CN114923364A

CN114923364A - Arrow projection mechanism with two degrees of freedom

Info

Publication number: CN114923364A
Application number: CN202210185794.8A
Authority: CN
Inventors: 王伟; 邹金洲
Original assignee: Wuhan University WHU
Current assignee: Wuhan University WHU
Priority date: 2022-02-28
Filing date: 2022-02-28
Publication date: 2022-08-19
Anticipated expiration: 2042-02-28
Also published as: CN114923364B

Abstract

The invention discloses a two-degree-of-freedom arrow projection mechanism which comprises a two-degree-of-freedom holder, an arrow support limiting mechanism and a launching driving mechanism, wherein the two-degree-of-freedom holder comprises a pitching driving module and a yawing driving module; the arrow support limiting mechanism comprises a fixed limiting mechanism and a movable limiting mechanism, the fixed limiting mechanism is used for limiting the arrow respectively from four directions of up, down, left and right, and the movable limiting mechanism is used for preventing the arrow from rotating; the launching driving mechanism comprises a launching part and a triggering part, the triggering part can drive the launching part to open and close, when the launching part is closed to be nearest, the launching part contacts the arrow shaft, and the arrow shaft is driven to fly out by friction force. The invention realizes accurate delivery in a space range with a certain distance, and the error is controlled to be in centimeter level. The method can be applied to a plurality of non-handover delivery occasions requiring higher precision.

Description

Arrow projection mechanism with two degrees of freedom

Technical Field

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

Background

At present, the robot industry at home and abroad develops rapidly, and the robot technology is widely applied to the fields of medicine, industrial and agricultural production and even military affairs. In many conditions, there are conditions involving the accurate delivery of items, such as delivery of water life saving equipment, delivery of high-rise fire rescue supplies. At present, a solution for accurately throwing articles is provided for production and civil use. If the delivery of the object can be realized through machinery, the precision and the reliability of the delivery can be guaranteed in many occasions.

In a patent with application number CN202110657724.3 entitled "arrow casting robot and casting method", an arrow casting mode in which a motor drives a swing wall to cast is adopted, which has a simple structure but occupies a huge space, and the swing arm is long, so the driving force efficiency is not high. Longer swing arms may amplify control errors, thereby reducing projection accuracy

In addition, in patent with application number CN201210040804.5 and named "a blowing arrow", pneumatic launching is the power mode, and the main disadvantage is that pneumatic cannot realize high-speed launching of large load, and at the same time, the launching quality cannot be too large, and the launching precision is directly affected by the stability of air source.

Disclosure of Invention

The invention mainly solves the technical problems in the prior art. The invention relates to a two-degree-of-freedom arrow launching mechanism, which realizes accurate delivery in a space range with a certain distance, and the error is controlled to be in centimeter level. It can be applied to many non-handover delivery occasions requiring higher precision.

In order to solve the technical problems, the invention provides the following technical scheme:

a two-degree-of-freedom arrow projection mechanism is characterized in that: comprises a two-degree-of-freedom holder, an arrow support limiting mechanism and a launching driving mechanism, wherein,

the two-degree-of-freedom cradle head comprises a pitching driving module and a yawing driving module, the arrow support limiting mechanism and the launching driving mechanism are integrally installed on the two-degree-of-freedom cradle head, and the pitching driving module and the yawing driving module enable the arrow support limiting mechanism and the launching driving mechanism to complete pitching motion and yawing motion respectively;

the arrow support limiting mechanism comprises a fixed limiting mechanism and a movable limiting mechanism, the fixed limiting mechanism is used for limiting the arrow from four directions, namely an upper direction, a lower direction, a left direction and a right direction, and the movable limiting mechanism is used for preventing the arrow from rotating;

the launching driving mechanism comprises a launching part and a triggering part, the triggering part can drive the launching part to make opening and closing movement, when the launching part is closed to be nearest, the launching part contacts the arrow shaft, and the arrow shaft is driven to fly out by friction force.

Furthermore, the pitching driving module and the yawing driving module share the same driving module, the driving module comprises a brushless servo motor, a motor base, a first pressing plate coupler, an output bearing and a gear output shaft, wherein the brushless servo motor is fixedly installed on the motor base and is sequentially connected with the output bearing and the gear output shaft through the first pressing plate coupler, and a gear is arranged at the end part of the gear output shaft.

