CN117413640B - Novel chain ammunition conveying device - Google Patents

Abstract

The invention discloses a novel chain type ammunition conveying device; the ammunition feeding device comprises a ammunition feeding machine, a medicine feeding machine and an ammunition feeding support arm, wherein the ammunition feeding machine and the medicine feeding machine are hinged on the ammunition feeding support arm through corresponding connecting shafts and are driven by the ammunition feeding support arm to work cooperatively; the bullet conveyer comprises a bullet conveyer frame body, a bullet driving mechanism and an encoder assembly, wherein the number of the chain boxes is two, the two chain boxes are fixedly connected to two ends of the shell, the number of the bearing end covers is also two, the two bearing end covers are fixedly connected to the top of the shell and positioned between the chain boxes and the shell, a bullet groove is fixedly connected to one side of the shell, a bullet pressing rod is arranged on the other side of the bullet groove, the bullet pressing rod is connected with a taper pin through a pin shaft, and the other end of the taper pin is fixedly connected to the bullet groove. The chain type ammunition conveying device has the advantages of compact structure, reliable action, reasonable arrangement and high space utilization rate, can realize stable and rapid conveying coordination of the projectile and the module medicine by adopting an advanced control method, and can obviously improve the automatic loading speed of the artillery.

Description

Novel chain ammunition conveying device

Technical Field

The invention belongs to the technical field of ammunition conveying, and particularly relates to a novel chain type ammunition conveying device.

Background

The existing medium-large caliber self-propelled gun weapon system does not completely realize full-automatic loading, and the conveying of the pellets cannot be separated from the intervention of personnel. If PLZ-45 is only provided with a semi-automatic bullet conveying device, manual bullet taking and placement in the bullet conveying device are needed, and an automatic bullet conveying device is not used. PLZ-05A ammunition is placed in the turret, pellets are placed horizontally, the size of the turret is limited, only 25 shots can be automatically filled, 4 shots are placed in the fixed barrel, manual shots are needed to be taken, then the shots are placed on the coordination arm manually, and then the coordination arm is used for conveying the shots.

From the view of the firing rate, the maximum firing rate of PLZ-45 is only 4-5 rounds per minute, the maximum firing rate of PLZ-05A155mm self-propelled gun is only 6-7 rounds per minute, and the continuous firing rate is only 3 rounds per minute, which is far from reaching the requirements of the modern war on the firing rate of the large-caliber self-propelled gun weapon system.

From the above, the existing large-and-medium-caliber self-propelled gun adopts cartridge bag type charging, but does not adopt modular medicine charging, and the existing cartridge bag type charging mode has the following common problems: 1) The space utilization rate of the cartridge is low, and the space occupation of the cartridge is the same for different charging models; 2) The ammunition filling automation degree is low, PLZ-45 needs to be manually taken and delivered, and 31 cartridges fixed in a gun turret of the artillery PLZ-05A all need to be manually taken; 3) The single-door gun has low firing rate, the maximum firing rate of PLZ-45 is only 4-5 rounds per minute, the maximum firing rate of PLZ05A-155mm self-propelled gun is only 6-7 rounds per minute, and the continuous firing rate is only 3 rounds per minute, which has a great relation with the traditional slow loading of the propellant powder.

Therefore, there is an urgent need for an ammunition conveying device suitable for conveying vertical ammunition of medium and large caliber artillery, capable of replacing personnel to participate in the process of conveying the ammunition and capable of being matched with an ammunition conveying coordination arm.

Disclosure of Invention

The invention aims to provide a novel chain type ammunition conveying device which has reasonable space layout and simple structure, can realize rapid, stable and reliable in-place ammunition conveying, and greatly improves battlefield striking capability and overall performance of a medium-large caliber self-propelled gun weapon system.

