CN115054905A - Bullet taking device - Google Patents

Abstract

The invention provides a bullet taking device which comprises a bullet taking transverse moving device, wherein more than one bullet taking clamping device is arranged on the bullet taking transverse moving device, and the bullet taking transverse moving device drives the bullet taking clamping devices to move in a reciprocating manner; 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 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.

Description

Bullet taking device

Technical Field

The invention relates to the technical field of robots, in particular to a bullet taking device.

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; 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, as the inner wall of the arrow body is in threaded fit with the outer wall of the guide pipe, the opposite arrow body needs to be aligned with the guide pipe when the arrow body is installed; 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 has the advantages that the operation of installing the arrow body is complex, the loading of the arrow support with the structure is manually put in advance, and therefore the efficiency is low.

Disclosure of Invention

The invention provides a bullet taking device, wherein a bullet taking transverse moving support moves on the basis of the movement of the transverse moving support, and the bullet taking clamp device is wide in moving range and convenient to provide arrow support for an archery robot.

In order to achieve the purpose, the technical scheme of the invention is as follows: a bullet taking device comprises a bullet taking bracket, a bullet taking transverse moving device, a bullet taking transverse moving bracket and more than one bullet taking clamping device; the horizontal height of one side of the bullet taking bracket is higher than that of the other side of the bullet taking bracket; the bullet taking transverse moving device is arranged on the bullet taking bracket; the output end of the bullet taking traversing device is connected with the bullet taking traversing bracket, and more than one bullet taking clamping device is arranged on the bullet taking traversing bracket.

The bullet taking transverse moving device drives the bullet taking clamping device to move in a reciprocating mode; 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 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 driving wheel; the transverse belt is sleeved on the first transverse transmission wheel and the second transverse 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 and is fixedly connected with the bullet taking transverse moving support; the second transverse moving clamping device is clamped on a 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 and is fixedly connected with the transverse moving lower plate body.

According to the arrangement, the bullet taking device provides arrow support for the archery robot, the arrow support is generally placed in a downward direction in the arrow direction, and meanwhile, in order to prevent the arrow support from falling down in a side-tipping manner, the arrow support can be obliquely erected on the material rack; the bullet taking support is also obliquely arranged by arranging the obliquely arranged bullet taking support plate, and the bullet taking clamping device arranged on the bullet taking support is also obliquely arranged; the cooperation effect between the obliquely arranged bullet taking clamping device and the obliquely arranged arrow support is good.

A bullet taking transverse moving device is arranged; 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 approaching 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.

Furthermore, the cartridge taking and clamping device comprises a cartridge taking and clamping cylinder and a cartridge filling and clamping hand; the cartridge taking clamp hand is connected with the cartridge taking clamp cylinder.

The cartridge taking clamp comprises two cartridge filling clamping pieces; one bullet taking clamping piece is connected with one output end of the bullet taking clamping cylinder, and the other bullet taking clamping piece is connected with the other output end of the bullet taking clamping cylinder; the cartridge taking clamping piece comprises more than two cartridge taking clamping parts; the bullet taking clamping part connected with one output end of the bullet taking clamping cylinder and the bullet taking clamping part connected with the other output end of the bullet taking clamping cylinder are alternately arranged.

The cartridge taking 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 bullet taking clamping cylinder drives the bullet taking 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 bullet taking clamping hand is prolonged, and an arrow can be better clamped; meanwhile, the cartridge taking clamping parts connected with the two output ends of the cartridge taking clamping cylinder are alternately arranged, the cartridge taking clamping part at one output end of the cartridge taking clamping cylinder swings in one direction, and the cartridge taking clamping part at the other output end of the cartridge taking clamping cylinder swings in the opposite direction of the opposite cartridge taking clamping part, so that the clamping effect on the arrow support is good.

Furthermore, a protruding part extends from a clamping area at one end of the second clamping part, which is far away from the first clamping part.

Through the arrangement, the space of the clamping area is reduced through the bulge part, and the clamping of the arrow is further improved.

Furthermore, a clamping sensor is arranged on the cartridge taking clamping cylinder.