Further, every single move drive module includes curb plate, floor, drive module, every single move back shaft and every single move driven gear, and wherein, both sides board bottom fixed connection is on yaw drive module, and the floor passes through the side rib connecting piece to be connected between the board of both sides, drive module's gear output shaft wear out from the floor with the gear engagement on the every single move driven gear, pitch and face upward the driven gear top and be equipped with the every single move backup pad, every single move driven gear with the curb plate passes through every single move slewing shaft hinge joint, be equipped with the arc wall in the middle of the every single move driven gear, every single move spacing nail set up in the arc wall and with curb plate fixed connection.

Furthermore, the pitching rotating shaft comprises a pitching fastening bolt penetrating through the side plate and the pitching supporting plate, the pitching needle bearing is arranged between the side plate and the pitching supporting plate, pitching supporting flange bearings are respectively arranged on two sides of the side plate and two sides of the pitching supporting plate, and the other ends of the pitching fastening bolts are fixedly connected through pitching fastening nuts.

Furthermore, the yaw driving module comprises a base, a driving supporting plate, a driving module, a yaw bearing assembly, a yaw driven gear ring, a yaw supporting plate and a yaw supporting aluminum pipe; the yaw bearing assembly comprises a yaw bearing, a yaw bearing inner ring and a yaw bearing outer ring, a driving module is fixedly connected above a driving support plate, the yaw bearing inner ring is installed below the driving support plate, a base is arranged on the base, the driving support plate and the yaw bearing inner ring are fixedly connected, the components are relatively fixed to the ground, a gear output shaft of the driving module is in meshing transmission with a yaw driven gear ring, the bearing is buckled on the yaw support plate through the yaw bearing outer ring, the yaw driven gear ring is clamped in the middle through the two yaw support plates, and the yaw support plate, the yaw driven gear ring, the yaw bearing outer ring and a yaw support aluminum pipe are relatively fixed.

Furthermore, the arrow support limiting mechanism and the launching driving mechanism are integrally installed on the two-freedom-degree pan-tilt through fixed connecting pieces, each fixed connecting piece comprises a reference carbon fiber plate, a front side aluminum pipe, a rear side aluminum pipe and an upper side connecting plate, the front side aluminum pipes are fixedly connected to the left side and the right side of the front end of the reference carbon fiber plate, the rear side aluminum pipes are fixedly connected to the left side and the right side of the rear end of the reference carbon fiber plate and are cantilevered backwards, the upper side connecting plates are fixed on the upper surfaces of the front side aluminum pipes, and the outer sides of the front side aluminum pipes are fixedly connected with the pitching supporting plates.

Furthermore, the rotation limit is a tail limit, and the tail limit is realized through a feather separator at the tail; the fixed limit comprises a left limit, a right limit, a lower limit, a head limit and an upper limit; the fixed limit comprises a left limit, a right limit, a lower limit, a head limit and a tail limit, wherein the left limit and the right limit comprise round head nail fixing seats respectively distributed at two ends of the upper side connecting plate and the rear limit connecting plate and left limit round head nails fixed in the round head nail fixing seats, and the rear limit connecting plate 35 is fixed on a rear side aluminum pipe; the lower limit comprises a lower limit plate fixed on the reference carbon fiber plate through a lower limit plate fixing seat and a lower limit round head nail arranged between the rear side aluminum tubes, wherein the lower limit round head nail is communicated with the lower limit nail fixing seat and fixed above the rear side supporting plate, and the rear side supporting plate is fixedly connected between the two rear side aluminum tubes; the head limiting device comprises a head limiting support block, a head limiting support and a head limiting bearing, wherein the head limiting support block is fixedly connected to a reference carbon fiber plate, the head limiting support is fixedly connected to the head limiting support, the head limiting bearing is fixed to the head limiting support, the head limiting bearings on two sides are respectively arranged on two sides of the head of an arrow support, the upper limiting position comprises a rotary pressing cylinder fixing seat fixed to the upper side connecting plate, the rotary pressing cylinder is fixedly connected to the rotary pressing cylinder fixing seat, the front end of the rotary pressing cylinder fixing seat is connected with a hook fastener, and the rotary pressing cylinder drives the hook fastener to rotate to perform upper limiting on the arrow support.

Furthermore, a long clamping block at the tail part of the cylinder, a short clamping block at the tail part of the cylinder and a linear cylinder are sequentially arranged between the upper side connecting plate and the reference carbon fiber plate, and the feather separator is fixedly connected to a cylinder rod of the linear cylinder.