The technical solution for realizing the purpose of the invention is as follows: the novel chain type ammunition conveying device comprises a ammunition conveying machine, a medicine conveying machine and an ammunition pushing support arm, wherein the ammunition conveying machine and the medicine conveying machine are hinged on the ammunition pushing support arm through corresponding connecting shafts and are driven by the ammunition pushing support arm to work cooperatively;

the bullet conveying machine comprises a bullet conveying device frame body, a bullet driving mechanism and an encoder assembly, wherein the bullet conveying device frame body comprises a chain box, a bearing end cover, a shell, a bullet pressing rod, a torsion spring, a touch seat, a connecting shaft and a bullet groove; the chain box is fixedly connected to two ends of the shell, the bearing end covers are also fixedly connected to the top of the shell and are positioned between the chain box and the shell, the elastic groove is fixedly connected to one side of the shell, the elastic pressing rod is arranged on the other side of the elastic groove and is connected with the taper pin through the pin shaft, the other end of the taper pin is fixedly connected to the elastic groove, the elastic pressing rod is connected with two torsion springs, and the torsion springs are used for enabling the elastic pressing rod to form an angle with the vertical direction in a natural state, so that the elastic balls are prevented from falling off when falling into the elastic groove; the ball driving mechanism comprises a motor, a chain, bearings, spline shafts, chain wheels and a reduction gearbox, wherein the number of the chain wheels is two, the two chain wheels are positioned in a shell and below bearing end covers, the chain is wound on the left chain wheel and the right chain wheel, each chain wheel is hinged on the corresponding spline shaft, the spline shafts are fixedly connected to the shell, the bearings are arranged in each bearing end cover, the bearings are matched with the spline shafts, a speed reducer is connected to the bottom of the shell, an output shaft of the speed reducer is connected with the spline shafts, the motor is arranged below the speed reducer, the output shaft of the motor drives the chain wheels to rotate through the spline shafts after being decelerated by the speed reducer, and finally drives the chain to rotate, and a raised chain is arranged on the chain; the encoder assembly comprises an encoder and an encoder seat, wherein the encoder seat is fixedly connected to the shell of the speed reducer, and a rotating shaft of the encoder is connected with an output shaft of the speed reducer through an elastic coupling; the bottom of casing sets up the connecting axle.

Compared with the prior art, the invention has the remarkable advantages that: 1) Compared with the traditional manual bullet taking and feeding method, the bullet conveying device has the advantages that the bullet conveying time is greatly shortened, the manual labor intensity is reduced, and the gun firing speed is greatly improved; 2) Compared with the traditional manual medicine taking and delivering method, the invention greatly shortens the module medicine delivering time, reduces the manual labor intensity and greatly improves the gun firing rate due to the adoption of the module medicine delivering device; 3) The novel chain type conveying device has the advantages of compact structure, reliable action, reasonable arrangement and high space utilization rate compared with the traditional automatic conveying device; 4) The invention adopts an advanced control method to ensure that ammunition is stably and rapidly conveyed in place.

The invention is described in further detail below with reference to the accompanying drawings.

Drawings

Fig. 1 is a general schematic of the novel chain ammunition delivery device of the present invention.

Fig. 2 is a schematic view of the overall structure of the novel chain ammunition conveying device of the present invention.

Fig. 3 is a schematic view of the internal structure of a chain case of a bullet conveyer of the novel chain type ammunition conveying device.

Fig. 4 is a schematic bottom view of a novel chain ammunition delivery device of the present invention.

Fig. 5 is a schematic view of the general structure of a novel chain type ammunition conveying device of the present invention.

Fig. 6 is a schematic diagram of the internal structure of a chain case of a drug delivery machine of the novel chain type ammunition delivery device.

Fig. 7 is a schematic view of a part of a drug delivery machine of the novel chain type ammunition delivery device.

Fig. 8 is a schematic view of the ammunition pushing arm structure of the novel chain ammunition conveying device according to the present invention.

