CN115054904A - Feeding method - Google Patents

Abstract

The invention provides a feeding method, which comprises the steps of feeding and throwing out arrow branches through an archery robot, wherein a throwing device and a bullet filling device are arranged on a frame body of the archery robot, and the throwing device is provided with a throwing bearing cavity; the cartridge filling device comprises cartridge filling clamping devices, the throw-out bearing cavity is used for bearing the arrow, the cartridge filling clamping devices are used for clamping the arrow, the two cartridge filling clamping devices clamp the arrow and rotate in opposite directions to place the arrow on the throw-out bearing cavity, and the throw-out bearing cavity limits the arrow; 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; meanwhile, one arrow support cannot interfere with the other arrow support in the loading process.

Description

Feeding method

Technical Field

The invention relates to the technical field of robots, in particular to a feeding method.

Background

Shooting arrows is firstly used for hunting and war and then converted into game and match items; the archery completes the transition from traditional military skills to modern leisure mass sports. With the development of science and technology, traditional manual arrow shooting is gradually replaced by robot projection 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; store up the arrow device install in on the base, store up the arrow device and be used for storing the arrow body and provide the arrow body for projection arrangement.

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 tube, 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; the arrow-throwing robot is complex in arrow body installation operation.

Disclosure of Invention

The invention provides a feeding method, which is simple in arrow support loading method and can clamp arrow supports in different directions.

In order to achieve the purpose, the technical scheme of the invention is as follows: the arrow support comprises an arrow head, an arrow rod and an arrow tail, the arrow rod is connected with the arrow tail, the size of the cross section of the arrow head is larger than that of the cross section of the arrow rod, the archery robot comprises a support body, two throwing devices and two filling devices are arranged on the support body, the throwing devices are arranged at one end of the support body, the filling devices are arranged at the other end of the support body, and the throwing devices are arranged above the filling devices.

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; 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 cartridge filling clamping device is used for clamping the arrow to be launched, and the cartridge filling rotating device is used for driving the cartridge filling clamping device to rotate.

The feeding method comprises the following steps:

(1) the two cartridge filling clamping devices respectively clamp the arrow support and clamp one end of the arrow rod close to the arrow tail.

(2) 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; 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 are separated.

(3) 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.

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

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

(6) 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.

(7) If the two throwing-out devices need to continuously project the same projection target, performing (8); if both projection devices are required to project the same projection target at the same time, (10) is performed.

(8) A throwing-out driving device drives a throwing-out swinging support to swing towards a direction far away from the throwing-out bearing support, and a first bearing piece pushes the arrow to be thrown out; then, (9) is performed.

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

(10) The two throwing-out driving devices simultaneously drive the corresponding throwing-out swinging support to swing towards the direction far away from the throwing-out bearing support, and the two first bearing pieces simultaneously push the arrow to be thrown out.

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 can be thrown out only when the arrow direction of the arrow 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 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; and then the throwing swing bracket swings to throw out the arrow.

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 filling clamping hand is prolonged, and an 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.

Drawings

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

Fig. 2 is a schematic perspective view of a shooting device in an archery robot embodying the present invention.

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

Fig. 4 is an exploded view of a throwing device in an archery robot embodying the present invention, with a throwing-out rotary drive gear, a throwing-out rotary belt, and a throwing-out rotary motor removed.

Fig. 5 is a schematic perspective view of a filling device in an archery robot for implementing the present invention.

Fig. 6 is an exploded view of a charging device in an archery robot embodying the present invention.

Fig. 7 is an exploded view of the cartridge loading holding device and the cartridge loading rotary driven gear in the archery robot according to the present invention.

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

Fig. 9 is a schematic view showing the opening of the cartridge loading and holding device in the archery robot for realizing the present invention.

Fig. 10 is a schematic view of the clamping of the cartridge loading and gripping device in an archery robot embodying the present invention.

FIG. 11 is a schematic view of an archery robot embodying the present invention in cooperation with a stack holding arches.

Fig. 12 is a schematic diagram of a cartridge loading and clamping device in an archery robot for realizing the invention to clamp an arrow.

