CN115096131A - Projection device - Google Patents

Abstract

The invention provides a projection device, which comprises a frame body, wherein a taking and throwing device and a bullet filling device are arranged on the frame body, and a throwing bearing accommodating cavity is arranged on the throwing device; the cartridge filling device comprises a cartridge filling clamping device, the throwing-out bearing cavity is used for bearing the arrow support, the cartridge filling clamping device is used for clamping the arrow support, the cartridge filling clamping device places the clamped arrow support on the throwing-out bearing cavity, and the throwing-out bearing cavity limits the arrow support; the arrow placed on the throwing-out bearing cavity is separated from the throwing-out bearing cavity without being influenced by gravity; the loading of the arrow support is realized; the operation of loading arrow branches is simple; when the cartridge filling clamping device places the clamped arrow into the throw-out bearing cavity and throws out the arrow; the arrow support loading operation is simple.

Description

Projection device

Technical Field

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

Background

Shooting arrows is firstly used for hunting and war and then is converted into game and competition 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, and the arrow body can be fixed on the guide tube; this throw arrow robot installation arrow body's complex operation, the arrow of this structure is supported and is required transversely to be placed in the support body then carry out the ejection of one branch simultaneously, and is inefficient, and can only carry out the centre gripping to a direction and eject.

Disclosure of Invention

The invention provides a projection device.A filling swing driving device drives a filling clamping device to place a clamped arrow on a throwing-out bearing cavity, and the throwing-out bearing cavity limits the arrow; the arrow support placed on the throw-out bearing cavity is separated from the throw-out bearing cavity without being influenced by gravity, so that loading of the arrow support is realized; the operation of loading arrow branches is simple. The first filling rotating bearing and the filling rotating driven gear are limited simultaneously through the fastening assembly; simple structure can realize carrying out the centre gripping to putting the arrow of different angle directions.

In order to achieve the purpose, the technical scheme of the invention is as follows: a projection device comprises a frame body, wherein more than one projection device and more than one bullet filling device are arranged on the frame body, the bullet filling devices are arranged at one end of the frame body, the projection devices are arranged at the other end of the frame body, and the projection devices are arranged above the bullet filling devices.

The throwing-out device comprises a throwing-out driving device, a throwing-out swinging bracket and a throwing-out bearing bracket; the casting-out bearing bracket is arranged on the frame body, and the casting-out swinging bracket is movably arranged on the casting-out bearing bracket; 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 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 are respectively provided with a casting bearing cavity which is obliquely arranged; the height of one end of the throwing bearing cavity close to the ammunition filling device is lower than that of one end of the throwing bearing cavity far away from the ammunition filling device; the throw-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.

A first filling swing plate body is arranged at one end of the filling swing bracket, and a second filling swing plate body is arranged at the other end of the filling swing bracket; the first filling swing plate body and the second filling swing plate body are arranged in parallel; a first swing open hole is formed in the first bullet filling swing plate body; a second swing open pore is arranged on the second filling swing plate body; the cartridge filling clamping device is rotatably connected with the first swing open hole through a first cartridge filling rotating bearing; the cartridge filling clamping device is rotatably connected with the second swing open hole through a second cartridge filling rotating bearing.

The filling rotating device comprises a filling rotating motor, a filling rotating driving gear and a filling rotating driven gear; the filling rotating motor is fixed on the filling swing support, and the output end of the filling rotating motor is connected with the filling rotating driving gear.

The cartridge filling clamping device comprises a cartridge filling clamping cylinder, a cartridge filling clamping hand and a fastening assembly; the filling clamping hand is connected with the filling clamping cylinder, and the filling clamping cylinder penetrates through the filling rotary driven gear and is fixedly connected with the filling rotary driven gear; the filling rotary driving gear is meshed with the filling rotary driven gear.

Two groups of fastening components are arranged, and the two fastening components are oppositely arranged; one group of fastening components is arranged on one side of the filling clamping cylinder, and the other group of fastening components is arranged on the other side of the filling clamping cylinder; each set of fastening assemblies includes a first fastener and a second fastener.

The first fastening piece comprises a first fastening part, the first fastening part is connected with the side face of the cartridge filling clamping cylinder, and the first cartridge filling rotating bearing is sleeved on the surfaces of the two first fastening parts and arranged in the first swinging opening; the top end of the first fastening part is provided with a second fastening part; the second fastening part is perpendicular to the first fastening part and extends out of the first swing opening; the second fastening part is lapped on the first filling swing plate body; the second fastening piece is connected with the first fastening part and fixes the first elastic filling rotating bearing between the second fastening part and the second fastening piece; the cartridge filling clamping cylinder penetrates through the cartridge filling rotary driven gear, and the cartridge filling rotary driven gear is connected with the bottom end of the first fastening portion.