Detailed Description

The novel chain type ammunition conveying device comprises a ammunition conveying machine I, a medicine conveying machine II and an ammunition pushing support arm III, wherein the ammunition conveying machine I and the medicine conveying machine II are hinged on the ammunition pushing support arm III through corresponding connecting shafts and are driven by the ammunition pushing support arm III to work cooperatively;

the bullet conveying machine I comprises a bullet conveying device frame body 1, a bullet driving mechanism 2 and an encoder assembly 3, wherein the bullet conveying device frame body 1 comprises a chain box 4, a bearing end cover 5, a shell 6, a bullet pressing rod 7, a torsion spring 8, a touch seat 9, a connecting shaft 10 and a bullet groove 19; the number of the chain boxes 4 is two, the two chain boxes are fixedly connected to two ends of the shell 6, the number of the bearing end covers 5 is also two, the two bearing end covers 5 are fixedly connected to the top of the shell 6 and are positioned between the chain boxes 4 and the shell 6, the elastic groove 19 is fixedly connected to one side of the shell 6, the elastic pressing rod 7 is arranged on the other side of the elastic groove 19, the elastic pressing rod 7 is connected with a taper pin through a pin shaft, the other end of the taper pin is fixedly connected to the elastic groove 19, the elastic pressing rod is connected with two torsion springs 8, the torsion springs are used for enabling the elastic pressing rod 7 to form an angle with the vertical direction in a natural state, and when a projectile falls into the elastic groove, the falling of the projectile is prevented; the projectile driving mechanism 2 comprises a motor 11, a chain 12, bearings 13, spline shafts 14, chain wheels 15 and a reduction gearbox 16, wherein the number of the chain wheels 15 is two, the two chain wheels are positioned in a shell 6 and are positioned below a bearing end cover 5, the chain 12 is wound on a left chain wheel and a right chain wheel, each chain wheel is hinged on the corresponding spline shaft 14, the spline shaft 14 is fixedly connected to the shell 6, the bearing 13 is arranged in each bearing end cover 5, the bearings 13 are matched with the spline shafts 14, the reduction gearbox 16 is connected to the bottom of the shell 6, an output shaft of the reduction gearbox 16 is connected with the spline shafts 14, the motor 11 is arranged below the reduction gearbox 16, the output shaft of the motor 11 drives the chain wheels 15 to rotate through the spline shafts 14 after being reduced by the reduction gearbox 16, the chain 12 is finally driven to rotate, and a convex chain is arranged on the chain 12; the encoder assembly 3 comprises an encoder 17 and an encoder seat 18, wherein the encoder seat 18 is fixedly connected to the shell of the speed reducer 16, and a rotating shaft of the encoder 17 is connected with an output shaft of the speed reducer 16 through an elastic coupling; the bottom end of the housing 6 is provided with a connecting shaft 10.

The drug delivery machine II comprises a drug delivery device frame 20, a module drug driving mechanism 21, a first encoder assembly 22 and a photoelectric switch 42, wherein the drug delivery device frame 20 comprises a first chain box 23, a support 24, a chain box rear cover 25, a module drug tray 26, a drug pressing plate 27, a first torsion spring 28, a pin shaft 39 and a drug blocking plate 41; the first chain box 23 is fixedly connected with the support 24, the chain box rear cover 25 is sleeved on one side of the support 24 and fixedly connected with the first chain box 23, a module medicine tray 26 is arranged above the first chain box 23, the medicine pressing plate 27 is hinged on a fixed seat 40 on the module medicine tray 26 by a pin shaft 39, one end of a first torsion spring 28 is fixed on the fixed seat 40, the other end is fixed on the medicine pressing plate 27, and a medicine blocking plate 41 is fixed on one end of the module medicine tray 26 and is positioned above the chain box rear cover 25;