Fig. 13 is a schematic view of an archery robot after the projectile filling and holding device rotates to implement the present invention.

Fig. 14 is a schematic diagram of the projectile filling clamping device swinging towards the projection bearing cavity in the archery robot for realizing the invention.

Figure 15 is a schematic view of an arrow placed in a launch support chamber.

Fig. 16 is a front view of an arrow rest placed on a stack.

FIG. 17 is a schematic diagram of the movement of a projectile-picking traverse support of an archery robot implementing the present invention.

FIG. 18 is a flow chart of the present invention.

Detailed Description

The invention is described in further detail below with reference to the drawings and the detailed description.

As shown in fig. 1-17; a feeding method comprises the steps of feeding through an archery robot and throwing out arrow branches. The archery robot comprises a frame body 1, wherein two throwing-out devices 3 and two bullet filling devices 4 are arranged on the frame body 1, the bullet filling devices are arranged at one end of the frame body, the throwing-out devices are arranged at the other end of the frame body, and the throwing-out devices 3 are arranged above the bullet filling devices 4. In the present embodiment, 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 ejection drive device 32 is connected to the ejection swing bracket 33 and drives one end of the ejection swing bracket 33 to move closer to or away from the ejection receiving bracket 34. 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 wide.

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.

The ejection swing support 33 includes a first bearing member 331, and the ejection bearing support 34 includes a second bearing 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; 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. 15 and 16, 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 cavity 36 is matched with the arrow shaft 52, the top end of the throw-out bearing cavity 36 limits the arrow 5, and the arrow 5 is prevented from being separated from the throw-out bearing cavity 36 under the action of gravity.

The filling device 4 comprises 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 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 and clamping device 44 is connected with the filling and rotating device 43, the filling and rotating device 43 is used for driving the filling and clamping device 44 to rotate, when the filling and clamping device 44 can clamp arrow supports 5 with different arrow orientations, the filling and rotating device 43 drives the filling and clamping device 44 to rotate, so that the arrow orientations of the arrow supports 5 can be adjusted, 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 magazine rotating device 43 drives the cartridge magazine clamping device 44, so that the clamping direction of the cartridge magazine clamping device 44 can be changed, the clamping direction of the cartridge magazine clamping device 44 is kept perpendicular to the arrow supports 5, and the cartridge magazine clamping device 44 can clamp the arrow supports 5 with different placing angles.

As shown with reference to fig. 11 and 16; in the implementation, the arrow support 5 is placed on the material frame; the arrow 5 is generally arranged in a downward direction with an arrow, and the arrow 5 is obliquely arranged on the rack in order to avoid the arrow 5 from falling down sideways.

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 transmission has high reliability.

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.

A first filling swing plate 421 is arranged at one end of the filling swing bracket 42, and a second filling swing plate 422 is arranged 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.

The refill rotating device 43 includes a refill rotating motor 431, a refill rotating drive gear 432, and 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 arranged on the filling through hole 4331 in a penetrating way 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.

Two groups of fastening assemblies 442 are provided, and the two fastening assemblies 442 are arranged 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 filling swing plate 421; the second fastening piece 4422 is connected to the first fastening part 4423, and the second fastening piece 4422 fixes the first cartridge-rotating bearing 451 between the second fastening part 4424 and the second fastening piece 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.

The stuff clip hand 443 includes two stuff clips 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.

In this embodiment, the first supporting member 331 is provided with a supporting portion 332, 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 5 and support the arrow 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.

The projection device further comprises a moving device 2, and the moving device 2 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 means comprise three sets of moving wheels 21, each set of moving wheels 21 being driven by a separate motor.

As shown in fig. 18; the feeding method comprises the following steps:

(1) two cartridge-loading holders 44, which hold the respective arrow shaft at the end of the arrow shaft near the arrow tail

(2) The cartridge filling rotating device drives the cartridge filling clamping device 44 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; 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 are separated.

(3) 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.

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

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

(6) 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 swinging bracket and the casting bearing bracket are driven to rotate to the right; 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.

