CN115040861A

CN115040861A - Material throwing-out method

Info

Publication number: CN115040861A
Application number: CN202210827026.8A
Authority: CN
Inventors: 刘颖君; 黄煜锋; 丁雨欣; 邢哲恺; 姚伟为
Original assignee: Guangzhou City University of Technology
Current assignee: Guangzhou City University of Technology
Priority date: 2022-07-14
Filing date: 2022-07-14
Publication date: 2022-09-13

Abstract

The invention provides a material throwing method, which comprises the steps of throwing an arrow by an archery robot, wherein a frame body of the archery robot is provided with a bullet taking device, a throwing device and a bullet filling device, and the throwing device is provided with a throwing bearing cavity; the cartridge filling device comprises a cartridge filling clamping device, the cartridge taking device comprises a cartridge taking clamping device, the throwing bearing cavity is used for bearing the arrow support, both the cartridge filling clamping device and the cartridge taking clamping device are used for clamping the arrow support, the cartridge filling clamping device clamps the arrow support to be placed on the throwing bearing cavity, and the throwing bearing cavity limits the arrow support; the arrow placed on the throwing-out bearing cavity is separated from the throwing-out bearing cavity without being influenced by gravity; the loading of the arrow support is realized; the operation of loading arrow branches is simple; when the cartridge filling clamping device places the clamped arrow support in the throw-out bearing cavity and throws out the arrow support; the cartridge filling clamping device clamps the arrow on the cartridge taking clamping device and provides the arrow to the throw-out bearing cavity; the arrow is stored, and the arrow is thrown out by the throwing-out device for multiple times.

Description

Material throwing-out method

Technical Field

The invention relates to the technical field of robots, in particular to a material throwing-out method.

Background

Shooting arrows is firstly used for hunting and war and then converted into game and match items; the shooting of arrows has completed the transition from traditional military skills to modern recreational mass sports. With the development of science and technology, the traditional manual projection is gradually replaced by the projection of a robot due to single technology and poor technical content.

A multifunctional arrow-throwing robot is disclosed in a patent document with Chinese application number 202110127792.9 and publication number 2021.6.25; comprises a base, a foot component, a driving device, a projecting device and an arrow storage device; the foot component is used for controlling the movement of the base and is connected with the base; the driving device is used for controlling the motion state of the foot component; the driving device is arranged on the base; the projection device is used for projecting the arrow body and is arranged on the base; the arrow storage device is arranged on the base and used for storing arrow bodies and providing the arrow bodies for the projection device.

However, in the arrow-throwing robot, the inner wall of the arrow body is provided with inner spiral threads, the outer wall of the guide pipe is provided with outer spiral threads, the outer spiral threads are matched with the inner spiral threads to install the arrow body on the pushing mechanism, the arrow body is ejected through gas, and due to the matching of the arrow body and the guide pipe, the guide pipe can limit the arrow body along the radial direction of the arrow body, when the arrow body needs to be ejected, a large amount of gas needs to be introduced to enable the arrow body to rotate relative to the guide pipe, so that the arrow body can be ejected; meanwhile, the inner wall of the arrow body is in threaded fit with the outer wall of the guide pipe, so that the ejection of the arrow body is interfered; when the arrow body is installed, the arrow body needs to be aligned with the guide pipe; then the arrow body is rotated to enable the arrow body to be in threaded connection with the guide tube, so that the arrow body can be fixed on the guide tube; this arrow robot installation arrow body's complex operation throws, this structure only carries out the centre gripping operation to an arrow at every turn simultaneously, and is inefficient.

Disclosure of Invention

The invention provides a material throwing method, which is simple in arrow support loading method; one arrow support does not interfere with the other arrow support in the loading process.

In order to achieve the purpose, the technical scheme of the invention is as follows: a material throwing method comprises the steps that an arrow support is thrown by an archery robot, the arrow support comprises an arrow head, an arrow rod and an arrow tail, the arrow rod is connected with the arrow head and the arrow tail, the size of the arrow head is larger than that of the arrow rod, the archery robot comprises a frame body, a bullet taking device, more than one throwing device and more than one bullet filling device are arranged on the frame body, the throwing device is arranged above the bullet filling device, and the bullet filling device is arranged above the bullet taking device; the length of the bullet filling device is larger than that of the bullet taking device.

The throwing-out device comprises a throwing-out rotating device, a throwing-out driving device, a throwing-out swinging bracket and a throwing-out bearing bracket; the throwing-out rotating device is installed on the frame body, the throwing-out bearing support is installed on the throwing-out rotating device, and the throwing-out swinging support is movably arranged on the throwing-out bearing support; the throwing-out driving device is connected with the throwing-out swinging support and drives one end of the throwing-out swinging support to be close to or far away from the throwing-out bearing support; along the swinging direction of the throwing-out swinging support, the bullet filling device is arranged between the throwing-out device and the bullet taking device; the throwing-out rotating device is used for driving the throwing-out driving device, the throwing-out swinging support and the throwing-out bearing support to rotate.

The throwing-out swinging support comprises a first bearing piece, and the throwing-out bearing support comprises a second bearing piece; the second supporting piece is positioned between the first supporting piece and the bullet filling device; the first bearing piece and the second bearing piece form a casting bearing cavity which is obliquely arranged; the throwing-out bearing cavity is used for bearing the arrow and limiting the arrow.

The filling device comprises a filling swing driving device, a filling swing bracket, a filling rotating device and a filling clamping device; the filling swing driving device is fixed on the frame body, and the output end of the filling swing driving device is connected with the filling swing bracket; the filling rotating device is fixed on the filling swing bracket, and the output end of the filling rotating device is connected with the filling clamping device; the filling rotating device is used for driving the filling clamping device to rotate.

The bullet taking device comprises a bullet taking transverse moving device, a bullet taking transverse moving bracket and more than one bullet taking clamping device; the bullet taking transverse moving device is arranged on the frame body, the output end of the bullet taking transverse moving device is connected with the bullet taking transverse moving bracket, and more than one bullet taking clamping device is arranged on the bullet taking transverse moving bracket; the bullet taking transverse moving device drives the bullet taking clamping device to move along the vertical direction of the swinging direction of the throwing swing bracket; the filling swing driving device is used for driving the filling clamping device to swing between the throwing-out bearing cavity and the cartridge taking clamping device.

The material throwing method comprises the following steps:

(1) the bullet taking traversing device drives the bullet taking traversing bracket to move, and more than one bullet taking clamping devices and more than one bullet filling clamping devices are alternately arranged.

(2) A cartridge-filling clamping device clamps an arrow support and clamps one end of the arrow rod close to the arrow tail; and the other arrow support is clamped by a bullet taking clamping device and is clamped at one end of the arrow rod close to the arrow.

(3) The cartridge filling rotating device drives the cartridge filling clamping device to rotate, and the cartridge filling clamping device drives the arrow to rotate, so that the arrow direction of the arrow support is consistent with the throwing direction of the throwing bearing cavity.

(4) The cartridge filling swing driving device drives the cartridge filling clamping device to be close to the throwing bearing accommodating cavity, when the arrow support is in contact with the first bearing part, the cartridge filling clamping device loosens the clamping of the arrow support, the arrow rod slides into the throwing bearing accommodating cavity under the action of gravity, and the throwing bearing accommodating cavity is limited to the arrow.

(5) The filling swing driving device drives the filling clamping device to be far away from the throwing bearing cavity.

(6) Judging whether the projection direction of the projection target is consistent with that of the projection bearing cavity, if so, performing (8), and if not, performing (7).

(7) The throwing-out rotating device drives the throwing-out swinging bracket and the throwing-out bearing bracket to rotate, so that the throwing-out direction of the throwing-out target is consistent with that of the throwing-out bearing cavity.

(8) The throwing-out driving device drives the throwing-out swinging support to swing towards the direction far away from the throwing-out bearing support, and the first bearing piece pushes the arrow to be thrown out.