According to the arrangement, the cartridge filling clamping device is used for clamping the arrow, and the throwing-out bearing cavity is used for bearing the arrow; the rocket launching device comprises a launching bearing cavity, a launching device, a swinging driving device, a swinging device and a swinging driving device, wherein the launching bearing cavity is arranged on the launching bearing cavity; the arrow placed on the throwing-out bearing cavity is separated from the throwing-out bearing cavity without being influenced by gravity; thus, the loading of the arrow support is realized; the operation of loading arrow branches is simple; the throw-out swinging support is driven by the throw-out driving device to be far away from the throw-out bearing support, and the first bearing piece drives the arrow support to be separated from the throw-out bearing cavity and throw out the arrow support.

Through filling out the bullet clamping device and being connected with filling out the bullet rotary device, filling out the bullet rotary device and being used for driving filling out the bullet clamping device rotatory, when filling out the bullet clamping device and can carrying out the centre gripping to the arrow of arrow orientation difference, it is rotatory through filling out the bullet rotary device drive filling out the bullet clamping device, the arrow orientation that the arrow was supported can be put forward like this for the orientation of the arrow that the arrow was supported is unanimous with the direction of throwing out that throws out the swing bracket, and then the arrow of placing on throwing out the bearing and holding the chamber is supported and can be thrown out. Meanwhile, the cartridge filling rotating device drives the cartridge filling clamping device, so that the clamping direction of the cartridge filling clamping device can be changed, the clamping direction of the cartridge filling clamping device is kept perpendicular to the arrow support, and the cartridge filling clamping device can clamp the arrow support with different placing angles.

The first filling swing bearing is clamped through the arrangement of the second fastening part and the second fastening piece, and the second fastening part is lapped on the first filling swing plate body, so that the first filling swing bearing is prevented from being separated from the first swing hole, and the reliability of the rotation of the filling clamping device on the filling swing support is high; meanwhile, the bottom of the first fastening part is also connected with the filling rotary driven gear; the driven gear and the clamping cylinder are fixed relatively. The first filling rotating bearing is limited in the first swing opening through the fastening assembly, and the filling rotating driven gear is fixed on the filling clamping device; the structure is simple.

Furthermore, the throwing-out device also comprises a throwing-out rotating device, and the throwing-out rotating device comprises a throwing-out rotating bearing, a throwing-out rotating driven gear, a throwing-out rotating driving gear, a throwing-out rotating belt and a throwing-out rotating motor.

The inner ring of the throwing-out rotary bearing and the throwing-out rotary motor are fixed on the frame body, the outer ring of the throwing-out rotary bearing is connected with one side of the throwing-out rotary driven gear, and the throwing-out rotary motor is connected with the throwing-out rotary driving gear; the throwing-out rotary leather sleeve is arranged on the throwing-out rotary driven gear and the throwing-out rotary driving gear; the casting supporting bracket is fixed on the other side of the casting rotary driven gear; the casting rotary motor drives the casting bearing cavity to rotate.

According to the arrangement, the casting-out bearing support is fixed on the casting-out rotating device, and the casting-out swinging support is arranged on the casting-out bearing support; the casting rotating device drives the casting swinging bracket and the casting supporting bracket to rotate simultaneously, so as to drive the casting supporting cavity to rotate, and thus the casting direction of the casting supporting cavity can be changed; the throwing-out range of the throwing-out device is large; meanwhile, the throwing-out device is rotated through the matching of the throwing-out rotary bearing, the throwing-out rotary driven gear, the throwing-out rotary driving gear, the throwing-out rotary belt and the throwing-out rotary motor, and the structure is simple.

Furthermore, the throwing-out rotating device also comprises an annular throwing-out rotating upper limiting plate and a throwing-out rotating lower limiting plate; one side of the throwing-out rotary driven gear is connected with the outer ring of the throwing-out rotary bearing through a throwing-out rotary lower limiting plate; the throwing-out bearing bracket is connected with the other side of the throwing-out rotary driven gear through a throwing-out rotary upper limiting plate; the peripheral edges of the throwing-out rotary upper limiting plate and the throwing-out rotary lower limiting plate are arranged to protrude outwards relative to the throwing-out rotary driven gear.

