in the zero position, and the crankshaft is in the open state. As shown in Figure 15(a), the launch drive motor 51 and the motor slide table are in the farthest position from the center. When the launch needs to be triggered, the launch trigger motor rotates counterclockwise in the direction shown in Figure 15(b), and drives the inner end of the connecting rod to move in a circle. The crankshaft, connecting rod and sliding seat can be regarded as a crank-slider mechanism. The block will produce the same motion as the circular motion projected along the direction of the guide rail, which is shown as an inward movement. Until the state shown in Figure 15(d), the crankshaft rotates 180 degrees, the connecting rod reaches the limit position, and enters the dead center of the mechanism, the launch drive motor moves together to the closest point, and generates a clamping force with the arrow shaft. At this time, the arrow clamps The reaction force cannot be transmitted to the motor, which ensures the clamping accuracy. The stroke of the single-sided slider module is twice the eccentric distance of the crankshaft, and the total clamping distance is four times. In the minimum distance state, the shaft clamping is in an interference state. The drive motor is always in a rotating state during all actions. When the crankshaft is clamped, the torque of the motor is instantly converted into a frictional force against the arrow forward through friction, which pushes the arrow forward to complete the firing process. After the launch is completed, the crankshaft moves 180 degrees in the reverse direction to realize the reverse process of launching and return to the initial state.

The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the described embodiments, and those skilled in the art can also make various equivalent deformations or replacements without departing from the spirit of the present invention, These equivalent modifications or substitutions are all included within the scope defined by the claims of the present application.

Claims (10)