(9) The bullet taking transverse moving device drives the bullet taking transverse moving bracket to move, so that a bullet taking clamping device for clamping and supporting an arrow corresponds to a bullet filling clamping device in position.

(10) The filling rotating device drives the filling clamping device to reset, and the filling swinging driving device drives the filling clamping device to be close to the bullet taking clamping device and to be parallel to the bullet taking clamping device.

(11) The cartridge filling clamping device clamps the arrow support on the cartridge taking clamping device and clamps one end of the arrow rod close to the arrow tail; the cartridge taking clamping device loosens the clamping of the arrow support.

(12) Repeating (3) - (11); until all arrow branches on the archery robot are thrown out.

According to the method, as the length of the bullet filling device is greater than that of the bullet taking device, when the bullet filling device and the bullet taking device are arranged in parallel, the bullet filling clamping device extends out of the bullet taking clamping device; therefore, the arrow support clamped by the filling clip device and the arrow support clamped by the bullet taking clip device are parallel; when the ball filling rotating device drives the ball filling device to rotate, the arrow clamped by the ball filling device cannot collide with the arrow clamped by the ball taking device.

An arrow support is clamped through a cartridge filling clamping device and is clamped at one end of the arrow rod close to the arrow tail; a cartridge taking clamping device clamps another arrow support; the cartridge taking and clamping device and the cartridge filling and clamping device can simultaneously clamp different arrow supports, the cartridge taking and clamping device firstly provides the arrow support for the throwing-out bearing cavity, and after the arrow support clamped by the cartridge taking and clamping device is projected out, the cartridge taking and clamping device clamps the arrow support clamped by the cartridge filling and clamping device and continuously provides the arrow support for the throwing-out bearing cavity; therefore, the arrow can be thrown out for multiple times, and the arrow throwing efficiency is high; meanwhile, before the bullet taking clamping device and the bullet filling clamping device clamp the arrow, the bullet taking transverse moving bracket moves, so that the bullet taking clamping device and the bullet filling clamping device are alternately arranged; the situation that the same arrow is clamped by the cartridge taking clamping device and the cartridge filling clamping device is avoided.

The arrow support can be thrown out only when the arrow orientation of the arrow support is consistent with the throwing direction of the throwing bearing cavity; the cartridge filling clamping device clamps one end of the arrow shaft close to the arrow tail, and the matching between the arrow shaft and the throw-out bearing cavity cannot be interfered; then the cartridge filling clamping device is rotated to enable the arrow-supported arrow to be in the same direction as the throwing direction of the throwing bearing cavity, and the arrow rod of the arrow is aligned with the throwing bearing cavity; then the cartridge filling clamping device loosens the clamping of the arrow support, the arrow support naturally slides into the throw-out bearing cavity, the arrow rod is contained in the throw-out bearing cavity, meanwhile, the size of the arrow rod is matched with that of the throw-out bearing cavity due to the fact that the size of the arrow is larger than that of the arrow rod, the arrow support is limited through the first bearing piece, and the arrow support is prevented from being separated from the throw-out bearing cavity; then the throwing swing bracket swings to throw out the arrow, and the operation of throwing the arrow into the chamber is simple.

Furthermore, the cartridge filling clamping device comprises a cartridge filling clamping cylinder and a cartridge filling clamping hand, and a clamping sensor is fixed on the cartridge filling clamping cylinder; the cartridge filling gripper comprises two cartridge filling clamping pieces; one filling clamping piece is connected with one output end of the filling clamping cylinder, and the other filling clamping piece is connected with the other output end of the filling clamping cylinder; the cartridge filling clamping piece comprises more than two cartridge filling clamping parts; the cartridge filling clamping part connected with one output end of the cartridge filling clamping cylinder and the cartridge filling clamping part connected with the other output end of the cartridge filling clamping cylinder are alternately arranged.

The cartridge filling clamping part comprises a first clamping part, an arc-shaped second clamping part extends on the first clamping part, and a clamping area is formed between the second clamping part and the first clamping part; the clamping areas of adjacent filling clamping pieces are arranged in a stacked mode.

According to the arrangement, the cartridge filling clamping cylinder drives the cartridge filling clamping hand to clamp or open, so that the arrow is clamped or dismounted; the adjacent clamping areas are arranged in a stacked mode, so that the clamping length of the cartridge filling clamping hand is prolonged, and the arrow can be better clamped; meanwhile, the cartridge filling clamping parts connected with the two output ends of the cartridge filling clamping cylinder are alternately arranged, the cartridge filling clamping part at one output end of the cartridge filling clamping cylinder swings in one direction, and the cartridge filling clamping part at the other output end of the cartridge filling clamping cylinder swings in the opposite direction of the opposite cartridge filling clamping part, so that the clamping effect on the arrow support is good.

Further, (2) in, fill a cartridge clamping device centre gripping arrow and prop up, specifically be: the cartridge filling clamping cylinder drives the cartridge filling clamp to open, the frame body approaches to the arrow support, and when the clamping sensor detects the arrow support, the frame body stops moving; then the filling clip holding cylinder drives the filling clip hand to clamp the arrow rod supported by the arrow in the clamping area. The clamping sensor detects and detects the arrow to control the clamping of the cartridge filling gripper, and the control method is simple.

Further, (3) the cartridge filling clamping device rotates by 180 degrees, and the arrow supporting arrow is consistent with the throwing direction of the throwing bearing cavity.

In the above method, the arrow support is generally placed in a downward direction with the arrow facing downward, and the arrow support clamped by the cartridge filling clamping device is rotated 180 ° by rotating the cartridge filling clamping device 180 °. And further the direction of the arrow is consistent with the throwing direction of the throwing bearing cavity.

Furthermore, two bullet filling devices and two throwing devices are arranged, wherein one bullet filling device corresponds to one throwing device; (4) and the two cartridge filling clamping devices respectively place the arrow in the corresponding throwing-out bearing accommodating cavity.

Further, in 3), the rotation directions of the two filling and clamping devices are opposite, and when the two filling and clamping devices rotate, the arrow tails supported by the two arrows approach and then separate.

According to the method, due to the fact that the space between the two filling clip devices is limited, the rotation directions of the two filling clip devices are opposite, and when the two filling clip devices rotate, the arrow tails supported by the two arrows approach and then are separated. Namely, the arrow is supported in the rotating process, and the arrow tail is accommodated in the space between the two cartridge filling clamping devices; meanwhile, the cartridge filling clamping device clamps one end of the arrow rod close to the arrow tail, so that the distance between the arrow tail and the cartridge filling clamping device is short, and the space occupied by the arrow supported between the two cartridge filling clamping devices is small; the collision is avoided when the two arrows rotate simultaneously.

Furthermore, three bullet taking clamping devices are arranged; the bullet taking transverse moving device comprises a transverse moving bracket, a transverse moving lower plate body and a transverse moving driving device; the transverse moving support is arranged on the transverse moving lower plate body in a sliding mode, and the transverse moving lower plate body is fixed on the bullet taking support; the bullet taking transverse moving bracket is arranged on the transverse moving bracket in a sliding manner; the transverse moving driving device drives the bullet taking transverse moving bracket to synchronously slide on the transverse moving bracket and the transverse moving bracket to synchronously slide on the transverse moving lower plate body.

The transverse moving driving device comprises a transverse moving driving motor, a first transverse moving transmission wheel, a second transverse moving transmission wheel, a transverse moving belt, a first transverse moving clamping device and a second transverse moving clamping device.

The first transverse transmission wheel is arranged at one end of the transverse support, and the second transverse transmission wheel is arranged at the other end of the transverse support; the output end of the transverse moving driving motor is connected with a first transverse moving transmission wheel; the transverse moving belt is sleeved on the first transverse moving transmission wheel and the second transverse moving transmission wheel.