Furthermore, the launching part comprises a rubber tire skin, a wheel hub, a launching drive motor, an upper mounting plate, a middle mounting plate, a lower mounting plate, a first slide rail, a first slide block, an upper connecting piece and a lower connecting piece, the tyre leather is sleeved on the wheel hub, the wheel hub is sleeved on a motor rotor of the emission driving motor, the motor is arranged on the mounting plate, the upper mounting plate, the middle mounting plate and the lower mounting plate are fixedly connected in sequence, the lower side of the lower mounting plate is provided with a first slide block, the first slide rail is fixedly arranged on the reference carbon fiber plate, the upper and lower connecting pieces are fixedly connected between the first slide blocks at two sides of the lower mounting plate, the upper connecting piece and the lower connecting piece are downwards arranged in a groove in the reference carbon fiber plate and are connected with the triggering part, and the triggering part drives the first sliding block to slide along the first sliding rail to guide opening and closing movement.

Furthermore, the triggering part comprises a crankshaft front section, a crankshaft middle section and a crankshaft rear section; the front section of the crankshaft and the rear section of the crankshaft are fixedly connected through a hole in the middle section; the front section of the crankshaft is mounted on the front end fixing seat through a front section supporting bearing of the crankshaft, the front end fixing seat is fixedly connected with a reference carbon fiber plate, the rear section of the crankshaft is connected with a motor shaft of a crankshaft motor through a second pressing plate coupler, the crankshaft motor is connected with the reference carbon fiber plate through a crankshaft motor seat, crank force bearing bearings are mounted on two sides of each of two cranks, a needle bearing is mounted at the other end of each crank, the two cranks are respectively mounted between the front section of the crankshaft and the middle section of the crankshaft, between the middle section of the crankshaft and the rear section of the crankshaft, and the other end of each crank is connected with a sliding seat through a bearing to drive the sliding seat to move in an opening and closing mode.

Compared with the prior art, the invention has the following beneficial effects:

1. the structure serves for the function, and the bent axle can enlarge 4 times of eccentricity, under certain stretch-clamping distance, can accomplish less volume. The light weight degree is high, and whole weight does not exceed 2kg, can adapt to numerous job scene. Meanwhile, the inertia is reduced due to the lightweight design, the flexibility of the holder is greatly improved, and the holder is suitable for more scenes requiring rapid action. The mechanism is compact in design, the driving system is centralized, and the configuration of an electrical system is facilitated.

2. The mechanism assumes all degrees of freedom constraints except in the forward direction of launch. On one hand, the excellent stability of the emission object on the mechanism can be achieved, and on the other hand, the emission precision is guaranteed.

3. The driving mode is friction speed control, and the development of a servo motor closed-loop control technology at the present stage can be benefited, so that the rotating speed control with higher precision can be realized. Meanwhile, the dead point of the connecting rod mechanism is adopted in the triggering mode, the clamping accuracy is guaranteed, and the requirement for triggering driving force is lowered. The mechanism emission precision is excellent. The projection distance of the mechanism is larger than 15m, and the error is smaller than 5 cm.

Drawings

FIG. 1 is an isometric view of the present invention.

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

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

FIG. 4 is an isometric view of a yaw section of the present invention.

FIG. 5 is an exploded view of the yaw section of the present invention.

Fig. 6 is an isometric view of the pitch portion of the present invention.

Fig. 7 is an exploded view of the pitch section shaft of the present invention.

Fig. 8 is a schematic diagram of the present invention for limiting.

FIG. 9 is an isometric view of an arrow stop of the present invention.

FIG. 10 is an arrow bearing limiting explosive view of the present invention.

FIG. 11 is an isometric view of a firing portion of a firing drive of the present invention.

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

Figure 13 is an isometric view of a trigger portion of the present fire actuation.

Fig. 14 is an exploded view of the trigger portion of the present launch drive.

In FIG. 15, (a), (b), (c), and (d) are schematic views showing the operation of the crankshaft.

In FIG. 16, (e), (f), (g), (h) are schematic diagrams of the transmission operation.

In the drawings:

1-a brushless servo motor, 2-a first pressing sheet coupler, 3-a motor base, 4-a gear output shaft and 5-an output bearing; 6-driving module, 7-driving supporting plate, 8-yaw bearing outer ring, 9-yaw supporting aluminum pipe, 10-base, 11-yaw bearing inner ring, 12-yaw supporting plate, 13-yaw driven gear ring and 14-yaw bearing; 15-pitch driven gear, 16-pitch limit nail, 17-gear, 18-side plate, 19-ribbed plate, 20-side rib connecting piece, 21-pitch support plate, 22-pitch tightening bolt, 23-pitch support flange bearing, 24-pitch needle bearing and 25-pitch tightening nut; 26-front side aluminum tube, 27-left and right limit round head nail, 28-round head nail fixing seat, 29-hook buckle, 30-upper side connecting plate, 31-rotary pressing cylinder fixing seat, 32-rotary pressing cylinder, 33-rear side aluminum tube, 34-linear cylinder, 35-rear limit connecting plate, 36-lower limit round head nail, 37-feather separator, 38-lower limit nail fixing seat, 39-rear supporting plate side branch, 40-cylinder head fixing seat, 41-cylinder tail short clamping block, 42-cylinder tail long clamping block, 43-lower limit plate, 44-lower limit plate fixing seat, 45-head limit supporting block, 46-head limit support, 47-head limit bearing, 48-reference carbon fiber plate; 49-hub, 50-rubber tire casing, 51-emission driving motor, 52-upper mounting plate, 53-middle mounting plate, 54-lower mounting plate, 55-upper and lower connecting piece, 56-first slide rail, 57-first slide block, 58-sliding bearing, 59-sliding seat, 60-second slide block, 61-second slide rail, 62-crank bearing, 63-crankshaft motor, 64-crankshaft motor seat, 65-second pressure plate coupler, 66-crankshaft rear section, 67-crank, 68-needle bearing, 69-crankshaft middle section, 70-crankshaft front section, 71-crankshaft front section supporting bearing and 72-front end fixing seat.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It is to be understood that this description is made only by way of example and not as a limitation on the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

Referring to fig. 1-14, the present invention provides a technical solution: an arrow projection mechanism with two degrees of freedom comprises three parts, namely a two-degree-of-freedom holder, an arrow support limiting part and a launching driving part. The two-degree-of-freedom cradle head mainly has the functions of providing a pitch angle and a yaw angle required by projection and providing a connecting hole position with the base 10. The arrow support limiting device provides limitation on the initial position of the arrow shaft and provides an accurate target space posture. The launching driving part is a power source for projection, and generates enough friction force to push out the arrow shaft by clamping the arrow shaft.

As shown in fig. 2, the two-degree-of-freedom pan/tilt comprises a pitching driving module and a yawing driving module, the arrow support limiting mechanism and the launching driving mechanism are integrally installed on the two-degree-of-freedom pan/tilt, and the pitching driving module and the yawing driving module enable the arrow support limiting mechanism and the launching driving mechanism to complete pitching motion and yawing motion respectively. The pitching driving module and the yawing driving module share the same driving module 6, as shown in fig. 3, the driving module 6 comprises a brushless servo motor 1, a motor base 3, a first pressing plate coupler 2, an output bearing 5 and a gear output shaft 4, wherein the brushless servo motor 1 is fixedly installed on the motor base 3 and sequentially connected with the output bearing 5 and the gear output shaft 4 through the first pressing plate coupler 2, and a gear 17 is arranged at the end part of the gear output shaft 4. As shown in fig. 6, the pitch driving module includes a side plate 18, a rib plate 19, a driving module 6, a pitch supporting shaft and a pitch driven gear 15, wherein the bottoms of the two side plates 18 are fixedly connected to the yaw driving module, the rib plate 19 is connected between the two side plates 18 through a side rib connector 20, a gear output shaft 4 of the driving module 6 penetrates out of the rib plate 19 to be meshed with a gear on the pitch driven gear 15, a pitch supporting plate 21 is arranged at the top of the pitch driven gear 15, the pitch driven gear 15 is hinged to the side plate 18 through a pitch rotating shaft, an arc-shaped groove is arranged in the middle of the pitch driven gear 15, and a pitch limit pin 16 is arranged in the arc-shaped groove. The pitching rotating shaft comprises a pitching fastening bolt 22 penetrating through the side plate 18 and the pitching supporting plate 21, a pitching needle bearing 24 is arranged between the side plate 18 and the pitching supporting plate 21, pitching supporting flange bearings 23 are respectively arranged on two sides of the side plate 18 and the pitching supporting plate 21, and the other end of the pitching fastening bolt 22 is tightly connected through a pitching fastening nut 25. The driving module 6 is arranged on a side plate 18 at one side, and a gear of the gear output shaft 4 extends out of the side plate and is in meshed transmission with the pitching driven gear 15. The pitch limit pin 16 is mounted on the same side plate 18 for limiting the range of motion of the hinge. The pitching rotary shaft has two left and right parts, the specific structure is shown in fig. 7, the pitching needle roller bearing 24 is clamped between the side plate 18 and the pitching support plate 21, the bearing bearings are arranged on the outer sides of the two plates, and then the two plates are tightly pressed and connected through the fastening bolt.