1. an arrow projection mechanism of two degrees of freedom, is characterized in that: comprise two degrees of freedom platform, arrow limiter mechanism and launch drive mechanism, wherein, The two-degree-of-freedom cloud platform includes a pitch drive module and a yaw drive module, the arrow limit mechanism and the launch drive mechanism are integrally installed on the two-degree-of-freedom cloud platform, and the pitch drive module and the yaw drive module are respectively used. The arrow limit mechanism and the launch drive mechanism complete the pitch motion and the yaw motion; The arrow limit mechanism includes a fixed limit and a movable limit, the fixed limit respectively limits the arrow from four directions of up, down, left and right, and the movable limit prevents the rotation of the arrow; The launch driving mechanism includes a launch part and a trigger part, the trigger part can drive the launch part to open and close, and when it is closed to the nearest point, the launch part contacts the arrow shaft and drives the arrow shaft to fly out with frictional force. 2. The arrow projection mechanism with two degrees of freedom according to claim 1, wherein the pitch drive module and the yaw drive module share the same drive module, and the drive module comprises a brushless servo motor, A motor seat, a first compression coupling, an output bearing, and a gear output shaft, wherein the brushless servo motor is fixedly mounted on the motor seat and is sequentially connected to the output bearing and the gear output shaft through the first compression coupling, The end of the gear output shaft is provided with a gear. 3. The arrow projection mechanism with two degrees of freedom according to claim 2, wherein the pitch drive module comprises a side plate, a rib plate, a drive module, a pitch support shaft and a pitch driven gear, wherein, The bottom of the two side plates is fixedly connected to the yaw drive module, the rib plate is connected between the two side plates through the side rib connecting piece, the gear output shaft of the drive module passes through the rib plate and meshes with the gear on the pitch driven gear, The top of the pitch driven gear is provided with a pitch support plate, the pitch driven gear and the side plate are hinged through a pitch rotation axis, an arc-shaped groove is arranged in the middle of the pitch driven gear, and a pitch limit pin is arranged on the arc in the groove and fixedly connected with the side plate. 4 . The two-degree-of-freedom arrow projection mechanism according to claim 3 , wherein the pitch rotation axis comprises a pitch set bolt penetrating the side plate and the pitch support plate, and a pitch needle bearing is provided with a pitch needle bearing. 5 . Between the side plate and the pitch support plate, pitch support rib bearings are respectively provided on both sides of the side plate and the pitch support plate, and the other end of the pitch tightening bolt is fastened and connected by a pitch tightening nut. 5 . The arrow projection mechanism with two degrees of freedom according to claim 1 , wherein the yaw drive module comprises a base, a drive support plate, a drive module, a yaw bearing assembly, and a yaw slave 5 . A moving ring gear, a yaw support plate, and a yaw support aluminum tube; wherein, the yaw bearing assembly includes a yaw bearing, an inner ring of the yaw bearing and an outer ring of the yaw bearing, and the drive module is fixedly connected to the drive support Above the plate, the inner ring of the yaw bearing is installed under the drive support plate, the base, the drive support plate, and the inner ring of the yaw bearing are fixedly connected, and the components are relatively fixed, and the gear output shaft of the drive module is connected to the yaw driven gear. Ring meshing transmission, the outer ring of the yaw bearing buckles the bearing on the yaw support plate, the two yaw support plates sandwich the yaw driven ring gear, the yaw support plate, the yaw driven ring gear, the yaw driven ring gear The bearing outer ring and the yaw support aluminum tube are relatively fixed. 6 . The arrow projection mechanism with two degrees of freedom according to claim 1 , wherein the arrow limiting mechanism and the launch driving mechanism are integrally installed on the two-degree-of-freedom cloud through a fixed connector. 7 . On the stage, the fixed connectors include a reference carbon fiber board, a front aluminum tube, a rear aluminum tube and an upper connecting plate, wherein the front aluminum tube is fixedly connected to the left and right sides of the front end of the reference carbon fiber board, and the rear aluminum tube is fixedly connected. On the left and right sides of the rear end of the reference carbon fiber board and cantilevered rearward, the upper connecting plate is fixed on the upper surface of the front aluminum tube, wherein the outer side of the front aluminum tube is fixedly connected with the pitch support plate. 7 . The arrow projection mechanism with two degrees of freedom according to claim 6 , wherein the rotation limit is a tail limit, and the tail limit is realized by a feather divider at the tail; the fixed The limit includes the left and right limit, the lower limit, the head limit and the upper limit, wherein the left and right limit includes the round head nail fixing seats distributed on the two ends of the upper connecting plate and the rear limit connecting plate respectively, and the The left and right limit round head nails in the round head nail fixing seat, the rear limit connecting plate is fixed on the rear aluminum pipe; the lower limit includes being fixed on the reference carbon fiber board through the lower limit plate fixing seat The lower limit plate and the lower limit round head nails arranged between the aluminum tubes on the rear side, wherein the lower limit round head nails pass through the country and the lower limit nail fixing seat is fixed above the rear side support plate, wherein the rear side support plate is fixedly connected to the two. Between the rear aluminum tubes; the head limit includes a head limit support block, a head limit support and a head limit bearing, the head limit support block is fixedly connected to the reference carbon fiber board, and the head limit The upper limit support is fixed on the head limit support block, the head limit bearing is fixed on the head limit support, and the head limit bearings on both sides are respectively arranged on both sides of the arrow head, so the head limit bearing is fixed on the head limit support. The upper limit includes a rotary pressing cylinder fixing seat fixed on the upper connecting plate, the rotary pressing cylinder is fixedly connected to the rotary pressing cylinder fixing seat, and the front end of the rotary pressing cylinder fixing seat is connected with a hook The button is rotated and the pressing cylinder drives the hook button to rotate to upper limit the arrow. 8 . The arrow projection mechanism with two degrees of freedom according to claim 6 , wherein a cylinder tail long clamp block and a cylinder tail short clamp block are sequentially arranged between the upper connecting plate and the reference carbon fiber plate. 9 . And the linear cylinder, the feather separator is fixedly connected to the cylinder rod of the linear cylinder. 9 . The arrow projection mechanism with two degrees of freedom according to claim 1 , wherein the launching part comprises a rubber tire skin, a wheel hub, a launching drive motor, an upper-layer mounting plate, a middle-layer mounting plate, and a lower-layer mounting plate. 10 . , The first slide rail, the first slider, the upper and lower connecting parts, the tire skin is sleeved on the hub, the hub is sleeved on the motor rotor of the launch drive motor, the motor is installed on the mounting plate, the upper mounting plate, the middle mounting plate, The lower mounting plate is fixedly connected in sequence, a first slider is installed on the lower side of the lower mounting plate, the first sliding rail is fixedly installed on the reference carbon fiber board, and the first upper and lower connecting pieces are fixedly connected to the lower mounting plate and are located on the two sides. Between the side first sliders, the upper and lower connecting pieces are downwardly arranged in the grooves in the reference carbon fiber board to be connected with the triggering part, and the triggering part drives the first slider to slide along the first slide rail for opening. combined movement orientation. 10. A two-degree-of-freedom arrow projection mechanism according to claim 1, wherein the trigger part comprises a crankshaft front section, a crankshaft middle section and a crankshaft rear section; the crankshaft front section and the crankshaft rear section pass through the middle section The front end of the crankshaft is fixedly connected to the front end of the crankshaft through the support bearing of the front end of the crankshaft. The crankshaft motor is connected with the reference carbon fiber board through the crankshaft motor seat. The crank bearing bearing is installed on both sides of the two cranks, and the needle roller bearing is installed on the other end. The other end of the crank is connected with the sliding seat through a bearing to drive the sliding seat to open and close. A second sliding block is installed on the lower side of the sliding seat, and a second sliding rail is arranged on the lower side of the second sliding block. The second sliding rail and the second sliding block play a guiding role.

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