In the arrangement, the throwing-out rotary upper limit plate and the throwing-out rotary lower limit plate are arranged, and the peripheral edges of the throwing-out rotary upper limit plate and the throwing-out rotary lower limit plate are arranged to protrude outwards relative to the throwing-out rotary driven gear; the throwing-out rotary upper limiting plate and the throwing-out rotary lower limiting plate limit the throwing-out rotary belt, so that the throwing-out rotary belt cannot be separated from the throwing-out rotary driven teeth when rotating; thus, the reliability of the transmission is high.

Furthermore, a third fastening piece is arranged at the top of one of the second fastening parts, and a clamping sensor is arranged on the third fastening piece. The clamping sensor is used for detecting the arrow, and when the clamping sensor detects the arrow, the cartridge filling clamp is controlled to clamp tightly, so that control is facilitated.

Furthermore, the cartridge filling clamping hand 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 from the first clamping part, and a clamping area is formed between the second clamping part and the first clamping part; the clamping areas of adjacent filling clamping pieces are arranged in a stacked mode.

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

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 convex part, and the clamping of the arrow is further improved.

Furthermore, a bearing part is arranged on the first bearing piece and used for being attached to an arrow supported by the arrow and bearing the bearing part.

More than setting up, carrying out the bearing through the arrow that supporting portion supported the arrow, and then the arrow supports can be more stable place throw out the bearing and hold the chamber.

Furthermore, a moving device is arranged on the frame body and used for driving the frame body to move. The moving device drives the frame body to move, so that the frame body approaches to the projection target.

Drawings

Fig. 1 is a perspective view of the present invention.

Fig. 2 is a perspective view of the projection device of the present invention.

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

Fig. 4 is an exploded view of the casting apparatus of the present invention with the casting rotary drive gear, casting rotary belt, and casting rotary motor removed.

Fig. 5 is a perspective view of the bullet filling device of the present invention.

Fig. 6 is an exploded view of the charger of the present invention.

Fig. 7 is an exploded view of the cartridge loading retainer and the cartridge loading rotary driven gear of the present invention.

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

Fig. 9 is a schematic view of the cartridge loading fixture of the present invention shown open.

Fig. 10 is a schematic view of the clamping of the cartridge loading fixture of the present invention.

Fig. 11 is a schematic view of the present invention in cooperation with a stack holding arrows.

Fig. 12 is a schematic view of the cartridge loading and clamping device clamping an arrow.

Fig. 13 is a schematic view of the cartridge loading and clamping device of the present invention after rotation.

Figure 14 is a schematic view of the refill holding device swinging towards the projection support cavity in the present invention.

Figure 15 is a schematic view of an arrow placed in a shooting bearing cavity.

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

FIG. 17 is a schematic view of two of the present invention cartridge loading fixtures.

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; a projection device comprises a frame body 1, wherein more than one throwing device 3 and more than one bullet filling device 4 are arranged on the frame body 1, the bullet filling devices are arranged at one end of the frame body, the throwing devices are arranged at the other end of the frame body, and the throwing devices 3 are arranged above the bullet filling devices 4. In the present embodiment, two throwing devices 3 and two filling devices 4 are provided; one filling device 4 corresponds to one ejection device 3.

The casting device 3 includes a casting rotating device 31, a casting driving device 32, a casting swinging bracket 33 and a casting supporting bracket 34; the throwing-out rotating device 31 is installed on the frame body 1, the throwing-out bearing support 34 is installed on the throwing-out rotating device 31, and the throwing-out swinging support 33 is movably arranged on the throwing-out bearing support 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 large.

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

The delivery swing support 33 comprises a first support 331, and the delivery support 34 comprises a second support 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 shooting bearing cavity 36 is used for bearing the arrow 5, and the first bearing piece 331 is used for limiting the arrow 5. Referring to fig. 15 and 16, the arrow support 5 includes an arrow head 51, an arrow shaft 52, and an 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 that of 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 serves 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 and holding device 44 is used for holding an arrow body to be launched, and the filling and rotating device 43 is used for driving the filling and holding 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 throw-out bearing chamber 36 is not influenced by gravity and is separated from the throw-out bearing chamber 36; thus, the loading of the arrow support 5 is realized; the loading operation of the arrow 5 is simple; the projection swing frame 33 is driven by the projection drive device 32 to move away from the projection support frame 34, and the first support member 331 drives the arrow 5 to separate from the projection support chamber 36 and project 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 loading rotating device 43 drives the cartridge loading clamping device 44, so that the clamping direction of the cartridge loading clamping device 44 can be changed, the clamping direction of the cartridge loading clamping device 44 is kept perpendicular to the arrow support 5, and the cartridge loading clamping device 44 can clamp the arrow support 5 with different placing angles.