As shown in fig. 4 and 5, the yaw driving module includes a base 10, a driving support plate 7, a driving module 6, a yaw bearing 14, a yaw driven ring gear 13, a yaw support plate 12, a yaw support aluminum pipe 9; the yaw bearing 14 comprises a yaw bearing inner ring 11 and a yaw bearing outer ring 8, the driving module 6 is fixedly connected above the driving support plate 7, the yaw bearing inner ring 11 is installed below the driving support plate 7, the base 10, the driving support plate 7 and the yaw bearing inner ring 11 are fixedly connected, the components are relatively fixed to the ground, the gear output shaft 4 of the driving module 6 is in meshing transmission with the yaw driven gear ring 13, the yaw bearing outer ring 8 buckles the bearing on the yaw support plate 12, the two yaw support plates 12 clamp the yaw driven gear ring 13 in the middle, and the yaw support plate 12, the yaw driven gear ring 13, the yaw bearing outer ring 8 and the yaw support aluminum pipe 9 are relatively fixed.

Arrow support limiting is divided into fixed limiting and movable limiting as shown in fig. 9, the movable limiting has freedom, and the fixed limiting is fixed relative to the pitching cloud deck. The fixed limit comprises a left limit, a right limit, a lower limit, a head limit and an upper limit, and the rotary limit is a tail limit; the upper limit comprises a rotary lower air cylinder 32 fixing seat 31 fixed on the upper connecting plate 30, the rotary lower air cylinder 32 is fixedly connected to the rotary lower air cylinder fixing seat 31, the front end of the rotary lower air cylinder fixing seat 31 is connected with a hook fastener 29, and the rotary lower air cylinder drives the hook fastener 29 to rotate to carry out upper limit on the arrow, and the arrow has independent degree of freedom and can be opened and closed; the left and right limiting device comprises round head nail fixing seats 28 respectively distributed at two ends of the upper side connecting plate 30 and the rear limiting connecting plate 35 and left and right limiting round head nails 27 fixed in the round head nail fixing seats 28, and the rear limiting connecting plate 35 is fixed on a rear aluminum pipe 33; the lower limit comprises a lower limit plate 43 fixed on the reference carbon fiber plate 48 through a lower limit plate fixing seat 44 and a lower limit round-head nail 36 arranged between the rear side aluminum tubes 33, the left limit and the right limit are composed of left and right three limit round-head nails, the left and the right limit round-head nails are respectively fixed on the upper side connecting plate 30 and the rear limit connecting plate 35 and are distributed in the front, middle and rear parts of the pitching tripod head structure. The lower limiting round head nail 36 is fixed above the rear side supporting plate 39 through the lower limiting nail fixing seat 38, wherein the rear side supporting plate 39 is fixedly connected between the two rear side aluminum pipes 33 through the cylinder head fixing seat 40; head is spacing including head limit support block 45, head limit support 46 and head limit bearing 47, head limit support block 45 fixed connection is on benchmark carbon fiber plate 48, and head limit support 46 rigid coupling is on head limit support block 45, and head limit bearing 47 is fixed on the head limit support, the head limit bearing 47 of both sides sets up respectively in arrow rest head both sides, drags the arrow head and prevents it along the track landing, and it is spacing for the afterbody to rotate, the afterbody is spacing to be realized through the feather distributor 37 of afterbody. The specific limiting mode is as shown in fig. 8, the left and right sides are provided with round head nails, the upper side is provided with hook buckles 29, the lower side is provided with a long plate, and four positive directions along the arrow shaft normal plane are all limited by structures. Through multi-directional limiting, the arrow has only the freedom degree of forward movement. In the embodiment, the round head screw is limited by point contact, so that smaller limiting resistance is ensured. The feather separator 37 is driven by 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 clamping blocks.

An air cylinder tail long clamping block 42, an air cylinder tail short clamping block 41 and a linear air cylinder 34 are sequentially arranged between the upper side connecting plate 30 and the reference carbon fiber plate 48, and the feather separator 37 is connected to the linear air cylinder 34 in a sliding mode. The linear cylinder 34 can drive the feather separator 37 to stretch back and forth and straighten the fletching.

The arrow supporting limiting mechanism and the launching driving mechanism are integrally installed on the two-degree-of-freedom tripod head through fixed connectors, each fixed connector comprises a reference carbon fiber plate 48, a front side aluminum pipe 26, a rear side aluminum pipe 33 and an upper side connecting plate 30, the front side aluminum pipes 26 are fixedly connected to the left side and the right side of the front end of the reference carbon fiber plate 48, the rear side aluminum pipes 33 are fixedly connected to the left side and the right side of the rear end of the reference carbon fiber plate 48 and cantilever backwards, the upper side connecting plates 30 are fixed to the upper surface of the front side aluminum pipes 26, and the outer sides of the front side aluminum pipes 26 are fixedly connected with the pitching supporting plates 21.