the module medicine driving mechanism 21 comprises a first driving motor 29, a first speed reducer 30, a first bevel gear speed reducer 31, a first output shaft 32, a first sprocket 33 and a first chain 34; the shell of the first driving motor 29 is fixedly connected to the shell on one side of the first speed reducer 30, the shell on the other side of the first speed reducer 30 is fixedly connected with the box body of the input end of the first bevel gear speed reducer 31, the box body of the output end of the first bevel gear speed reducer 31 is fixedly connected with one side of the support 24, the output shaft 32 of the first driving motor is connected with the input shaft of the first speed reducer 30 through an elastic coupling, the input bevel gear shaft 35 on the first bevel gear speed reducer 31 is connected with the output shaft 32 of the first speed reducer through a flat key, a bevel gear on the input bevel gear shaft 35 is meshed with the output bevel gear 36, the output bevel gear 36 is connected with the output shaft 32 through a flat key, the chain wheel 33 is connected with the output shaft 32 through a spline, the chain wheel 33 is simultaneously meshed with the first chain 34, the first chain 34 is winded in the chain box 23, and the first chain 34 is provided with a special chain link medicine pushing device 43;

the first encoder assembly 22 comprises a first encoder seat 37 and a first encoder 38, wherein the outer shell of the first encoder 38 is fixedly connected with the upper end shell of the first encoder seat 37, the lower end outer shell of the first encoder seat 38 is fixedly connected with one side of the support 24, and the rotating shaft of the first encoder 38 is connected with the first output shaft 32 through an elastic coupling; the photoelectric switch 42 is fixedly connected to the rear end of the modular tray 26 and is positioned below the medicine blocking plate 41.

The ammunition pushing support arm III comprises a support arm 44, a hydraulic cylinder 45, a ammunition delivery support connecting rod 46, a medicine delivery support connecting rod 47, a first pin shaft 48 and a second pin shaft 49;

one end of the hydraulic cylinder 45 is hinged on the support arm 44, the other end of the hydraulic cylinder is hinged on the bullet delivery support connecting rod 46 through a pin shaft II 49, the bullet delivery support connecting rod 46 and the drug delivery support connecting rod 47 are hinged on the support arm 44 through a pin shaft I48, and cylindrical holes at the end parts of the bullet delivery support connecting rod 46 and the drug delivery support connecting rod 47 are respectively hinged with connecting shafts of the bullet delivery machine and the drug delivery machine.

The bottom of the connecting shaft 10 at the bottom end of the feeder housing 6 includes two cylindrical shafts that mate with cylindrical holes at the end of the ammunition pushing arms.

The upper end of the shell 6 of the bullet conveyer is provided with a touch seat 9, and the touch seat 9 is positioned on the chain box 4.

The chain 12 and the first chain 34 are chains that can only bend unidirectionally.

Compared with the traditional manual bullet taking and feeding method, the bullet conveying device greatly shortens the bullet conveying time, reduces the manual labor intensity and greatly improves the gun firing speed.

The present invention will be described in further detail with reference to examples.

Example 1

Referring to fig. 1, the novel chain ammunition conveying device of the invention comprises a ammunition conveying machine I, a medicine conveying machine II and an ammunition pushing support arm III. Wherein, bullet conveyer I and medicine conveyer II are articulated on ammunition push support arm III through the connecting axle respectively.