(7) If the two throwing-out devices need to continuously project the same projection target, performing (8); if both projection devices are required to project the same projection target at the same time, (10) is performed.

(8) A throwing-out driving device drives a throwing-out swinging support to swing towards a direction far away from the throwing-out bearing support, and a first bearing piece pushes the arrow to be thrown out; then, (9) is performed.

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

(10) The two throwing-out driving devices simultaneously drive the corresponding throwing-out swinging support to swing in the direction away from the throwing-out bearing support, and the two first bearing pieces simultaneously push the arrow to throw out.

According to the method, the arrow is clamped by the cartridge filling clamping device, and the arrow can be thrown out only when the arrow direction of the arrow 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; firstly, driving the cartridge filling clamping device to rotate, so that the direction of an arrow supporting arrow is consistent with the throwing direction of the throwing bearing cavity; like this when the arrow props up and first bearing piece contact, the arrow pole is located throws out the top that the bearing holds the chamber, owing to throw out bearing and hold the chamber during slope setting, loosen the centre gripping back that props up the arrow, the arrow props up can naturally the landing and hold the chamber to throw out the bearing, throws out the bearing simultaneously and holds the chamber and can carry on spacingly to the arrow head, realizes like this that the arrow props up the thorax, and the method that the arrow propped up the thorax is simple.

Meanwhile, due to the fact that the space between the two filling and clamping devices is limited, 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 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.

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

(1) in, fill 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 cylinder drives the filling clip hand to clip the arrow rod supported by the arrow in the clip area. And when the clamping sensor detects an arrow, the hand of the cartridge filling clamp is controlled to clamp, and the control method is simple.

(2) In, fill out bullet rotary device drive and fill out the rotation of bullet clamping device, specifically do: 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. It is unanimous with the throw-out direction that throws out bearing appearance chamber to fill out cartridge magazine clamping device drives the arrow and supports the rotation and make arrow support arrow's orientation, specifically is: in this embodiment, the arrow is placed in a direction of arrow downward, and after the filling clip holding device holds the arrow, the filling rotating device drives the filling clip holding device to rotate 180 °. In this embodiment, the two filling clip devices rotate in opposite directions, and when the two filling clip devices rotate, the arrow tails supported by the two arrows approach and then separate. Referring to fig. 17, 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.

(5) In, judge whether throw the direction unanimity that throws the target and throw out bearing and hold the chamber, specifically do: and artificially observing whether the projection direction of the projection target is consistent with that of the projection bearing cavity.

Claims (4)

1. The utility model provides a material loading method, through archery robot material loading and throw out arrow and prop up, arrow and prop up including arrow head, arrow shaft and arrow tail, 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 two on the support body and throws out device and two filling device, its characterized in that: the throwing device is arranged at one end of the frame body, the bullet filling device is arranged at the other end of the frame body, and the throwing device is arranged above the bullet filling 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; 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 feeding method comprises the following steps:

(1) the two cartridge filling clamping devices respectively clamp the arrow support and clamp one end of the arrow rod close to the arrow tail;

(2) 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; 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 are separated;

(3) 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;

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

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

(6) 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;

(7) if the two throwing-out devices need to continuously project the same projection target, performing (8); if the two projection devices need to project the same projection target at the same time, performing (10);

(8) a throwing-out driving device drives a throwing-out swinging support to swing towards a direction far away from the throwing-out bearing support, and a first bearing piece pushes the arrow to be thrown out; then carrying out (9);

(9) the other throw-out driving device drives the other throw-out swinging support to swing in the direction far away from the throw-out supporting support, and the other first supporting piece pushes the arrow to throw out;

(10) the two throwing-out driving devices simultaneously drive the corresponding throwing-out swinging support to swing in the direction away from the throwing-out bearing support, and the two first bearing pieces simultaneously push the arrow to throw out.

2. A loading method according to claim 1, characterised in that: 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.

3. A loading method according to claim 2, characterized in that: (2) in, fill a bullet 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 loading method according to claim 1, characterised in that: (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.

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