Further, the transverse moving bracket comprises a transverse moving bracket I, a transverse moving bracket II and a transverse moving bracket III; the first transverse moving support is arranged on one side of the third transverse moving support, and the second transverse moving support is arranged on the other side of the third transverse moving support; the first transverse moving transmission wheel is arranged at one end of the transverse moving support III, the transverse moving driving motor is fixed on the transverse moving support I, and the output end of the transverse moving driving motor penetrates through the transverse moving support I, the first transverse moving transmission wheel and the transverse moving support II to be rotatably connected.

The second transverse moving transmission wheel is arranged at the other end of the transverse moving bracket III; one end of the second traverse bracket far away from the traverse driving motor is provided with a positioning pin; the positioning pin passes through the second transverse moving support and the second transverse moving transmission wheel to be rotatably connected with the first transverse moving support.

Furthermore, the bullet taking transverse moving bracket is arranged on the transverse moving bracket III in a sliding manner through a first transverse moving sliding piece; the first transverse moving support and the second transverse moving support are arranged on the transverse moving lower plate body in a sliding mode through the second transverse moving sliding piece. The ammunition taking transverse moving support slides on the transverse moving support through the first transverse moving sliding piece; and the sliding of the transverse moving bracket on the transverse moving lower plate body is realized through a second transverse moving sliding piece.

Further, the first traverse sliding piece comprises a first traverse slide rail and a first traverse slide block; the first transverse sliding rail is arranged at the top end of the third transverse sliding support, and the first transverse sliding block is arranged on the first transverse sliding rail in a sliding mode and is fixedly connected with the bullet taking transverse sliding support. The second transverse sliding piece comprises two second transverse sliding rails and four second transverse sliding blocks; a second transverse sliding rail is arranged on one side of the transverse lower plate body; the other second transverse sliding rail is arranged on the other side of the transverse lower plate body. The two second transverse sliding blocks are arranged on a second transverse sliding rail in a sliding manner and are fixedly connected with the transverse moving support I; the two second transverse sliding blocks are arranged on the other second transverse sliding rail in a sliding mode and are fixedly connected with the transverse bracket II.

Drawings

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

Fig. 2 is a perspective view of a projectile charging device using the archery robot of the present invention.

Fig. 3 is an exploded view of a charger device using the archery robot of the present invention.

Fig. 4 is a perspective view of the bullet taking device in the invention.

Fig. 5 is an exploded view of the bullet taking device in the invention.

FIG. 6 is an exploded view of the traverse device of the present invention.

Fig. 7 is a perspective view of the bullet-taking clamping device of the present invention.

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

Fig. 9 is a schematic view of the bullet taking and clamping device in the invention.

Fig. 10 is a schematic view of the cartridge taking and clamping device of the present invention.

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

FIG. 12 is a schematic view of the cartridge loading device holding an arrow.

Fig. 13 is a schematic view of the magazine clamp after rotation.

Fig. 14 is a schematic view of the movement of the fill clip device towards the projection device.

FIG. 15 is a schematic view of an arrow placed in a shooting device.

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

Fig. 17 is a schematic view showing the movement of the traverse carriage in 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. 1-17; the utility model provides a get bullet device, installs and uses on archery robot, archery robot still includes support body 1, is equipped with more than one on support body 1 and throws out device 3 and more than one filling device 4. The bullet taking device 2 is used for providing arrow supports 5 for the bullet filling device 4; the filling device 4 is used for providing arrow support for the shooting device 3 and reducing the value. The projection device 3 is used for projecting arrow.

The charger 4 is disposed between the ejector 3 and the ejector 2 in the ejection direction of the ejector 3.

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 connected to arrow head 51 and arrow tail 53, respectively.

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; more than one cartridge clamping device 44 is provided; the cartridge holder 44 is used for holding the arrow support 5. The filling swing driving device 41 drives the filling swing bracket 42 to swing between the throwing device 3 and the filling device 2; the filling rotating device 43 is arranged on the filling swinging bracket 42 and is used for driving the filling clamping device 44 to rotate; the cartridge holder 44 is used for holding an arrow. In this embodiment, the filling swing driving device 41 is a steering engine, the filling clamping device 44 includes a filling clamping cylinder 441 and a filling clamping hand 442, and the filling rotating device 43 includes a filling rotating motor 431, a filling rotating driving gear 432 and a filling rotating driven gear 433; the bullet filling rotation driven gear 433 is provided with a bullet filling penetration hole (not shown).