Referring to fig. 2 to 4, the projectile transport machine I includes a projectile transport device frame 1, a projectile driving mechanism 2, and an encoder assembly 3. The spring conveying device frame body 1 comprises a chain box 4, a bearing end cover 5, a shell 6, a spring pressing rod 7, a torsion spring 8, a touch seat 9, a connecting shaft 10 and a spring groove 19; wherein, the chain case 4 is fixedly connected with the shell 6 by screws, and the bearing end cover 5 is also fixed on the shell 6 by screws. The bottom end of the shell 6 is fixedly connected with the upper end of the connecting shaft 10, and two cylindrical shafts at the bottom of the connecting shaft 10 are hinged with the ammunition pushing support arm 03, so that the whole ammunition feeder moves along with the ammunition pushing support arm. The spring pressing rod 7 is connected with a taper pin through a pin shaft, the taper pin is connected to a spring groove 19 on one side of the shell body, and the spring groove 19 is fixedly connected to the shell 6. The spring pressing rod is connected with two torsion springs 8, so that the spring pressing rod keeps a certain angle with the vertical direction in a natural state. The touch seat 9 is fixedly connected to the right chain box 4. The pellet drive device includes a motor 11, a chain 12, a bearing 13, a spline shaft 14, a sprocket 15, and a reduction gearbox 16. The structure is approximately a bilateral symmetry structure, and the chain box 4, the bearing end cover 5, the bearing 13, the spline shaft 14 and the chain wheel 15 are all left and right. The chain 12 is wound around left and right sprockets 15, the sprockets 15 are hinged to a spline shaft 14, and the spline shaft 14 is fixedly connected to the housing 6. The bearing 13 is matched with the spline shaft 14 under the bearing end cover 5, the speed reducer 16 is connected to the bottom of the shell 6, the spline shaft 14 is an output shaft of the speed reducer 16, and the motor 11 is fixed on the speed reducer 16 through bolts and provides torque for an input shaft of the speed reducer. The encoder assembly 3 includes an encoder 17 and an encoder seat 18. The encoder seat 18 is fixedly connected to the housing of the speed reducer 16, the housing of the encoder 17 is fixedly connected with the upper end housing of the encoder seat 18, and the rotating shaft of the encoder 17 is connected with the output shaft of the speed reducer 16 through an elastic coupling.

Referring to fig. 5 to 7, the drug delivery machine II includes a drug delivery device holder 20, a modular drug drive mechanism 21, a first encoder assembly 22 and a photoelectric switch 42; the drug delivery device frame 20 comprises a first chain case 23, a support 24, a chain case rear cover 25, a module drug tray 26, a drug pressing plate 27, a first torsion spring 28, a pin 39 and a drug blocking plate 41; the first chain box 23 is fixedly connected with the support 24, the chain box rear cover 25 is sleeved on one side of the support 24 and fixedly connected with the chain box 23, the module medicine tray 26 is fixedly connected to the upper side of the chain box 23, the medicine pressing plate 27 is hinged to a fixed seat 40 on the module medicine tray 26 by a pin shaft 39, one end of a first torsion spring 28 is fixed to the fixed seat 40, the other end of the first torsion spring 28 is fixed to the medicine pressing plate 27, and the medicine blocking plate 41 is fixed to the module medicine tray 26 and is positioned above the chain box rear cover 25; the module medicine driving mechanism 21 comprises a first driving motor 29, a first speed reducer 30, a first bevel gear speed reducer 31, a first output shaft 32, a first sprocket 33 and a first chain 34; the casing of the first driving motor 29 is fixedly connected to the casing on one side of the first speed reducer 30, the casing on the other side of the first speed reducer 30 is fixedly connected to the input end box of the first bevel gear speed reducer 31, and the output end box of the first bevel gear speed reducer 31 is fixedly connected to one side of the support 24. The first output shaft 32 of the first driving motor is connected with the input shaft of the first speed reducer through an elastic coupling, an input bevel gear shaft 35 on the first bevel gear speed reducer 31 is connected with the first output shaft 32 of the speed reducer through a flat key, a bevel gear on the input bevel gear shaft 35 is meshed with an output bevel gear 36, the output bevel gear 36 is connected with the first output shaft 32 through a flat key, a first chain wheel 33 is connected with the first output shaft 32 through a spline and meshed with a first chain 34, the first chain 34 is twisted in the first chain box 23, a special chain link medicine pushing trolley 43 is arranged at the tail end of the first chain 34, and the first chain 34 can only be bent in one direction; the first encoder assembly 22 includes a first encoder seat 37, a first encoder 38; wherein, the shell of the first encoder 38 is fixedly connected with the upper end shell of the first encoder seat 37, the lower end shell of the first encoder seat 38 is fixedly connected with one side of the support 24, and the rotating shaft of the first encoder 38 is connected with the output shaft 32 through an elastic coupling; the photoelectric switch 42 is fixedly connected to the rear end of the modular tray 26 and is positioned below the medicine blocking plate 41.

