CN204748606U - Robot is retrieved to practice projectile intelligence - Google Patents

Abstract

Robot is retrieved to practice projectile intelligence, it can at the automatic product that carries out intelligent recovery of corresponding within range, belong to automatic technical field according to predetermined parameter to be one kind. Including electrical power generating system, complex environment moving platform, moving platform location, practice projectile automatic checkout device, automatic pick device, fully loaded alarm device, man -machine interface and control system, characterized by: be equipped with the pneumatic tire of electrified machine and be furnished with the steering wheel in the bottom of robot and turn to the device, the place ahead installation practice projectile detection device and the automatic pick device of robot, the top of robot is the practice projectile collection box, control system uses the singlechip as the core, is furnished with electrical power generating system, man -machine interface, positioning system, fully loaded warning etc.. Through after using this robot, great reduced training person and the physical demands of teacher unnecessary, improved the efficiency of training, very big application prospect has.

Description

Practice projectile intelligence recycling machine people

Technical field

The utility model relates to a kind of practice projectile intelligence recycling machine people, belongs to technical field of automation.

Background technology

Grenade with a long history is that Chinese invent at first.There is the grenade filling black powder in the 15th century Europe, in the Japan-Russia War in 1904, grenade has played effect again afield.In the World War I, due to the rise in moat trench, grenade obtains the extensive use of army of belligerent countries.Comparatively typical grenade had the stick grenade of Germany and the pineapple shape Mil Si formula grenade etc. of Britain at that time.These grenades are also that the development of grenade is afterwards laid a good foundation.

Grenade is that a kind of small-sized hand that can prevent of attacking drops a bomb medicine, is also to use ammunition that is comparatively wide, large usage quantity.It can kill and wound living aim, can destroy tanks and armored vehicles again.Grenade, because volume is little, quality is little, to carry, easy to use, once in all previous war, plays important function.Along with the development of science and technology and the change of operational concepts, although the status of grenade is not as outstanding like that during Two World Wars, as one of the main equipment of infantry's short range operations, under modern war condition, still there is important use value.

In my army of army; no matter the service staff of military commanding office of great strategy district; or the woman soldier of communication master station; or the manipulation hand of space army and second artillery force all will carry out the throwing training of grenade; training soldiers to protect, needing to practise with practice projectile before actual grenade is thrown.The grenade used in army is substantially all the grenade of wooden handle, pitch-dark ferroelastics, here is the round wooden handle of exquisite waxdip, and weight is more than 500 gram, it is the iron covering of a band thread bottom wooden handle, to outward winding iron covering, exposing iron circle and draw fire ring, pulling drawing the rope of fire ring, just the fuse of body can be lighted, projectile explosive after more than 3 seconds, ferroelastics is broken into more than 700 block fragments, can kill and wound the target of 30 meters of radiuses.Therefore necessarily require soldier to throw cast in training at practice projectile and, more than 30 meters, just can carry out live grenade throw.

The annual soldier newly joined the army is thousands of, and every soldier will carry out again the grenade-throwing training of practice projectile, therefore requires a great deal of time and carries out the recovery operation of practice projectile, strengthen the training strength of soldier.

Robot (Robot) is the installations automatically performing work.Be both to have accepted mankind commander, the program of layout in advance can be run again, also can according to the principle guiding principle action of formulating with artificial intelligence technology.The task of practice projectile intelligence recycling machine people replaces soldier's high-frequency and loaded down with trivial details work, reduces extra physical demands.

Summary of the invention

In order to for and solve the problem, propose and a kind ofly automatically can arrive the device that practice projectile recovery is carried out in grenade-throwing training place---practice projectile intelligence recycling machine people.

The utility model comprises power-supply system, mobile platform, mobile platform positioner, practice projectile automatic detection device, automatic pick-up device, fully loaded warning device, man-machine interface and control system, it is characterized in that: the pneumatic tire of translator is housed in the bottom of robot and is furnished with steering wheel transfer, practice projectile checkout gear and automatic pick-up device are installed in the front of robot, and the top of robot is practice projectile collection box; Control system is core with single-chip microcomputer, is furnished with power-supply system, man-machine interface, navigation system, fully loaded warning.

Described robot moving platform is to realize in training court, moves by the track preset, and forward-reverse adopts DC speed-reducing, turns to employing steering wheel.Consider that mobile platform at trouble free service in comparatively complex environment, can be provided with checkout gear, avoid encountering barrier and falling into ditch.

Described practice projectile checkout gear adopts and uses inductance sensor comparatively widely, is judged by the metal detected on grenade, and distance suitably when mounted, reduces the probability of flase drop.

Described automatic pick-up device adopts electromagnet, by the practice projectile that the detects suction by electromagnet, then among automatic conveying to practice projectile collection box.

Described mobile platform positioner adopts electronic compass and distance detection device, enables robot in the scope preset, by the high-precision detection of running orbit preset and recovery.

Described fully loaded warning device, mainly when the practice projectile in collection box is filled, can stop immediately automatically detecting and reclaiming, and send warning, thus controls mobile platform and load this practice projectile and get back to the unloading of corresponding position.

Described man-machine interface adopts 12832 liquid crystal to show, and the information such as the parameter that main display is arranged, the practice projectile quantity of recovery, input adopts contact button, simple and convenient.