The cartridge filling clamping cylinder 441 passes through the cartridge filling through hole and is rotatably arranged on the cartridge filling swing bracket 42, and the cartridge filling rotary driving gear 432 is fixedly connected with the wall surface of the cartridge filling clamping cylinder 441; the filling rotating motor 431 is arranged on the filling swing bracket 42, the output end of the filling rotating motor 431 is connected with a filling rotating driving gear 432, and the filling rotating driving gear 432 is meshed with a filling rotating driven gear 433.

And a swinging filling clamping device 44 is arranged to realize the swinging of the filling clamping device between the bullet taking device and the shooting device, and the filling clamping device clamps the arrow support on the bullet taking device to approach the shooting device and provide the arrow support for the shooting device.

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 holders 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 arrow support 5 is 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 transverse moving device 21 is arranged on the bullet taking bracket 24.

As shown with reference to fig. 11 and 16; 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 obliquely arranged bullet taking support plate, the bullet taking support 24 is also obliquely arranged, and the bullet taking clamping device 23 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.

The cartridge taking and clamping device 23 comprises a cartridge taking and clamping cylinder 231 and a cartridge taking and clamping hand 232; the cartridge taking clamp 232 comprises two cartridge taking clamps 2321; one bullet taking clamping piece 2321 is connected with one output end of the bullet taking clamping cylinder 231, and the other bullet taking clamping piece 2321 is connected with the other output end of the bullet taking clamping cylinder 231; each bullet picking holder 2321 comprises more than two bullet picking holders 2322; the bullet catching holding part 2322 connected to one output end of the bullet catching holding cylinder 231 and the bullet catching holding part 2322 connected to the other output end of the bullet catching holding cylinder 231 are alternately arranged.

The bullet picking clamping part 2322 comprises a first clamping part 2323, an arc-shaped second clamping part 2324 extends from the first clamping part 2323, and a clamping area 2325 is formed between the second clamping part 2324 and the first clamping part 2323; the clamping areas 2325 of adjacent projectile clamping portions 2322 are arranged in a stacked manner.

The bullet taking clamping cylinder 231 drives the bullet filling clamping hand 232 to clamp or open, so that the arrow 5 is clamped or dismounted; the adjacent clamping areas 2325 are arranged in a stacked mode, so that the clamping length of the bullet picking clamping hand 232 is prolonged, and the arrow 5 can be better clamped; meanwhile, the cartridge taking clamping parts 2322 connected with the two output ends of the cartridge taking clamping cylinder 231 are alternately arranged, the cartridge taking clamping part 2322 at one output end of the cartridge taking clamping cylinder 231 swings in one direction, and the cartridge taking clamping part 2322 at the other output end of the cartridge taking clamping cylinder 231 swings in the opposite direction of the opposite cartridge taking clamping part 2322, so that the clamping effect on the arrow support 5 is good.

In this embodiment, the second clamping portion 2324 extends a protruding portion 2326 away from the one end clamping region 2325 of the first clamping portion 2323. The space of the clamping area 2325 is reduced by the projection 2326, so that the clamping of the arrow 5 is further improved. In this embodiment, the cartridge loading holding cylinder is the same structure as the cartridge loading holding cylinder 231; the structure of the cartridge filling clamping hand is the same as that of the cartridge taking clamping hand 232; the cartridge taking clamping cylinder is provided with a clamping sensor 46, and the clamping sensor 46 is used for detecting arrow support. When the clamping sensor 46 on the cartridge taking clamping cylinder detects an arrow, the cartridge taking clamp hand clamps the arrow. A clamping sensor is also arranged on the cartridge filling clamping cylinder; when the clamping sensor on the cartridge filling clamping cylinder detects an arrow, the cartridge filling clamping hand clamps the arrow.

In the present embodiment, the bullet fetching traverse device 21 includes a traverse bracket 211, a traverse lower plate body 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 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.