Referring to fig. 8, ammunition pushing arm III comprises arm 44, hydraulic cylinder 45, ammunition carrier support link 46, ammunition carrier support link 47, pin one 48 and pin two 49. One end of a hydraulic cylinder 45 is hinged to the support arm 44, and the other end is hinged to the projectile support link 46 through a pin 48. The elastic delivery supporting link 47 and the drug delivery supporting link 48 are hinged on the support arm 44 through a pin shaft two 49. Cylindrical holes at the ends of the bullet delivery support connecting rod 46 and the drug delivery support connecting rod 47 are hinged with connecting shafts of the bullet delivery machine and the drug delivery machine respectively.

The working process of the bullet conveyer in the invention is as follows:

when the coordination arm for conveying the projectile reaches the coordination position, the ammunition pushing support arm III drives the projectile conveyor I to move to the coordination arm position. During the movement, the touching seat 9 will touch the touching rod of the bullet coordination arm, and the bullet falls off from the coordination arm and falls into the bullet groove 19. The falling process presses down the pressing spring rod 7. When the pellets fall into the spring groove 19, the spring pressing rod 7 returns to the original position under the force of the torsion spring 8, so as to play a role in pressing the pellets and prevent the pellets from being sprung. At this time, the motor 11 starts to rotate to drive the speed reducer 16 to rotate, and the spline shaft 14 of the output shaft of the speed reducer drives the sprocket 15 to rotate and then drives the chain 12 to rotate. The right end of the chain 12 is provided with a convex chain, when the chain rotates, the chain touches the tail end of the projectile to push the projectile out of the projectile conveyor, the projectile is returned to the original position to prepare for pushing the medicine after rotating for one circle, and after the module medicine is pushed into the bullet groove 19 of the projectile conveyor I from the medicine conveyor II, the chain 12 runs for one circle again to push the module medicine out of the projectile conveyor. Thus completing the pellet conveying process.

The working process of the medicine delivery machine is as follows:

when the medicine coordination arm reaches the coordination position, the ammunition pushing support arm III drives the medicine conveying machine II to move towards the coordination position. The module medicine falls under the action of external force, the extruding and pressing medicine plate 27 falls on the module medicine tray 26, the medicine pressing plate 27 returns to the initial position under the action of the first torsion spring 28, the movement of the module medicine in the up-down direction is limited, when the photoelectric switch 42 detects a medicine signal, the module medicine conveying device coordinates to the position for conveying the module medicine, the first driving motor 29 works to drive the first speed reducer 30 to rotate, the first output shaft 32 and the first sprocket 33 are driven to rotate through the speed reduction of the first bevel gear speed reducer 31, thereby driving the first chain 34 to move, the medicine pushing device 43 at the tail end of the first chain 34 drives the module medicine to be quickly output into the elastic groove 19 of the bullet conveyer, meanwhile, the first encoder 38 connected with the first output shaft 32 through the elastic coupling can receive and feed back the rotating angle of the first output shaft 32 in real time, when the module medicine is conveyed in place, namely, after the first encoder 38 feeds back and rotates by a designated angle, the first driving motor 29 reversely works to drive the first speed reducer 30 to rotate, the first output shaft 32 and the first sprocket 33 reversely rotate through the speed reduction of the first bevel gear speed reducer 31, so that the first chain 34 is retracted, when the first chain 34 is retracted in place, namely, after the first encoder 38 feeds back and rotates by the designated angle, the motor stops working, meanwhile, the photoelectric switch 42 loses a medicine signal, and the module medicine conveying device coordinates to the position for receiving the module medicine, so that the module medicine conveying process is completed.