The first transverse moving clamping device is clamped on a transverse moving belt sleeve between the top end of the first transverse moving transmission wheel and the top end of the second transverse moving transmission wheel; the second transverse moving clamping device is clamped on the transverse moving belt sleeve between the bottom end of the first transverse moving transmission wheel and the bottom end of the second transverse moving transmission wheel.

According to the arrangement, when the transverse movement driving motor rotates along one direction, the first transverse movement clamping device approaches to the second transverse movement transmission wheel, and the first transverse movement clamping device drives the bullet taking transverse movement support to move towards the direction close to the second transverse movement transmission wheel; the second traverse clamping device is close to the first traverse transmission wheel, and the traverse bracket is driven to move towards the direction close to the second traverse transmission wheel because the traverse lower plate body is fixed; when the traversing driving motor rotates in the opposite direction, the bullet-taking traversing bracket and the traversing bracket both move towards the direction close to the first traversing transmission wheel; the bullet taking transverse moving bracket and the transverse moving bracket move simultaneously along the same direction, and the bullet taking transverse moving bracket moves on the basis of the movement of the transverse moving bracket; the moving range of the bullet taking and transverse moving bracket is wide.

Further, (1) more than one bullet-taking clamping device and more than one bullet-filling clamping device are alternately arranged, specifically: one of the cartridge taking clamping devices is arranged adjacent to the other cartridge taking clamping device, and the other cartridge taking clamping device, the one cartridge filling clamping device, the other cartridge taking clamping device and the other clamping device are alternately arranged.

By the method, mutual interference between the cartridge filling clamping device and the cartridge taking clamping device when clamping the arrow is avoided; the cartridge filling clamping device and the cartridge taking clamping device can simultaneously clamp different arrow supports; and further more arrows can be stored on the archery robot.

Further, (9) specifically is: if all the bullet taking clamping devices clamp the arrow, carrying out (9.1); and (9.2) if the arrow supports of the second and third bullet taking and clamping devices are clamped.

(9.1) the traverse driving means drives the bullet-taking traverse support and the traverse support to simultaneously move in a direction close to the second traverse driving wheel so that the other bullet-taking holding means corresponds to one of the bullet-filling holding means and the other bullet-taking holding means corresponds to the other bullet-filling holding means.

And (9.2) driving the bullet taking transverse moving support and the transverse moving support to simultaneously move towards the direction close to the second transverse moving transmission wheel by the transverse moving driving device, so that one bullet taking clamping device corresponds to one bullet filling clamping device or the other bullet filling clamping device.

According to the method, when all the bullet taking clamping devices clamp arrows, another bullet taking clamping device corresponds to one bullet filling clamping device, and another bullet taking clamping device corresponds to another bullet filling clamping device; can provide arrow support for the two filling clip holding devices at the same time; meanwhile, the rocket support is also clamped by the one-time cartridge taking clamping device, so that the storage quantity of the rocket support is further increased; when the arrow support of the other cartridge taking and holding device and the arrow support of the other cartridge taking and holding device are clamped, the one cartridge taking and holding device provides the arrow support for the one cartridge filling and holding device or the other cartridge filling and holding device, and further provides the arrow support for the one throwing device.

Drawings

FIG. 1 is a perspective view of an archery robot using the present invention.

Fig. 2 is a perspective view schematically showing a projection device in an archery robot using the present invention.

Fig. 3 is an enlarged view of a in fig. 2.

Fig. 4 is an exploded view of the archery robot using the throw-out device of the present invention, with the throw-out rotation drive gear, the throw-out rotation belt, and the throw-out rotation motor removed.

Fig. 5 is a perspective view of a projectile charging device using the archery robot of the present invention.

Fig. 6 is an exploded view of a charger using the archery robot of the present invention.

Fig. 7 is an exploded view of a cartridge loading holding device and a cartridge loading rotation driven gear in an archery robot using the present invention.

Fig. 8 is an enlarged view of b in fig. 7.

FIG. 9 is a schematic view showing the cartridge loading and clamping device of the archery robot of the present invention being opened.

Fig. 10 is a schematic view of the clamping of a cartridge holder using the archery robot of the present invention.

Fig. 11 is a perspective view schematically showing a bullet fetching device using the archery robot of the present invention.

Fig. 12 is an exploded view of a bullet taking device using the archery robot of the present invention.

Fig. 13 is an exploded view of a projectile-picking traverse device using the archery robot of the present invention.

FIG. 14 is a schematic view of the cooperation of an archery robot using the present invention and a rack on which arrows are placed.

Fig. 15 is a schematic view showing the cartridge loading holder of the archery robot of the present invention holding an arrow.

Fig. 16 is a schematic view of the cartridge loading and gripping device using the archery robot of the present invention after rotation.

Fig. 17 is a schematic view of the cartridge loading and clamping device of the archery robot swinging to the projection bearing cavity.

Figure 18 is a schematic view of an arrow placed in a shooting bearing cavity.

Fig. 19 is a front view of an arrow rest placed on a stack.

FIG. 20 is a schematic view showing the movement of the projectile-taking traverse support using the archery robot of the present invention.

FIG. 21 is a flow chart of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-20; a method for throwing out materials comprises the step of throwing out arrow branches through an archery robot. The archery robot comprises a frame body 1, wherein a bullet taking device 2, more than one throwing-out device 3 and more than one bullet filling device 4 are arranged on the frame body 1, the throwing-out devices 3 are arranged above the bullet filling devices 4, and the bullet filling devices 4 are arranged above the bullet taking device 2. In the present embodiment, two throwing devices 3 and two filling devices 4 are provided; one filling device 4 corresponds to one ejection device 3.

The casting device 3 includes a casting rotating device 31, a casting driving device 32, a casting swinging bracket 33 and a casting supporting bracket 34; the casting rotating device 31 is installed on the frame body 1, the casting support bracket 34 is installed on the casting rotating device 31, and the casting swinging bracket 33 is movably arranged on the casting support bracket 34; the casting driving device 32 is connected with the casting swing bracket 33 and drives one end of the casting swing bracket 33 to approach or leave the casting support bracket 34; the charger 4 is disposed between the ejector 3 and the ejector 2 in the swing direction of the discharge swing frame 33. The ejection rotating device 31 drives the ejection driving device 32, the ejection swinging bracket 33, and the ejection receiving bracket 34 to rotate in synchronization. This allows to change the casting direction of the casting support volume 36; the projection range of the projection device 3 is large.

In this embodiment, the support frame 35 is provided on the casting support frame 34, and the support frame 35 supports the casting swing frame 33 and restricts the extent of the casting swing frame 33 from supporting the casting support frame 34.

As shown in fig. 3, the ejection swinging support 33 includes a first support member 331, and the ejection support bracket 34 includes a second support member 341; the second supporting member 341 is located between the first supporting member 331 and the filling device 4; the first supporting piece 331 and the second supporting piece 341 are respectively provided with an obliquely arranged casting supporting cavity 36; the height of one end of the throwing-out bearing cavity 36 close to the bullet filling device 4 is lower than that of one end of the throwing-out bearing cavity 36 far away from the bullet filling device 4; (ii) a The projection bearing cavity 36 is used for bearing the arrow support 5, and the first bearing piece 331 is used for limiting the arrow support 5. Referring to fig. 18 and 19, arrow 5 includes arrow head 51, arrow shaft 52, and arrow tail 53; the ends of the arrow shaft 52 are respectively connected with an arrow head 51 and an arrow tail 53; the size of the cross section of the arrow 51 is larger than that of the arrow shaft 52; the size of the throw-out bearing accommodating cavity 36 is matched with the size of the arrow shaft 52, the top end of the throw-out bearing accommodating cavity 36 limits the arrow 5, and the arrow 5 is prevented from being separated from the throw-out bearing accommodating cavity 36 under the action of gravity.