The launch driving section is divided into a launch section located on the upper side of the reference carbon fiber plate 48 and a trigger section located on the lower side of the reference carbon fiber plate 48, which are connected by upper and lower connectors 55, as shown in fig. 11. The trigger part can drive the launching part to open and close, when the launching part is closed to be nearest, the launching part contacts the arrow shaft, and the arrow shaft is driven to fly out by friction force. The structure of the launching part is shown in fig. 12, and comprises a rubber tire 50, a hub 49, a launching driving motor 51, an upper mounting plate 52, a middle mounting plate 53, a lower mounting plate 54, a first slide rail 56, a first slide block 57, an upper connecting piece 55 and a lower connecting piece 55, the tyre leather is sleeved on a wheel hub 49, the wheel hub 49 is sleeved on a motor rotor of a launching drive motor 51, the motor is arranged on an installation plate, an upper layer installation plate 52, a middle layer installation plate 53 and a lower layer installation plate 54 are fixedly connected in sequence, a first sliding block 57 is arranged on the lower side of the lower layer installation plate 54, the first sliding rail 56 is fixedly installed on the reference carbon fiber plate 48, the upper and lower connecting members 55 are fixedly connected between the first sliding blocks 57 at two sides of the lower mounting plate 54, the upper and lower connecting members 55 are disposed downward in a groove in the reference carbon fiber plate 48 and connected to a trigger portion, and the trigger portion drives the first slider 57 to slide along the first slide rail 56 for guiding the opening and closing movement.

The trigger portion is shown in fig. 13 and includes a front crankshaft section 70, a middle crankshaft section 69 and a rear crankshaft section 66; the crankshaft front section 70 and the crankshaft rear section 66 are fixedly connected through a hole on the middle section; the crankshaft front section 70 is arranged on a front end fixing seat through a crankshaft front section supporting bearing 71, the front end fixing seat is fixedly connected with a reference carbon fiber plate 48, a crankshaft rear section 66 is connected with a motor shaft of a crankshaft motor 63 through a second pressing sheet coupler 65, the crankshaft motor 63 is connected with the reference carbon fiber plate 48 through a crankshaft motor seat 64, crank force bearing bearings 62 are respectively arranged on two sides of two cranks 67, needle roller bearings 68 are arranged at the other ends of the two cranks 67, the two cranks 67 are respectively arranged between the crankshaft front section 70 and a crankshaft middle section 69, and between the crankshaft middle section 69 and the crankshaft rear section 66, the other end of the crank 67 is connected with the sliding seat 59 through a sliding bearing 58 to drive the sliding seat 59 to open and close, and a second sliding block 60 is arranged on the lower side of the sliding seat 59, a second sliding rail 61 is arranged on the lower side of the second sliding block 60, and the second sliding rail 61 and the second sliding block 60 play a guiding role.

The robot of the invention can realize the following actions and functions:

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

(2) the holder pitching motor drives the pitching gear to rotate, so that the launching track rotates along the pitching rotating shaft, and the pitching angle in any range is achieved;

(3) the rotating pressing cylinder extends out to lock the arrow on the mechanism.

(4) And the tail part feather cylinder extends out to lock the rotation angle of the arrow.

(5) The trigger motor rotates 180 degrees, and the distance between the two driving wheels is changed from maximum to minimum and is slightly smaller than the diameter of the arrow.

(6) The driving motor provides torque force for the driving wheel, and the torque force is converted into forward thrust force through friction and then is ejected forwards.