The working process of the ammunition pushing support arm is as follows:

when the ammunition coordination arm and the medicine coordination arm reach the designated positions, the hydraulic cylinder 45 of the ammunition pushing support arm III drives the ammunition delivery support connecting rod 47 and the medicine delivery support connecting rod 48 to open, so that the ammunition delivery machine and the medicine delivery machine are respectively opened below the ammunition coordination arm and the medicine coordination arm, and the ammunition delivery machine and the medicine delivery machine wait for the ammunition pellets and module medicine to fall into the ammunition delivery machine and the medicine delivery machine. After the ammunition is received, the hydraulic cylinder 45 drives the two support connecting rods to be closed, and at the moment, the ammunition groove 19 of the ammunition delivery machine I and the module medicine tray 26 of the medicine delivery machine II are positioned on the same straight line, so that the ammunition is ready to be pushed for pushing medicine. Thus completing the action of the ammunition pushing support arm for one period.

The chain type ammunition conveying device has the advantages of compact structure, reliable action, reasonable arrangement and high space utilization rate, can realize stable and rapid conveying coordination of the projectile and the module medicine by adopting an advanced control method, and can obviously improve the automatic loading speed of the artillery.

Claims (6)

1. The chain type ammunition conveying device is characterized by comprising a ammunition conveying machine [ I ], a medicine conveying machine [ II ] and an ammunition pushing support arm [ III ], wherein the ammunition conveying machine [ I ] and the medicine conveying machine [ II ] are hinged on the ammunition pushing support arm [ III ] through corresponding connecting shafts and are driven by the ammunition pushing support arm [ III ] to work cooperatively;

the bullet conveying machine [ I ] comprises a bullet conveying device frame [1], a bullet driving mechanism [2] and an encoder assembly [3], wherein the bullet conveying device frame [1] comprises a chain box [4], a bearing end cover [5], a shell [6], a bullet pressing rod [7], a torsion spring [8], a touch seat [9], a connecting shaft [10] and a bullet groove [19]; the number of the chain boxes [4] is two, the two chain boxes are fixedly connected to two ends of the shell [6], the number of the bearing end covers [5] is also two, the two bearing end covers [5] are fixedly connected to the top of the shell [6] and are positioned between the chain boxes [4] and the shell [6], the elastic groove [19] is fixedly connected to one side of the shell [6], the other side of the elastic groove [19] is provided with a spring pressing rod [7], the spring pressing rod [7] is connected with a taper pin through a pin shaft, the other end of the taper pin is fixedly connected to the elastic groove [19], and the spring pressing rod is connected with two torsion springs [8] which are used for enabling the spring pressing rod [7] to form an angle with the vertical direction in a natural state and preventing the spring pressing rod [7] from falling off when a pill falls into the elastic groove; the projectile driving mechanism [2] comprises a motor [11], a chain [12], a bearing [13], spline shafts [14], chain wheels [15] and a speed reducer [16], wherein the number of the chain wheels [15] is two, the two chain wheels are positioned in a shell [6] and are positioned below a bearing end cover [5], the chain [12] winds around the left chain wheel and the right chain wheel, each chain wheel is hinged on the corresponding spline shaft [14], the spline shaft [14] is fixedly connected to the shell [6], a bearing [13] is arranged in each bearing end cover [5], the bearing [13] is matched with the spline shaft [14], the speed reducer [16] is connected to the bottom of the shell [6], an output shaft of the speed reducer [16] is connected with the spline shaft [14], the motor [11] is arranged below the speed reducer [16], and the output shaft of the motor [11] drives the chain wheels [15] to rotate through the spline shaft [14] after being decelerated by the speed reducer [16], and finally drives the chain [12] to rotate, and a convex chain is arranged on the chain [12 ]; the encoder assembly [3] comprises an encoder [17] and an encoder seat [18], wherein the encoder seat [18] is fixedly connected to the shell of the speed reducer [16], and the rotating shaft of the encoder [17] is connected with the output shaft of the speed reducer [16] through an elastic coupling; the bottom end of the shell body [6] is provided with a connecting shaft [10].