As shown in fig. 5, the filling device 4 includes a filling swing driving device 41, a filling swing bracket 42, a filling rotating device 43, and a filling clamping device 44; the cartridge holder 44 is used for holding the arrow support 5. The filling swing driving device 41 is fixed on the frame body 1 through a filling fixing support, and the output end of the filling swing driving device 41 is connected with the filling swing support 42; the filling rotating device 43 is fixed on the filling swing bracket 42, and the filling clamping device 44 is rotatably arranged on the filling swing bracket 42; the output end of the filling rotating device 43 is connected with the filling clamping device 44; the filling clip device 44 is used for clipping the arrow body to be launched, and the filling rotating device 43 is used for driving the filling clip device 44 to rotate.

Arranging a swinging filling and clamping device 44, driving the filling and swinging driving device 41 to drive the filling and clamping device 44 to place the clamped arrow 5 on the throwing-out bearing cavity 36, and limiting the arrow 5 by the throwing-out bearing cavity 36; the arrow 5 placed on the casting support cavity 36 is not influenced by gravity and is separated from the casting support cavity 36; thus, the loading of the arrow support 5 is realized; the loading operation of the arrow support 5 is simple; the projection driving device 32 drives the projection swinging bracket 33 to be away from the projection bearing bracket 34, and the first bearing piece 331 drives the arrow 5 to be separated from the projection bearing cavity 36 and projects the arrow 5.

The filling rotating device 43 is connected with the filling clamping device 44, the filling rotating device 43 is used for driving the filling clamping device 44 to rotate, when the filling clamping device 44 can clamp arrow supports 5 with different arrow orientations, the filling rotating device 43 drives the filling clamping device 44 to rotate, so that the arrow orientations of the arrow supports 5 can be aligned, the arrow orientations of the arrow supports 5 are consistent with the throwing direction of the throwing swing bracket 33, and the arrow supports 5 placed on the throwing bearing cavity 36 can be thrown out. Meanwhile, the cartridge loading rotating device 43 drives the cartridge loading clamping device 44, so that the clamping direction of the cartridge loading clamping device 44 can be changed, the clamping direction of the cartridge loading clamping device 44 is kept perpendicular to the arrow support 5, and the cartridge loading clamping device 44 can clamp the arrow support 5 with different placing angles.

As also shown in fig. 11, the bullet taking device 2 is used to provide the arrow support 5 for the bullet filling gripping device 44; the bullet taking device 2 comprises a bullet taking transverse moving device 21, a bullet taking transverse moving bracket 22 and more than one bullet taking clamping device 23; the cartridge taking and clamping device 23 is used for clamping the arrow support 5. In this embodiment, three cartridge holding devices 23 are provided; the bullet taking transverse moving device 21 is arranged on the frame body 1, the output end of the bullet taking transverse moving device 21 is connected with the bullet taking transverse moving bracket 22, and more than one bullet taking clamping device 23 is arranged on the bullet taking transverse moving bracket 22; the bullet taking traversing device 21 drives the bullet taking clamping device 23 to move along the vertical direction of the swinging direction of the throwing swing bracket 33; the filling swing driving device 41 is used for driving the filling clamping device 44 to swing between the throwing support cavity 36 and the taking clamping device 23.

By arranging the bullet taking device 2, the rocket supports 5 are simultaneously clamped by the bullet filling clamping device 44 and the bullet taking clamping device 23; when the cartridge filling clamping device 44 places the clamped arrow 5 into the projection bearing cavity 36 and projects the arrow; the cartridge filling clamping device 44 clamps the arrow support 5 clamped by the cartridge clamping device 23 and provides the arrow support to the throwing bearing cavity 36; the arrow 5 is stored in this way, and the throw-out device 3 throws out the arrow 5 for a plurality of times. Since the throwing device 3 and the filling device 4 are both provided with more than two, the ball taking transverse moving device 21 is arranged, and the ball taking transverse moving device 21 drives the ball taking clamping device 23 to move, so that arrow supports 5 can be provided for passing through the filling device 4.

In another embodiment, the bullet taking device 2 further comprises a bullet taking bracket 24; the bullet taking bracket 24 is fixed on the frame body 1, and the horizontal height of one side of the bullet taking bracket 24 close to the bullet filling device 4 is higher than that of one side of the bullet taking bracket 24 far away from the bullet filling device 4; the bullet taking traversing device 21 is arranged on the bullet taking bracket 24. As shown with reference to fig. 14 and 19; the arrow support 5 is arranged on the material rack; the arrow support 5 is generally arranged in a downward direction with an arrow head, and meanwhile, in order to prevent the arrow support 5 from inclining and falling down, the arrow support 5 is obliquely arranged on the material rack; by arranging the bullet taking support plate which is obliquely arranged, the bullet taking support 24 is also obliquely arranged, and the bullet taking clamping device 23 which is arranged on the bullet taking support 24 is also obliquely arranged; the matching effect between the obliquely arranged bullet taking and clamping device 23 and the obliquely arranged arrow support 5 is good.

As shown in fig. 2 to 4, the ejection rotating device 31 includes an ejection rotating bearing 311, an ejection rotating driven gear 312, an ejection rotating drive gear 313, an ejection rotating belt 314, and an ejection rotating motor 315. In the present embodiment, the ejection drive device 32, the ejection swing bracket 33, and the ejection receiving bracket 34 are rotated together in the circumferential direction of the ejection rotary bearing 311.

The inner ring of the casting rotary bearing 311 and the casting rotary motor 315 are fixed to the frame body 1, the outer ring of the casting rotary bearing 311 is connected to one side of the casting rotary driven gear 312, and the casting rotary motor 315 is connected to the casting rotary driving gear 313; the throwing-out rotary leather sheath is arranged on the throwing-out rotary driven gear 312 and the throwing-out rotary driving gear 313; the casting support bracket 34 is fixed to the other side of the casting rotary driven gear 312; the casting rotation motor 315 rotates the casting support chamber 36.

The casting support bracket 34 is fixed on the casting rotating device 31, and the casting swinging bracket 33 is arranged on the casting support bracket 34; throw out swing support 33 and throw out bearing support 34 and rotate simultaneously through throwing out rotary device 31 drive, and then the drive throws out the rotation of bearing holding chamber 36, it is rotatory in and drive through throwing out rotatory driving gear 313 and throw out rotatory driven gear 312 rotatory simultaneously, rotatory driven gear 312 and the outer lane fixed connection who throws out swivel bearing 311, the inner circle that throws out swivel bearing 311 is fixed on support body 1, thereby it is rotatory to make to drive throwing device 3, through throwing out swivel bearing 311, throw out rotatory driven gear 312, throw out rotatory driving gear 313, throw out the cooperation realization of rotatory belt 314 and the rotatory motor 315 of throwing out and throw out device 3 and rotate, moreover, the steam generator is simple in structure.

In another embodiment, the projection rotating device 31 further includes an annular projection rotation upper limiting plate 316 and a projection rotation lower limiting plate 317; one side of the casting-out rotation driven gear 312 is connected to the outer ring of the casting-out rotation bearing 311 via a casting-out rotation lower limit plate 317; the ejection holding bracket 34 is connected to the other side of the ejection rotary driven gear 312 via an ejection rotary upper limit plate 316; the outer peripheral edges of the ejection rotation upper limit plate 316 and the ejection rotation lower limit plate 317 are both provided to protrude outward relative to the ejection rotation driven gear 312. A projection rotation upper limit plate 316 and a projection rotation lower limit plate 317, which are provided with peripheral edges projecting outward from the projection rotation driven gear 312; the throwing-out rotary upper limit plate 316 and the throwing-out rotary lower limit plate 317 limit the throwing-out rotary belt 314 so that the throwing-out rotary belt 314 does not disengage from the throwing-out rotary driven gear 312 when rotating; thus, the reliability of the transmission is high.