In order to realize various parabolic tracks, the two-degree-of-freedom holder is adopted for launching, vector alignment in any direction within a certain range by taking the mechanism body as the center can be realized through actions (1) and (2), and by matching with different output speeds of the launching driving part, projection of any parabolic track can be realized, and arrow falling at any angle at any point within a certain range can be realized. Accurate spacing can guarantee high transmission precision. Actions (3) and (4) realize 5-degree-of-freedom limitation on a launching object, rotation and downward pressing facilitate arrow support filling, and besides left and right nail limiting and upper and lower plate limiting, the feather distribution mechanism, namely rotation limiting, can prevent the arrow from rotating, provides convenience for launching driving, and prevents the driving part from interfering with the arrow tail. The head support is limited in front and back to ensure the uniform front and back positions of the arrow, so that the same action time of the driving part is ensured, and the accuracy of a drop point is ensured. Actions (5) and (6) are final launch actions, as shown in fig. 16(e) and 16 (f). The triggering of the firing action is effected by the crankshaft as shown in fig. 15(a) and (b), (c) and (d). In the ready state, the crankshaft is at the zero position and the crankshaft is in the open state, as shown in fig. 15(a), and the launch drive motor 51 and the motor slide are at the farthest positions from the center. When the launching needs to be triggered, the launching trigger motor rotates anticlockwise as shown in the figure 15(b) to drive the inner end of the connecting rod to move along the circumference, the crankshaft, the connecting rod and the sliding seat can be regarded as a crank-slider mechanism, the slider can generate the movement which is the same as the projection of the circumference movement along the direction of the guide rail and is expressed as inward movement, the upper connecting piece and the lower connecting piece are driven by the sliding seat to move in a closing manner, and the upper connecting piece and the lower connecting piece drive the launching drive motor and the fixing seat thereof to move in a closing manner. Until the state shown in fig. 15(d), the crankshaft rotates 180 degrees, the connecting rod reaches the limit position and enters the mechanism dead point, the launching driving motor moves to the closest point, and clamping force is generated between the launching driving motor and the arrow rod, at the moment, the reaction force of clamping the arrow cannot be transmitted to the motor, and the clamping precision is guaranteed. The stroke of the single-side slide block module is twice of the eccentric distance of the crankshaft, and the total clamping distance is four times of the eccentric distance of the crankshaft. And under the state of minimum distance, the arrow shaft is clamped in an interference state. All action processes drive the motor to be in a rotating state all the time, after the crankshaft is clamped, the torque of the motor is immediately converted into forward friction force on the arrow through friction, the arrow is pushed to move forward, and the launching process is completed. After the launching is finished, the crankshaft moves in a reverse direction for 180 degrees, and the reverse process of the launching is returned to the initial state.

While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A two-degree-of-freedom arrow projection mechanism is characterized in that: comprises a two-degree-of-freedom holder, an arrow support limiting mechanism and a launching driving mechanism, wherein,

the launching driving mechanism comprises a launching part and a triggering part, the triggering part can drive the launching part to open and close, when the launching part is closed to be nearest, the launching part contacts the arrow shaft, and the arrow shaft is driven to fly out by friction force.

2. The two-degree-of-freedom arrow projection mechanism 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 base, a first pressing plate coupler, an output bearing and a gear output shaft, wherein the brushless servo motor is fixedly mounted on the motor base and sequentially connected with the output bearing and the gear output shaft through the first pressing plate coupler, and a gear is arranged at an end of the gear output shaft.

3. The two-degree-of-freedom arrow casting mechanism according to claim 2, wherein the pitching driving module comprises a side plate, a rib plate, a driving module, a pitching supporting shaft and a pitching driven gear, wherein the bottoms of the two side plates are fixedly connected to the yawing driving module, the rib plate is connected between the two side plates through a side rib connecting piece, a gear output shaft of the driving module penetrates out of the rib plate to be meshed with a gear on the pitching driven gear, a pitching supporting plate is arranged at the top of the pitching driven gear, the pitching driven gear is hinged to the side plate through a pitching rotating shaft, an arc-shaped groove is formed in the middle of the pitching driven gear, and a pitching limiting pin is arranged in the arc-shaped groove and fixedly connected with the side plate.

4. The two-degree-of-freedom arrow casting mechanism according to claim 3, wherein the pitching rotating shaft comprises a pitching tightening bolt penetrating through the side plate and the pitching supporting plate, the pitching needle roller bearing is arranged between the side plate and the pitching supporting plate, pitching supporting flange bearings are respectively arranged on two sides of the side plate and the pitching supporting plate, and the other end of the pitching tightening bolt is fastened and connected through a pitching tightening nut.

5. The two-degree-of-freedom arrow casting mechanism according to claim 1, wherein the yaw driving module comprises a base, a driving support plate, a driving module, a yaw bearing assembly, a yaw driven gear ring, a yaw support plate and a yaw support aluminum pipe; the yaw bearing assembly comprises a yaw bearing, a yaw bearing inner ring and a yaw bearing outer ring, a driving module is fixedly connected above the driving support plate, the yaw bearing inner ring is installed below the driving support plate, the base, the driving support plate and the yaw bearing inner ring are fixedly connected, the components are relatively fixed to the ground, a gear output shaft of the driving module is in meshing transmission with a yaw driven gear ring, the bearing is buckled on the yaw support plate through the yaw bearing outer ring, the yaw driven gear ring is clamped in the middle through the two yaw support plates, and the yaw support plate, the yaw driven gear ring, the yaw bearing outer ring and a yaw support aluminum pipe are relatively fixed.