As 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 shooting rotation motor 315 rotates the shooting 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 casting support bracket 34 is connected to the other side of the casting rotation driven gear 312 via a casting rotation upper limit plate 316; the outer peripheral edges of the ejection rotation upper limit plate 316 and the ejection rotation lower limit plate 317 are both provided to protrude outward relative to the ejection rotation driven gear 312. A projection rotation upper limit plate 316 and a projection rotation lower limit plate 317, which are provided with peripheral edges projecting outward from the projection rotation driven gear 312; the throwing-out rotary upper limit plate 316 and the throwing-out rotary lower limit plate 317 limit the throwing-out rotary belt 314 so that the throwing-out rotary belt 314 does not disengage from the throwing-out rotary driven gear 312 when rotating; thus, the reliability of the transmission is high.

The ejection rotating device 31 further includes a tension structure; the tension structure is provided between the casting-out rotation driven gear 312 and the casting-out rotation 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 cartridge loading device 44 includes a cartridge loading cylinder 441, a cartridge loading gripper 443, and a fastening assembly 442. The filling clip cylinder 441 penetrates through the filling connection hole and is fixedly connected with the filling rotary 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 bullet filling swing plate 421; the second fastening member 4422 is connected to the first fastening portion 4423, and the second fastening member 4422 fixes the first ball-packing rotation bearing 451 between the second fastening portion 4424 and the second fastening member 4422. The cartridge clamping cylinder 441 penetrates through the cartridge connecting hole, and the cartridge rotating driven gear 433 is connected with the bottom end of the first fastening portion 4423.

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

The first filling rotating bearing 451 is clamped through the arrangement of the second fastening part 4424 and the second fastening part 4422, and the second fastening part 4424 is overlapped on the first filling swinging plate body 421, so that the first filling rotating bearing 451 is prevented from being separated from the first swinging opening 423, and the reliability of the rotation of the filling clamping device 44 on the filling swinging 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 stuff-feeding clamps 4431 is connected to one output terminal of the stuff-feeding clamping cylinder 441, and the other stuff-feeding clamp 4431 is connected to the other output terminal of the stuff-feeding clamping cylinder 441; each of the stuff clips 4431 includes two or more stuff clip portions 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 cassette clamping portion 4432 includes a first clamping portion 4433, an arc-shaped second clamping portion 4434 extends on the first clamping portion 4433, and a clamping area 4435 is formed between the second clamping portion 4434 and the first clamping portion 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 the present embodiment, the second clamping portion 4434 is extended with a convex portion 4436 away from one end clamping region 4435 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 rest 5 and support the arrow rest 5. The arrow 51 is pressed against the supporting part 332, and the arrow 51 of the arrow support 5 is supported by the supporting part 332, so that the arrow support 5 can be more stably placed in the projection supporting cavity 36.

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.

The working method of the projection device 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 filling rotating device drives the filling clamping device 44 to rotate, and the filling clamping device drives the arrow to rotate, so that the direction of the arrow is consistent 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 ejection holding 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 accommodating cavity. If the casting direction of the casting bearing cavity is deviated to the left relative to the casting target, the casting swing bracket and the casting bearing bracket are driven to rotate rightwards; if the casting direction of the casting bearing cavity is inclined to the right relative to the casting target, the casting swinging support and the casting bearing support are driven to rotate towards the sitting position.

(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,

(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 cartridge filling clamp is controlled to clamp, and the control method is simple.

(2) In, the bullet filling rotating device drives the bullet filling clamping device to rotate, and the bullet filling rotating device specifically comprises: 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 (8)

1. The utility model provides a projection device, includes the support body, is equipped with more than one throw-out device and more than one filling out bullet device on the support body, its characterized in that: the bullet filling device is arranged at one end of the frame body, the throwing 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 driving device, a throwing-out swinging bracket and a throwing-out bearing bracket; the casting-out bearing bracket is arranged on the frame body, and the casting-out swinging bracket is movably arranged on the casting-out bearing bracket; 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 swinging bracket comprises a first bearing piece, and the throwing-out bearing bracket 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 are respectively provided with a casting bearing cavity which is obliquely arranged; the height of one end of the throwing bearing cavity close to the ammunition filling device is lower than that of one end of the throwing bearing cavity far away from the ammunition filling device; 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;