The traverse bracket 211 comprises 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; a traversing belt 2134 is sleeved on the first traversing transmission wheel 2132, the traversing bracket III 2113 and the second traversing 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 bullet 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 approaches the first traverse driving wheel 2132, and the traverse bracket 211 is driven to move towards the direction approaching 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 movement range of the ejection moving bracket 22 is wide.

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 working method of the bullet taking device comprises the following steps:

(1) the transverse moving clamping devices are driven by the transverse moving driving motor to synchronously move towards the first transverse moving conveying wheel and the transverse moving support towards the first transverse moving conveying wheel, and more than one bullet taking clamping devices and more than one bullet filling clamping devices are alternately arranged.

(2) The cartridge taking and clamping device clamps an arrow support and clamps one end of the arrow rod close to the arrow head.

(3) 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 the position of the bullet filling clamping device.

(4) When the cartridge filling clamping device clamps the arrow support on the corresponding 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; the cartridge filling clamping device rotates to the position close to the throwing-out device and provides arrow support for the throwing-out device.

(5) And after the filling clip device provides arrow support for the throwing device, the transverse driving motor drives the transverse clamping device to move towards the second transverse conveying wheel and the transverse support to move towards the second transverse conveying wheel synchronously, so that the other filling clip device which clips the arrow support corresponds to the filling clip device in position.

(6) Repeating the steps (4) and (5) until all the arrow supports on the bullet taking device are supplied to the filling clip device.

According to the method, before the cartridge taking and clamping device clamps an arrow, the cartridge taking and transverse moving bracket moves, so that the cartridge taking and clamping device and the cartridge filling and clamping device are alternately arranged; the interference of the cartridge filling clamping device with the cartridge taking clamping device is avoided.

When the transverse movement driving motor rotates, the first transverse movement clamping device moves towards one direction, and the first transverse movement clamping device can drive the bullet taking clamping device on the bullet taking transverse movement bracket to move; meanwhile, the second transverse moving clamping device can drive the plate body to move in the direction opposite to the moving direction of the first transverse moving clamping device under the transverse moving, but the plate body is fixedly arranged under the transverse moving, under the action of the second transverse moving clamping device, the transverse moving driving motor can drive the transverse moving support to move on the plate body under the transverse moving, and meanwhile, the first transverse moving clamping device and the second transverse moving clamping device move synchronously, so that the elastic transverse moving support slides on the transverse moving support and the transverse moving support slides synchronously on the plate body under the transverse moving. Therefore, the movement range of the bullet taking and clamping device is wide, and the movement speed is high.

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; because get the bullet clamping device and set up in filling the bullet clamping device below, through getting the bullet clamping device and carry out the centre gripping to the one end that the arrow shaft is close to the arrow point, then through filling the bullet clamping device and carry out the centre gripping to the one end that the arrow shaft is close to the arrow tail again, like this when filling the bullet clamping device and rotate the back, the arrow supports and can matches with the device of jettisoninging out.

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

(1) the method specifically comprises the following steps: the transverse moving driving device drives the bullet taking transverse moving support and the transverse moving support to 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, and alternately arranging the other cartridge taking clamping device, the cartridge filling clamping device and the other cartridge taking clamping device; thus, the phenomenon that the cartridge filling clamping device interferes with the cartridge taking clamping device to clamp the arrow is avoided.

(2) In, get a bullet clamping device centre gripping arrow and prop, specifically do: the cartridge taking clamping cylinder drives the cartridge taking clamp to open, when the clamping sensor detects that an arrow is supported, the cartridge taking clamping cylinder drives the cartridge taking clamp 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.

In another embodiment, two cartridge clamping devices are provided; the distance between the two filling clamping devices is opposite to the distance between the two taking clamping devices. When two cartridge filling clamping devices are arranged, the following steps (3) are performed: if all the bullet taking clamping devices clamp the arrow, performing (3.1); if the arrow of the two-taking-and-ejecting clamping device is clamped, the process is carried out (3.2).