The ejection rotating device 31 further includes a tension structure; the tension structure is arranged between the casting-out rotary driven gear 312 and the casting-out rotary driving gear 313; the tensioning structure comprises a tensioning bracket 318, and the tensioning bracket 318 is fixed on the frame body 1; a tension wheel 319 is arranged on the tension bracket 318; a tension area is formed between the tension bracket 318 and the tension wheel 319; the casting rotary belt 314 is fitted over the casting rotary driven gear 312 and the casting rotary driving gear 313 through the tension region. The belt between the projection rotary driven gear 312 and the projection rotary driving gear 313 is tensioned and limited by the tensioning structure, so that the projection rotary driven gear 312 and the projection rotary driving gear 313 are driven more reliably and effectively.

As shown in fig. 6, a first filling swing plate 421 is disposed at one end of the filling swing bracket 42, and a second filling swing plate 422 is disposed at the other end of the filling swing bracket 42; the first filling swing plate 421 and the second filling swing plate 422 are arranged in parallel; a first swing opening 423 is formed in the first projectile filling swing plate 421; a second swing opening 424 is formed in the second projectile charging swing plate 422; the first swing opening 423 and the second swing opening 424 are arranged coaxially with respect to the center of the circle.

The cartridge clamping device 44 is rotatably connected with the first swing opening 423 through a first cartridge rotating bearing 451; the charger holder 44 is rotatably coupled to the second swing opening 424 via a second charger rotation bearing 452.

As shown in fig. 6 to 8, the refill rotating means 43 includes a refill rotating motor 431, a refill rotating driving gear 432, a refill rotating driven gear 433; the filling rotating motor 431 is fixed on the filling swing bracket 42, and the output end of the filling rotating motor 431 is connected with a filling rotating driving gear 432; the filling clip device 44 penetrates through the filling rotary driven gear 433 and is fixedly connected with the filling rotary driven gear 433, and a filling through hole 4331 is formed in the filling rotary driven gear 433; the filling clip device 44 is inserted into the filling through hole 4331 and is fixedly connected with the filling rotary driven gear 433; the refill rotation driving gear 432 is engaged with the refill rotation driven gear 433. Since the charger holder 44 is rotatably provided on the charger swing bracket 42, the charger rotating motor 431 drives the charger holder 44 to rotate along the axes of the first swing opening 423 and the second swing opening 424.

The filling clip device 44 is arranged on the filling rotary driven gear 433 in a penetrating way and is connected with the filling rotary driven gear 433; the filling rotary driving gear 432 is meshed with a filling rotary driven gear 433; the stuffing holding device 44 is driven to rotate by the stuffing rotating motor 431, so that the volume of the stuffing rotating device 43 can be reduced.

The fill clip device 44 includes a fill clip cylinder 441, a fill clip hand 443, and a fastening assembly 442. The cartridge clamping cylinder 441 penetrates through the cartridge connecting hole and is fixedly connected with the cartridge rotating driven gear 433.

As shown in fig. 6 and 7, two sets of fastening assemblies 442 are provided, and the two fastening assemblies 442 are disposed oppositely; one set of fastening members 442 is disposed at one side of the cartridge retaining cylinder 441, and the other set of fastening members 442 is disposed at the other side of the cartridge retaining cylinder 441; each set of fastener assemblies includes a first fastener 4421 and a second fastener 4422.

The first fastening piece 4421 comprises a first fastening part 4423, the first fastening part 4423 is connected with the side surface of the cartridge clamping cylinder 441, and the first cartridge rotating bearing 451 is sleeved on the surfaces of the two first fastening parts 4423 and is arranged in the first swinging open hole 423; the top end of the first fastening part 4423 is provided with a second fastening part 4424; the second fastening part 4424 is disposed perpendicular to the first fastening part 4423 and extends out of the first swing opening 423; the second fastening portion 4424 is overlapped on the first bullet filling swing plate 421; the second fastening member 4422 is connected to the first fastening portion 4423, and the second fastening member 4422 fixes the first ball-packing rotation bearing 451 between the second fastening portion 4424 and the second fastening member 4422. The cartridge clamping cylinder 441 penetrates through the cartridge connecting hole, and the cartridge rotating driven gear 433 is connected with the bottom end of the first fastening portion 4423.

A third fastening piece 4425 is provided on the top of one of the second fastening parts 4424, and a grip sensor 46 is provided on the third fastening piece 4425, the grip sensor 46 being used to detect the arrow 5.

When the gripper sensor 46 detects an arrow, the stuffed animal gripper grips the arrow 5.

The first filling rotating bearing 451 is clamped by the second fastening part 4424 and the second fastening part 4422, and the second fastening part 4424 is lapped on the first filling swing plate body 421, so that the first filling rotating bearing 451 is prevented from being separated from the first swing opening 423, and the reliability of the rotation of the filling clamping device 44 on the filling swing bracket 42 is high; meanwhile, the bottom of the first fastening part 4423 is also connected with the filling rotating driven gear 433; the driven gear 433 for the cartridge filling rotation and the cartridge filling clamping cylinder 441 are relatively fixed. The first stuffing rotation bearing 451 is limited by the structure of the fastening assembly 442, and the stuffing rotation driven gear 433 is fixed at the same time; the structure is simple.

As shown in fig. 8, the stuff-filling gripper 443 includes two stuff-filling grippers 4431; one of the filling clamps 4431 is connected to one output terminal of the filling clamp cylinder 441, and the other filling clamp 4431 is connected to the other output terminal of the filling clamp cylinder 441; each of the stuff clips 4431 includes two or more stuff clips 4432; the bullet filling clamping portions 4432 connected to one output end of the bullet filling clamping cylinder 441 and the bullet filling clamping portions 4432 connected to the other output end of the bullet filling clamping cylinder 441 are alternately arranged.

The cartridge filling clamping part 4432 comprises a first clamping part 4433, an arc-shaped second clamping part 4434 extends on the first clamping part 4433, and a clamping area 4435 is formed between the second clamping part 4434 and the first clamping part 4433; the grip regions 4435 of the adjacent stuff-feeding grips 4432 are arranged in layers.

The cartridge filling clamping cylinder 441 drives the cartridge filling clamping hand 443 to clamp or open, so that the arrow 5 is clamped or dismounted; the adjacent clamping areas 4435 are arranged in a stacked mode, so that the clamping length of the cartridge filling clamping hand 443 is prolonged, and the arrow 5 can be better clamped; meanwhile, the cartridge filling clamping parts 4432 connected with the two output ends of the cartridge filling clamping cylinder 441 are alternately arranged, the cartridge filling clamping part 4432 at one output end of the cartridge filling clamping cylinder 441 swings in one direction, and the cartridge filling clamping part 4432 at the other output end of the cartridge filling clamping cylinder 441 swings in the opposite direction of the opposite cartridge filling clamping part 4432, so that the clamping effect on the arrow support 5 is good.

In this embodiment, the second clamping portion 4434 extends with a convex portion 4436 away from the clamping region 4435 at one end of the first clamping portion 4433. The space of the gripping area 4435 is reduced by the boss 4436, and the gripping of the arrow 5 is further promoted.

As shown in fig. 11, the cartridge taking and clamping device 23 includes a cartridge taking and clamping cylinder and a cartridge taking and clamping hand, and in this embodiment, the cartridge taking and clamping cylinder has the same structure as the cartridge filling and clamping cylinder 441; the structure of the bullet taking clamp hand is the same as that of the bullet filling clamp hand 443; a clamp sensor 46 is provided on the cartridge-taking clamp cylinder. When the clamping sensor 46 on the cartridge taking clamping cylinder detects an arrow, the cartridge taking clamp hand clamps the arrow.

In the present embodiment, the bullet catching traverse device 21 includes a traverse bracket 211, a traverse lower plate 212, and a traverse driving device 213; the transverse moving bracket 211 is arranged on the transverse moving lower plate body 212 in a sliding way, and the transverse moving lower plate body 212 is fixed on the bullet taking bracket 24; the bullet taking traversing bracket 22 is arranged on the traversing bracket 211 in a sliding way; the traverse driving device 213 drives the eject traverse bracket 22 to slide on the traverse bracket 211, and the traverse bracket 211 slides on the traverse lower plate 212 in synchronization.