a first filling swing plate body is arranged at one end of the filling swing bracket, and a second filling swing plate body is arranged at the other end of the filling swing bracket; the first filling swing plate body and the second filling swing plate body are arranged in parallel; a first swing open hole is formed in the first bullet filling swing plate body; a second swing open hole is formed in the second bullet filling swing plate body; the cartridge filling clamping device is rotatably connected with the first swing open hole through a first cartridge filling rotating bearing; the cartridge filling clamping device is rotatably connected with the second swing open hole through a second cartridge filling rotating bearing;

the filling rotating device comprises a filling rotating motor, a filling rotating driving gear and a filling rotating driven gear; the filling rotating motor is fixed on the filling swing bracket, and the output end of the filling rotating motor is connected with the filling rotating driving gear;

the cartridge filling clamping device comprises a cartridge filling clamping cylinder, a cartridge filling clamping hand and a fastening assembly; the cartridge filling clamping hand is connected with the cartridge filling clamping cylinder, and the cartridge filling clamping cylinder penetrates through the cartridge filling rotary driven gear and is fixedly connected with the cartridge filling rotary driven gear; the filling rotation driving gear is meshed with the filling rotation driven gear;

the two groups of fastening components are arranged, and the two fastening components are arranged oppositely; one group of fastening components is arranged on one side of the cartridge filling clamping cylinder, and the other group of fastening components is arranged on the other side of the cartridge filling clamping cylinder; each group of fastening components comprises a first fastening piece and a second fastening piece;

the first fastening piece comprises a first fastening part, the first fastening part is connected with the side face of the cartridge filling clamping cylinder, and the first cartridge filling rotating bearing is sleeved on the surfaces of the two first fastening parts and arranged in the first swinging opening; the top end of the first fastening part is provided with a second fastening part; the second fastening part is perpendicular to the first fastening part and extends out of the first swing opening; the second fastening part is lapped on the first filling swing plate body; the second fastening piece is connected with the first fastening part and fixes the first elastic filling rotating bearing between the second fastening part and the second fastening piece; the cartridge filling clamping cylinder penetrates through the cartridge filling rotary driven gear, and the cartridge filling rotary driven gear is connected with the bottom end of the first fastening portion.

2. A projection device as claimed in claim 1, wherein: the throwing-out device also comprises a throwing-out rotating device, and the throwing-out rotating device comprises a throwing-out rotating bearing, a throwing-out rotating driven gear, a throwing-out rotating driving gear, a throwing-out rotating belt and a throwing-out rotating motor;

the inner ring of the throwing-out rotary bearing and the throwing-out rotary motor are fixed on the frame body, the outer ring of the throwing-out rotary bearing is connected with one side of the throwing-out rotary driven gear, and the throwing-out rotary motor is connected with the throwing-out rotary driving gear; the throwing-out rotary leather sleeve is arranged on the throwing-out rotary driven gear and the throwing-out rotary driving gear; the casting supporting bracket is fixed on the other side of the casting rotary driven gear; the throwing-out rotary motor drives the throwing-out bearing accommodating cavity to rotate.

3. A projection device as claimed in claim 2, wherein: the throwing-out rotating device also comprises an annular throwing-out rotating upper limiting plate and a throwing-out rotating lower limiting plate; one side of the throwing-out rotary driven gear is connected with an outer ring of the throwing-out rotary bearing through a throwing-out rotary lower limiting plate; the throwing-out bearing bracket is connected with the other side of the throwing-out rotary driven gear through a throwing-out rotary upper limiting plate; the peripheral edges of the throwing-out rotary upper limiting plate and the throwing-out rotary lower limiting plate are arranged to protrude outwards relative to the throwing-out rotary driven gear.

4. A projection device according to claim 1, wherein: and a third fastening piece is arranged at the top of one second fastening part, and a clamping sensor is arranged on the third fastening piece.

5. A projection device as claimed in claim 1, wherein: the cartridge filling gripper comprises two cartridge filling clamping pieces; one filling clamping piece is connected with one output end of the filling clamping cylinder, and the other filling clamping piece is connected with the other output end of the filling clamping cylinder; the filling clamping piece comprises more than two filling clamping parts; the cartridge filling clamping part connected with one output end of the cartridge filling clamping cylinder and the cartridge filling clamping part connected with the other output end of the cartridge filling clamping cylinder are alternately arranged;

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.

6. A projection device according to claim 5, wherein: a protruding part extends from the clamping area at one end of the second clamping part far away from the first clamping part.

7. A projection device according to claim 1, wherein: and the first bearing piece is provided with a bearing part, and the bearing part is used for being attached to an arrow supported by the arrow and bearing the bearing part.

8. A projection device as claimed in claim 1, wherein: the frame body is provided with a moving device, and the moving device is used for driving the frame body to move.

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