2. The chain ammunition delivery device according to claim 1, wherein said drug delivery machine [ II ] comprises a drug delivery device frame [20], a modular drug drive mechanism [21], a first encoder assembly [22] and a photoelectric switch [42], said drug delivery device frame [20] comprising a first chain case [23], a support [24], a chain case back cover [25], a modular drug tray [26], a drug pressing plate [27], a first torsion spring [28], a pin [39] and a drug blocking plate [41]; the first chain box [23] is fixedly connected with the support [24], the chain box rear cover [25] is sleeved on one side of the support [24] and fixedly connected with the first chain box [23], a module medicine tray [26] is arranged above the first chain box [23], the medicine pressing plate [27] is hinged on a fixing seat [40] on the module medicine tray [26] by a pin shaft [39], one end of a first torsion spring [28] is fixed on the fixing seat [40], the other end of the first torsion spring [28] is fixed on the medicine pressing plate [27], and a medicine blocking plate [41] is fixed on one end of the module medicine tray [26] and is positioned above the chain box rear cover [25 ];

the module medicine driving mechanism [21] comprises a first driving motor [29], a first speed reducer [30], a first bevel gear speed reducer [31], a first output shaft [32], a first sprocket [33] and a first chain [34]; wherein, the shell of the first driving motor [29] is fixedly connected to the shell at one side of the first speed reducer [30], the shell at the other side of the first speed reducer [30] is fixedly connected with the box body at the input end of the first bevel gear speed reducer [31], the box body at the output end of the first bevel gear speed reducer [31] is fixedly connected with one side of the support [24], the output shaft of the first driving motor is connected with the input shaft of the first speed reducer [30] through an elastic coupling, an input bevel gear shaft [35] on the first bevel gear speed reducer [31] is connected with the output shaft of the first speed reducer by a flat key, a bevel gear on the input bevel gear shaft [35] is meshed with an output bevel gear [36], the output bevel gear [36] is connected with the first output shaft [32] by a flat key, a first sprocket [33] is connected with the first output shaft [32] by a spline, the first sprocket [33] is simultaneously meshed with a first chain [34], the first chain [34] is coiled in a chain box [23], and a special chain link medicine pushing device [43] is arranged on the first chain [34];

the first encoder assembly [22] comprises a first encoder seat [37] and a first encoder [38], wherein the shell of the first encoder [38] is fixedly connected with the upper end shell of the first encoder seat [37], the lower end shell of the first encoder seat [38] is fixedly connected with one side of the support [24], and the rotating shaft of the first encoder [38] is connected with the first output shaft [32] through an elastic coupling; the photoelectric switch (42) is fixedly connected to the rear end of the modular medicine tray (26) and is positioned below the medicine blocking plate (41).

3. The chain ammunition delivery device according to claim 1, wherein the ammunition pushing arm [ III ] comprises an arm [44], a hydraulic cylinder [45], a ammunition delivery support link [46], a medicine delivery support link [47], a pin one [48] and a pin two [49];

one end of a hydraulic cylinder [45] is hinged on the support arm [44], the other end of the hydraulic cylinder is hinged on the bullet delivery support connecting rod [46] through a pin shaft [49], the bullet delivery support connecting rod [46] and the drug delivery support connecting rod [47] are hinged on the support arm [44] through a pin shaft [48], and cylindrical holes at the end parts of the bullet delivery support connecting rod [46] and the drug delivery support connecting rod [47] are respectively hinged with connecting shafts of the bullet delivery machine and the drug delivery machine.

4. A chain ammunition transport device according to claim 1, characterised in that the bottom part of the connecting shaft [10] at the bottom end of the feeder housing [6] comprises two cylindrical shafts which mate with cylindrical holes at the end of the ammunition pushing arms.

5. The chain ammunition conveying device according to claim 1, wherein a touch seat [9] is arranged at the upper end of the ammunition conveying machine shell [6], and the touch seat [9] is positioned on the chain box [4 ].

6. The chain ammunition transport device according to claim 2, wherein the chain [12] and the first chain [34] are chains which are bendable only in one direction.