The traverse driving device 213 includes a traverse driving motor 2131, a first traverse driving wheel 2132, a second traverse driving wheel 2133, a traverse belt 2134, a first traverse clamping device 2135 and a second traverse clamping device 2136.

As shown in FIG. 13, the traverse bracket 211 includes a first traverse bracket 2111, a second traverse bracket 2112 and a third traverse bracket 2113; the first traverse bracket 2111 is arranged at one side of the third traverse bracket 2113, and the second traverse bracket 2112 is arranged at the other side of the third traverse bracket 2113; the first traverse driving wheel 2132 is arranged at one end of the first traverse bracket 2113, the traverse driving motor 2131 is fixed on the first traverse bracket 2111, and the output end of the traverse driving motor 2131 penetrates through the first traverse bracket 2111, the first traverse driving wheel 2132 and the second traverse bracket 2112 and is rotatably connected with the first traverse driving wheel 2132.

A second traverse transmission wheel 2133 is arranged at the other end of the traverse bracket III 2113; a positioning pin 25 is arranged at one end of the second traversing bracket 2112 far away from the traversing driving motor 2131; the positioning pin 25 passes through the second traverse bracket 2112, the second traverse driving wheel 2133 and the first traverse bracket 2111 and is rotatably connected with the second traverse driving wheel 2133; the transverse belt 2134 is sleeved on the first transverse transmission wheel 2132, the transverse bracket III 2113 and the second transverse transmission wheel 2133.

The first transverse moving clamping device 2135 clamps the transverse moving belt 2134 above the third transverse moving bracket 2113 and is fixedly connected with the ejection transverse moving bracket 22; the second traverse clamping device 2136 is clamped on the traverse belt 2134 below the traverse bracket III 2113 and is fixedly connected with the traverse lower plate 212. The bullet taking traversing device 21 further comprises a first traversing sliding piece and a second traversing sliding piece; the first traverse slide includes a first traverse slide 214 and a first traverse slider 215; the first traverse slide 214 is arranged at the top end of the traverse bracket III 2113, the first traverse slide 215 is arranged on the first traverse slide 214 in a sliding manner, and the top end of the first traverse slide 215 is fixedly connected with the ejection taking traverse bracket 22.

The second traverse slide includes two second traverse rails 216 and four second traverse sliders 217; a second traverse slide 216 is disposed at one side of the traverse lower plate 212; another second traverse slide 216 is provided at the other side of the traverse lower plate 212.

The two second sideslip sliders 217 are slidably arranged on a second sideslip slide rail 216, and the top ends of the second sideslip sliders 217 are fixedly connected with the first sideslip bracket 2111; the other two second sideslip sliders 217 are slidably arranged on the other second sideslip slide rail 216, and the top ends of the second sideslip sliders 217 are fixedly connected with the second sideslip bracket 2112.

As the traverse lower plate body 212 is fixed on the bullet taking bracket 24, the bullet taking traverse bracket 22 is connected with the traverse bracket 211 in a sliding way, and the traverse bracket 211 is connected with the traverse lower plate body 212 in a sliding way; the upper end of the transverse moving belt 2134 is fixedly connected with the bullet taking transverse moving bracket 22 through a first transverse moving clamping device 2135, and the lower end of the transverse moving belt 2134 is fixedly connected with the transverse moving lower plate body 212 through a second transverse moving clamping device 2136; thus, when the traverse driving motor 2131 rotates in one direction, the first traverse clamping device 2135 approaches to the second traverse driving wheel 2133, and the first traverse clamping device 2135 drives the bomb-taking traverse bracket 22 to move in the direction approaching to the second traverse driving wheel 2133; the second traverse clamping device 2136 is close to the first traverse driving wheel 2132, and the traverse bracket is driven to move towards the direction close to the second traverse driving wheel 2133 because the traverse lower plate body 212 is fixed on the frame body 1; when the traversing driving motor 2131 rotates in the opposite direction, both the ejection traversing bracket 22 and the traversing bracket 211 move towards the direction close to the first traversing driving wheel 2132; thus, the bullet taking transverse moving bracket 22 and the transverse moving bracket move simultaneously along the same direction, and the bullet taking transverse moving bracket moves on the basis of the movement of the transverse moving bracket; further, the moving range of the bullet-taking moving bracket 22 is wide.

In this embodiment, as shown in fig. 2 and 3, a supporting portion 332 is provided on the first supporting member 331, and the supporting portion 332 is a structure that is recessed inward from the surface of the first supporting member 331; the support portion 332 is adapted to be attached to the arrow of the arrow rest 5 and support the arrow rest 5. The arrow 51 is pressed against the supporting part 332, and the arrow 51 of the arrow support 5 is supported by the supporting part 332, so that the arrow support 5 can be more stably placed in the projection supporting cavity 36.

In the implementation, the length of the bullet filling device is greater than that of the bullet taking device, and when the bullet filling device and the bullet taking device are arranged in parallel, the bullet filling clamping device extends out of the bullet taking clamping device; therefore, the arrow support clamped by the filling clip device and the arrow support clamped by the bullet taking clip device are parallel; when the ball filling rotating device drives the ball filling device to rotate, the arrow clamped by the ball filling device cannot collide with the arrow clamped by the ball taking device. The archery robot also comprises a moving device, and the moving device is arranged on the frame body 1; the moving device is used for driving the frame body 1 to move. The moving device drives the frame body 1 to move, so that the frame body 1 approaches to a projection target. The moving device comprises three groups of moving wheels, and each group of moving wheels is driven by an independent motor.

As shown in fig. 21, the material throwing method includes the steps of:

(1) the bullet taking traversing device 21 drives the bullet taking traversing bracket to move, more than one bullet taking clamping device 23 and more than one bullet filling clamping device 44 are alternately arranged, and the bullet filling swinging driving device drives the bullet filling clamping device 44 to be close to the bullet taking device and to be parallel to the bullet taking clamping device 23.

(2) A cartridge loading holder 44 for holding an arrow shaft and holding the end of the arrow shaft near the arrow tail; a cartridge holder 23 holds the other arrow support and is held at the end of the arrow shaft near the arrow head.

(3) The filling rotating device drives the filling clamping device 44 to rotate, and the filling clamping device 44 drives the arrow to rotate, so that the arrow direction of the arrow is consistent with the throwing direction of the throwing bearing cavity.

(4) The filling swing driving device drives the filling clamping device 44 to be close to the throwing-out bearing cavity, when the arrow support is in contact with the first bearing part, the filling clamping device 44 releases the clamping of the arrow support, the arrow rod slides into the throwing-out bearing cavity under the action of gravity, and the throwing-out bearing cavity is limited to the arrow.

(5) The filling swing drive drives the filling gripper 44 away from the launch support chamber.

(6) Judging whether the projection direction of the projection target is consistent with that of the projection bearing cavity, if so, performing (8), and if not, performing (7). In this embodiment, it is determined manually whether the projection direction of the projection target is the same as the projection direction of the projection bearing chamber.

(7) The throwing-out rotating device drives the throwing-out swinging bracket and the throwing-out bearing bracket to rotate, so that the throwing-out direction of the throwing-out target is consistent with that of the throwing-out bearing cavity. If the casting direction of the casting bearing cavity is deviated to the left relative to the casting target, the casting swing bracket and the casting bearing bracket are driven to rotate rightwards; if the casting direction of the casting bearing cavity is inclined to the right relative to the casting target, the casting swinging support and the casting bearing support are driven to rotate towards the sitting position.

(9) The traverse carriage 21 drives the traverse carriage to move so that a cartridge holder 23 holding an arrow corresponds to the cartridge loading holder position 44.

(11) The cartridge filling clamping device clamps the arrow support on the cartridge taking clamping device and clamps one end of the arrow rod close to the arrow tail; the cartridge taking and clamping device 23 releases the clamping of the arrow support.