And (3.1) driving the traversing clamping device to synchronously move towards the second traversing transmission wheel and the traversing bracket towards the second traversing transmission wheel by the traversing driving motor, 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 (3.2) driving the transverse moving clamping device to synchronously move towards the second transverse moving conveying wheel and the transverse moving support towards the second transverse moving conveying wheel by the transverse moving driving motor, 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 (7)

1. The utility model provides a get bullet device which characterized in that: comprises a bullet taking bracket, a bullet taking transverse moving device, a bullet taking transverse moving bracket and more than one bullet taking clamping device; the horizontal height of one side of the bullet taking bracket is higher than that of the other side of the bullet taking bracket; the bullet taking transverse moving device is arranged on the bullet taking bracket; the output end of the bullet taking traversing device is connected with the bullet taking traversing bracket, and more than one bullet taking clamping device is arranged on the bullet taking traversing bracket;

the bullet taking transverse moving device drives the bullet taking clamping device to move in a reciprocating mode; 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 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 belt is sleeved on the first transverse transmission wheel and the second transverse 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 and is fixedly connected with the bullet taking transverse moving support; the second transverse moving clamping device is clamped on a 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 and is fixedly connected with the transverse moving lower plate body.

2. The bullet collecting device according to claim 1, wherein: the cartridge taking clamping device comprises a cartridge taking clamping cylinder and a cartridge filling clamping hand; the cartridge taking clamp hand is connected with the cartridge taking clamping cylinder;

the cartridge taking clamp comprises two cartridge filling clamping pieces; one bullet taking clamping piece is connected with one output end of the bullet taking clamping cylinder, and the other bullet taking clamping piece is connected with the other output end of the bullet taking clamping cylinder; the cartridge taking clamping piece comprises more than two cartridge taking clamping parts; the cartridge taking clamping part connected with one output end of the cartridge taking clamping cylinder and the cartridge taking clamping part connected with the other output end of the cartridge taking clamping cylinder are alternately arranged;

the cartridge taking 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. The bullet collecting device according to claim 2, wherein: a protruding part extends from the clamping area at one end of the second clamping part far away from the first clamping part.

4. The bullet collecting device according to claim 2, wherein: and a clamping sensor is arranged on the cartridge taking clamping cylinder.

5. The bullet collecting device according to claim 1, wherein: the transverse moving bracket comprises a transverse moving bracket I, a transverse moving bracket II and a transverse moving bracket III; the first transverse moving support is arranged on one side of the third transverse moving support, and the second transverse moving support is arranged on the other side of the third transverse moving support; the first transverse moving transmission wheel is arranged at one end of the transverse moving support III, the transverse moving driving motor is fixed on the transverse moving support I, and the output end of the transverse moving driving motor penetrates through the transverse moving support I and the first transverse moving transmission wheel to be rotatably connected with the transverse moving support II;

the second transverse transmission wheel is arranged at the other end of the transverse support III; one end of the second traverse bracket far away from the traverse driving motor is provided with a positioning pin; the positioning pin passes through the second transverse moving support and the second transverse moving transmission wheel to be rotatably connected with the first transverse moving support.

6. The bullet collecting device according to claim 5, wherein: the bullet taking transverse moving bracket is arranged on the transverse moving bracket III in a sliding manner through a first transverse moving sliding piece; the first transverse moving support and the second transverse moving support are arranged on the transverse moving lower plate body in a sliding mode through the second transverse moving sliding piece.

7. The bullet collecting device according to claim 6, wherein: the first transverse sliding piece comprises a first transverse sliding rail and a first transverse sliding block; the first transverse sliding rail is arranged at the top end of the transverse bracket III, and the first transverse sliding block is arranged on the first transverse sliding rail in a sliding manner and is fixedly connected with the bullet taking transverse bracket; the second transverse sliding piece comprises two second transverse sliding rails and four second transverse sliding blocks; a second transverse sliding rail is arranged on one side of the transverse lower plate body; the other second transverse sliding rail is arranged on the other side of the transverse lower plate body;

the two second transverse sliding blocks are arranged on a second transverse sliding rail in a sliding manner and are fixedly connected with the transverse moving support I; the two second transverse sliding blocks are arranged on the other second transverse sliding rail in a sliding mode and are fixedly connected with the second transverse sliding support.

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