6. The two-degree-of-freedom arrow projection mechanism according to claim 1, wherein the arrow support limiting mechanism and the projection driving mechanism are integrally mounted on the two-degree-of-freedom pan/tilt head through a fixed connecting member, the fixed connecting member includes a reference carbon fiber plate, front aluminum tubes, rear aluminum tubes and upper connecting plates, the front aluminum tubes are fixedly connected to the left and right sides of the front end of the reference carbon fiber plate, the rear aluminum tubes are fixedly connected to the left and right sides of the rear end of the reference carbon fiber plate and cantilevered rearward, the upper connecting plates are fixed to the upper surface of the front aluminum tubes, and the outer sides of the front aluminum tubes are fixedly connected with the pitching supporting plates.

7. The two-degree-of-freedom arrow casting mechanism according to claim 6, wherein the rotation limit is a tail limit, and the tail limit is realized by a tail feather separator; the fixed limit comprises a left limit, a right limit, a lower limit, a head limit and an upper limit, wherein the left limit and the right limit comprise round head nail fixing seats respectively distributed at two ends of the upper side connecting plate and the rear limit connecting plate and left limit round head nails fixed in the round head nail fixing seats, and the rear limit connecting plate is fixed on the rear side of the aluminum pipe; the lower limit comprises a lower limit plate fixed on the reference carbon fiber plate through a lower limit plate fixing seat and a lower limit round-head nail arranged between the rear side aluminum tubes, wherein the lower limit round-head nail is fixed above the rear side supporting plate through the lower limit nail fixing seat, and the rear side supporting plate is fixedly connected between the two rear side aluminum tubes; the head limiting device comprises a head limiting support block, a head limiting support and a head limiting bearing, wherein the head limiting support block is fixedly connected to a reference carbon fiber plate, the head limiting support is fixedly connected to the head limiting support, the head limiting bearing is fixed to the head limiting support, the head limiting bearings on two sides are respectively arranged on two sides of the head of an arrow support, the upper limiting position comprises a rotary pressing cylinder fixing seat fixed to an upper side connecting plate, the rotary pressing cylinder is fixedly connected to the rotary pressing cylinder fixing seat, the front end of the rotary pressing cylinder fixing seat is connected with a hook fastener, and the rotary pressing cylinder drives the hook fastener to rotate to perform upper limiting on the arrow support.

8. The two-degree-of-freedom arrow projection mechanism according to claim 6, wherein a cylinder tail long clamping block, a cylinder tail short clamping block and a linear cylinder are sequentially arranged between the upper connecting plate and the reference carbon fiber plate, and the feather separator is fixedly connected to a cylinder rod of the linear cylinder.

9. The two degree of freedom arrow casting mechanism of claim 1, the launching part comprises a rubber tire skin, a wheel hub, a launching driving motor, an upper mounting plate, a middle mounting plate, a lower mounting plate, a first slide rail, a first slide block, an upper connecting piece and a lower connecting piece, the tyre leather is sleeved on the wheel hub, the wheel hub is sleeved on a motor rotor of the emission driving motor, the motor is arranged on the mounting plate, the upper mounting plate, the middle mounting plate and the lower mounting plate are fixedly connected in sequence, the lower side of the lower mounting plate is provided with a first slide block, the first slide rail is fixedly arranged on the reference carbon fiber plate, the upper and lower connecting pieces are fixedly connected with the lower mounting plate and positioned between the first slide blocks at two sides, the upper connecting piece and the lower connecting piece are downwards arranged in a groove in the reference carbon fiber plate and are 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.

10. The two degree of freedom arrow casting mechanism of claim 1, wherein the trigger portion includes a crankshaft front section, a crankshaft middle section and a crankshaft rear section; the front section of the crankshaft and the rear section of the crankshaft are fixedly connected through a hole in the middle section; the front section of the crankshaft is mounted on the front end fixing seat through a front section supporting bearing of the crankshaft, the front end fixing seat is fixedly connected with a reference carbon fiber plate, the rear section of the crankshaft is connected with a motor shaft of a crankshaft motor through a second pressing plate coupler, the crankshaft motor is connected with the reference carbon fiber plate through a crankshaft motor seat, crank bearing bodies are mounted on two sides of each of two cranks, a needle bearing is mounted at the other end of each crank, the two cranks are mounted between the front section of the crankshaft and the middle section of the crankshaft, between the middle section of the crankshaft and the rear section of the crankshaft and between the middle section of the crankshaft and the rear section of the crankshaft respectively, the other ends of the cranks are connected with the sliding seat through the bearings to drive the sliding seat to perform opening and closing movement, a second sliding block is mounted on the lower side of the sliding seat, 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.