According to the method, different arrow supports are clamped simultaneously through the cartridge taking and clamping device and the cartridge filling and clamping device, the cartridge taking and clamping device is used for providing the arrow supports for the throwing-out bearing cavity, and after the arrow supports clamped by the cartridge taking and clamping device are thrown out, the cartridge taking and clamping device is used for clamping the arrow supports clamped by the cartridge filling and clamping device and continuously providing the arrow supports for the throwing-out bearing cavity; thus, the arrow can be thrown out for multiple times; meanwhile, before the bullet taking clamping device and the bullet filling clamping device clamp the arrow, the bullet taking transverse moving bracket moves, so that the bullet taking clamping device and the bullet filling clamping device are alternately arranged; the situation that the same arrow is clamped by the cartridge taking clamping device and the cartridge filling clamping device is avoided.

The arrow support can be thrown out only when the arrow orientation of the arrow support is consistent with the throwing direction of the throwing bearing cavity; the cartridge filling clamping device clamps one end of the arrow shaft close to the arrow tail, and the matching between the arrow shaft and the throw-out bearing cavity cannot be interfered; then, rotating the cartridge filling clamping device to enable the arrow supporting arrow to face the same direction as the throwing direction of the throwing bearing cavity, and enabling the arrow rod supported by the arrow to be aligned with the throwing bearing cavity; then the cartridge filling clamping device loosens the clamping of the arrow support, the arrow support naturally slides into the throw-out bearing containing cavity, then the arrow rod is contained in the throw-out bearing containing cavity, meanwhile, the size of the arrow rod is matched with that of the throw-out bearing containing cavity due to the fact that the size of the arrow head is larger than that of the arrow rod, the arrow support is limited through the first bearing piece, and the arrow support is prevented from being separated from the throw-out bearing containing cavity; and then the throwing swing bracket swings to throw out the arrow.

In the above-mentioned method, the first step of the method,

in the step (1), the bullet taking traversing device drives the bullet taking traversing bracket to move, and more than one bullet taking clamping devices and more than one bullet filling clamping devices are alternately arranged, and the method specifically comprises the following steps: the transverse moving driving device drives the bullet taking transverse moving bracket and the transverse moving bracket to simultaneously move towards the direction close to the first transverse moving driving wheel; arranging one cartridge taking clamping device and the other cartridge taking clamping device adjacently, wherein the other cartridge taking clamping device, the one cartridge filling clamping device, the other cartridge taking clamping device and the other clamping device are alternately arranged; thus avoiding mutual interference when the cartridge filling clamping device and the cartridge taking clamping device clamp the arrow; the cartridge filling clamping device and the cartridge taking clamping device can simultaneously clamp different arrow supports; and further more arrow branches can be stored on the archery robot.

In the step (2), the cartridge filling clamping device clamps an arrow, and specifically comprises the following steps: the cartridge filling clamping cylinder drives the cartridge filling clamp to open, the frame body approaches to the arrow support, and when the clamping sensor detects the arrow support, the frame body stops moving; then the filling clip holding cylinder drives the filling clip hand to clamp the arrow rod supported by the arrow in the clamping area. The clamping sensor is used for detecting and detecting the arrow to control the cartridge filling gripper to clamp tightly, the control method is simple, and the clamping accuracy is good.

In the step (3), the filling rotating device drives the filling clamping device to rotate, and the method specifically comprises the following steps: the filling rotating motor drives the filling clamping device to rotate around the circle centers of the first swing opening and the second swing opening. The cartridge filling clamping device drives the arrow to rotate so that the orientation of the arrow supporting arrow is consistent with the throwing direction of the throwing bearing cavity, and the cartridge filling clamping device specifically comprises the following components: in the implementation, the arrow support is placed in the direction of the arrow downwards, and after the filling and clamping device clamps the arrow support, the filling and rotating device drives the filling and clamping device to rotate 180 degrees. In this embodiment, the two cartridge loading holders 44 rotate in opposite directions, and when the two cartridge loading holders 44 rotate, the arrow tails of the two arrows approach and then separate. Because the space between the two filling and clamping devices is limited, the rotating directions of the two filling and clamping devices are opposite, and when the two filling and clamping devices rotate, the arrow tails supported by the two arrows approach and then are separated. Namely, the arrow is supported in the rotating process, and the arrow tail is accommodated in the space between the two cartridge filling clamping devices; meanwhile, the cartridge filling clamping device clamps one end of the arrow rod close to the arrow tail, so that the distance between the arrow tail and the cartridge filling clamping device is short, and the space occupied by the arrow supported between the two cartridge filling clamping devices is small; the collision is avoided when the two arrows rotate simultaneously. Referring to fig. 20, the cartridge loading holder on the left side rotates clockwise, and the cartridge loading holder on the right side rotates counterclockwise; because the cartridge filling clamping device is clamped at one end of the arrow rod close to the arrow tail, collision is avoided when the two arrows rotate simultaneously.

In the step (4), the two filling clamping devices respectively place the arrow in the corresponding throwing-out bearing accommodating cavities. If the two cartridge filling clamping devices successively place the arrow supports in the corresponding throwing bearing accommodating cavities, the two arrow supports can continuously throw the same throwing target; if the two cartridge filling clamping devices simultaneously place the arrow supports in the corresponding projection bearing accommodating cavities, the two arrow supports can simultaneously project the same projection target.

In the step (6), judging whether the casting direction of the casting target is consistent with that of the casting bearing cavity, specifically: and artificially observing whether the projection direction of the projection target is consistent with that of the projection bearing cavity.

The step (9) is specifically as follows: if all the bullet taking clamping devices clamp the arrow, performing (9.1); if the arrow support of the other cartridge taking and clamping device and the arrow support of the other cartridge taking and clamping device are both taken, the process is carried out (9.2).

And (9.1) driving the bullet taking transverse moving support and the transverse moving support to simultaneously move towards the direction close to the second transverse moving transmission wheel by the transverse moving driving device, so that the other bullet taking clamping device corresponds to one bullet filling clamping device, and the other bullet taking clamping device corresponds to the other bullet filling clamping device.

And (9.2) driving the bullet taking transverse moving support and the transverse moving support to simultaneously move towards the direction close to the second transverse moving driving wheel by the transverse moving driving device, so that one bullet taking clamping device corresponds to one bullet filling clamping device or the other bullet filling clamping device.

When all the bullet taking clamping devices clamp arrows, the other bullet taking clamping device corresponds to one bullet filling clamping device, and the other bullet taking clamping device corresponds to the other bullet filling clamping device; can provide arrow support for the two filling clip holding devices at the same time; meanwhile, the rocket support is also clamped by the one-time cartridge taking clamping device, so that the storage quantity of the rocket support is further increased; when the arrow support of the other cartridge taking and holding device and the arrow support of the other cartridge taking and holding device are clamped, the one cartridge taking and holding device provides the arrow support for the one cartridge filling and holding device or the other cartridge filling and holding device, and further provides the arrow support for the one throwing device.

Claims

1. The utility model provides a method is thrown out to material, throws out the arrow through archery robot, and the arrow includes arrow head, arrow shaft and arrow tail, and arrow shaft connects arrow head and arrow tail, and the size of arrow head cross section is greater than the size of arrow shaft cross section, and archery robot includes the support body, is equipped with on the support body and gets bullet device, more than one throw-out device and more than one filling device, its characterized in that: the throwing-out device is arranged above the bullet filling device, and the bullet filling device is arranged above the bullet taking device; the length of the bullet filling device is greater than that of the bullet taking device;

the throwing-out device comprises a throwing-out rotating device, a throwing-out driving device, a throwing-out swinging bracket and a throwing-out bearing bracket; the throwing-out rotating device is installed on the frame body, the throwing-out bearing support is installed on the throwing-out rotating device, and the throwing-out swinging support is movably arranged on the throwing-out bearing support; the throwing-out driving device is connected with the throwing-out swinging support and drives one end of the throwing-out swinging support to be close to or far away from the throwing-out bearing support; along the swinging direction of the throwing-out swinging support, the bullet filling device is arranged between the throwing-out device and the bullet taking device; the throwing-out rotating device is used for driving the throwing-out driving device, the throwing-out swinging bracket and the throwing-out bearing bracket to rotate;

the throwing-out swinging support comprises a first bearing piece, and the throwing-out bearing support comprises a second bearing piece; the second supporting piece is positioned between the first supporting piece and the bullet filling device; the first bearing piece and the second bearing piece form a casting bearing cavity which is obliquely arranged; the throwing-out bearing cavity is used for bearing the arrow and limiting the arrow;

the filling device comprises a filling swing driving device, a filling swing bracket, a filling rotating device and a filling clamping device; the filling swing driving device is fixed on the frame body, and the output end of the filling swing driving device is connected with the filling swing bracket; the filling rotating device is fixed on the filling swing bracket, and the output end of the filling rotating device is connected with the filling clamping device; the device comprises a cartridge filling clamping device, a cartridge filling rotating device and a cartridge filling rotating device, wherein the cartridge filling clamping device is used for clamping an arrow body to be launched;

the bullet taking device comprises a bullet taking transverse moving device, a bullet taking transverse moving bracket and more than one bullet taking clamping device; the bullet taking transverse moving device is arranged on the frame body, the output end of the bullet taking transverse moving device is connected with the bullet taking transverse moving bracket, and more than one bullet taking clamping device is arranged on the bullet taking transverse moving bracket; the bullet taking transverse moving device drives the bullet taking clamping device to move along the direction vertical to the swinging direction of the throwing swing bracket; the filling swing driving device is used for driving the filling clamping device to swing between the throwing bearing cavity and the cartridge taking clamping device;

the material throwing method comprises the following steps:

(1) the bullet taking transverse moving device drives the bullet taking transverse moving bracket to move, and more than one bullet taking clamping devices and more than one bullet filling clamping devices are alternately arranged; the filling swing driving device drives the filling clamping device to be close to the bullet taking device and to be arranged in parallel with the bullet taking clamping device;

(2) a cartridge-filling clamping device clamps an arrow support and clamps one end of the arrow rod close to the arrow tail; a cartridge taking clamping device clamps the other arrow support and clamps one end of the arrow rod close to the arrow;

(3) the cartridge filling rotating device drives the cartridge filling clamping device to rotate, and the cartridge filling clamping device drives the arrow support to rotate, so that the arrow support arrow is consistent in direction with the throwing direction of the throwing bearing cavity;

(4) the cartridge filling swing driving device drives the cartridge filling clamping device to be close to the throwing bearing cavity, when the arrow support is in contact with the first bearing part, the cartridge filling clamping device loosens the clamping of the arrow support, the arrow rod slides into the throwing bearing cavity under the action of gravity, and the throwing bearing cavity limits the arrow;

(5) the filling swing driving device drives the filling clamping device to be far away from the throwing bearing cavity;

(6) judging whether the projection direction of the projection target is consistent with that of the projection bearing cavity, if so, performing (8), and if not, performing (7);

(7) the casting rotating device drives the casting swinging bracket and the casting bearing bracket to rotate, so that the casting direction of the casting target is consistent with that of the casting bearing cavity;

(8) the throwing-out driving device drives the throwing-out swinging support to swing towards the direction far away from the throwing-out bearing support, and the first bearing piece pushes the arrow to be thrown out;

(9) the bullet taking transverse moving device drives the bullet taking transverse moving bracket to move, so that a bullet taking clamping device which clamps the arrow support corresponds to a bullet filling clamping device in position;

(10) the filling rotating device drives the filling clamping device to reset, and the filling swinging driving device drives the filling clamping device to be close to the bullet taking clamping device and to be arranged in parallel with the bullet taking clamping device;

(11) the cartridge filling clamping device clamps the arrow support on the cartridge taking clamping device and clamps one end of the arrow rod close to the arrow tail; the cartridge taking clamping device loosens the clamping of the arrow support;

2. A material throwing method according to claim 1, wherein: the cartridge filling clamping device comprises a cartridge filling clamping cylinder and a cartridge filling clamping hand, and a clamping sensor is fixed on the cartridge filling clamping cylinder; the cartridge filling gripper comprises two cartridge filling clamping pieces; one filling clamping piece is connected with one output end of the filling clamping cylinder, and the other filling clamping piece is connected with the other output end of the filling clamping cylinder; the filling clamping piece comprises more than two filling clamping parts; the cartridge filling clamping part connected with one output end of the cartridge filling clamping cylinder and the cartridge filling clamping part connected with the other output end of the cartridge filling clamping cylinder are alternately arranged;

3. A material throwing method according to claim 2, wherein: (2) in, fill a cartridge clamping device centre gripping arrow and prop, specifically do: the cartridge filling clamping cylinder drives the cartridge filling clamp to open, the frame body approaches to the arrow support, and when the clamping sensor detects the arrow support, the frame body stops moving; then the filling clip holding cylinder drives the filling clip hand to open and clamp the arrow rod supported by the arrow in the clamping area.

4. A material throwing method according to claim 1, wherein: (3) and the cartridge filling clamping device rotates 180 degrees, and the direction of an arrow-supported arrow is consistent with the throwing direction of the throwing bearing cavity.

5. The material discharge method according to claim 4, wherein: the two bullet filling devices and the two ejection devices are arranged, and one bullet filling device corresponds to one ejection device; (4) and the two cartridge filling clamping devices respectively place the arrow in the corresponding throwing-out bearing accommodating cavity.

6. The material discharge method according to claim 5, wherein: (3) and when the two filling and clamping devices rotate, the arrow tails supported by the two arrows approach and then are separated.

7. The material discharge method according to claim 5, wherein: three cartridge taking clamping devices are arranged; the bullet taking transverse moving device comprises a transverse moving bracket, a transverse moving lower plate body and a transverse moving driving device; the transverse moving support is arranged on the transverse moving lower plate body in a sliding mode, and the transverse moving lower plate body is fixed on the bullet taking support; the bullet taking transverse moving bracket is arranged on the transverse moving bracket in a sliding manner; the transverse moving driving device drives the bullet taking transverse moving bracket to synchronously slide on the transverse moving bracket and the transverse moving bracket on the transverse moving lower plate body;

the transverse moving driving device comprises a transverse moving driving motor, a first transverse moving driving wheel, a second transverse moving driving wheel, a transverse moving belt, a first transverse moving clamping device and a second transverse moving clamping device;

the first transverse transmission wheel is arranged at one end of the transverse support, and the second transverse transmission wheel is arranged at the other end of the transverse support; the output end of the transverse moving driving motor is connected with a first transverse moving transmission wheel; the transverse belt is sleeved on the first transverse transmission wheel and the second transverse transmission wheel;

8. A material throwing method according to claim 7, wherein: (1) in, more than one get bullet clamping device and more than one fill bullet clamping device between alternate setting, specifically: one of the cartridge taking clamping devices is arranged adjacent to the other cartridge taking clamping device, and the other cartridge taking clamping device, the one cartridge filling clamping device, the other cartridge taking clamping device and the other clamping device are alternately arranged.

9. A material throwing method according to claim 7, wherein: (9) the method specifically comprises the following steps: if all the bullet taking clamping devices clamp the arrow, carrying out (9.1); if the arrow support of the other cartridge taking and clamping device and the arrow support of the other cartridge taking and clamping device are clamped, performing (9.2);

(9.1) driving the bullet taking transverse moving support and the transverse moving support to simultaneously move towards the direction close to the second transverse moving transmission wheel by the transverse moving driving device, so that the other bullet taking clamping device corresponds to one bullet filling clamping device, and the other bullet taking clamping device corresponds to the other bullet filling clamping device;