Described power-supply system adopts battery to power, and when electricity is too low, can send warning, and turns back to corresponding charge position and carry out automatic charging.

Good effect of the present invention:

Owing to being equipped with the pneumatic tire of translator in the bottom of robot and being furnished with steering wheel transfer, practice projectile checkout gear and automatic pick-up device are installed in the front of robot, the top of robot is equipped with practice projectile collection box, well solve the difficult problem that soldier also needs manual recovery after grenade-throwing training, decrease the physical demands that food for powder is unnecessary.

Owing to being provided with automatic locating and detecting device in robot, after arranging recovery scope, running orbit, robot just can run accurately, ensures the reliability reclaimed, greatly reduces the omission to practice projectile, and improve the efficiency of robot work.

Owing to being arranged the scope reclaimed by man-machine interface, different places can be applicable to, can arrange flexibly according to the actual size in place.

Owing to being equipped with checkout gear in mobile platform surrounding, in order to avoid collide the barrier of periphery and fall into ditch.

Because control system is control core with single-chip microcomputer, is furnished with the circuit such as power-supply system, fully loaded warning, the low electricity warning of battery.At collection box full load, can send and report to the police and transport it into fixed position; When accumulator electric-quantity is too low, send warning, and get back to corresponding charge position automatic charging.

Accompanying drawing explanation

Fig. 1 is example structure front view, Fig. 2 is example structure left view, Fig. 3 is example structure top view, comprise: man-machine interface (1), intelligent controller (2), movable pulley (3), collection box (4), detecting sensor (5), retracting device (6), guide rail slide block (7), Timing Belt (8), retracting device lifting motor (9), warning lamp (10), synchronizing wheel (11), rigid bearing (12), retracting device moves forward and backward motor (13), optical axis holder (14), optical axis (15), position sensor (16), steering wheel (17), electron speed regulator (18), battery (19).

Detailed description of the invention

Below in conjunction with accompanying drawing, the utility model is further illustrated.

Embodiment practice projectile intelligence recycling machine people: comprise mobile platform with 4 movable pulleys (3) for the strong point, consider the flexibility of robot movement, two movable pulleys (3) next adopt electron speed regulator (18) to control advance, retrogressing that two direct current generators realize robot, before two movable pulleys (3) adopt the steering wheel (17) of high-torques to realize the left and right turn of robot.Because robot is in meadow or necessarily muddy environmental work substantially, the movable pulley selected is pneumatic tire.

In the process of robot movement, detect on ground whether there is practice projectile by detecting sensor (5), when there being practice projectile, robot stops, retracting device (6) works, confirm practice projectile enter with retracting device (6) zoarium after, retracting device lifting motor (9) is started working, retracting device (6) is made to rise to top, after reaching the top, retracting device moves forward and backward motor (13) and starts working, retracting device (6) reaches collection box (4) top, retracting device lifting motor (9) makes retracting device (6) decline, after reaching relevant position, retracting device (6) is separated with practice projectile, retracting device (6) gets back to initial position according to the reverse course of work, prepares the recovery of next practice projectile.

Intelligent controller (2) for control core, is furnished with power circuit with 51 single-chip microcomputers, display circuit, parameter setting circuit, signal deteching circuit, retracting device elevating control circuit, retracting device move forward and backward control circuit, warning circuit.

Power circuit mainly with the battery of 12V (19) for power resources, retracting device (6), retracting device lifting motor (9), retracting device move forward and backward motor (13), detecting sensor (5), steering wheel (17), electron speed regulator (18), warning lamp (10) and directly adopt DC12V to power; 51 SCM systems, display circuit, parameter setting circuit then adopt DC5V to power, and obtain this magnitude of voltage by voltage reduction module.

Display circuit and parameter setting circuit composition man-machine interface (1), be mainly used to the scope arranging robot automatic operation, and can show the instant number reclaiming practice projectile.

Signal deteching circuit is mainly for detection of the below of Robot Scanning with or without practice projectile, and install one group of detecting sensor (5) in robot moving platform bottom, when practice projectile being detected, robot stops automatically, waits for retracting device work.

Retracting device elevating control main circuit will drive retracting device lifting motor (9) to work, practice projectile detected and with retracting device (6) zoarium after, make retracting device (6) rise to top; After collection box (4) delivered to by practice projectile, make retracting device (6) drops to bottom, prepare subsequent work.

Retracting device moves forward and backward control circuit and mainly drives retracting device to move forward and backward motor (13) work, after retracting device (6) rises to top, moves to collection box (4) top after making retracting device (6); After collection box (4) delivered to by practice projectile, make retracting device (6) move forward to the detecting position side of being set up, prepare subsequent work.

Warning circuit is mainly used in controlling warning lamp (10), and this warning lamp (10) is made up of green indicating lamp and red led.During normal work, red led Chang Liang, when the electricity of battery (19) is too low, red led is reported to the police with the frequency scintillation of 1Hz; When the practice projectile full load of collection box, green indicating lamp is with the frequency scintillation of 1Hz.

This Robot Design, complete after, the physical education of school is demonstrated.The area that the practice projectile that student launches is scattered is comparatively wide, and practice projectile reclaims by scope that robot can be good at according to presetting one by one.

The utility model be a kind of after training can the robot of the automatic recovery practice projectile, reduce trainer and the unnecessary physical demands of teacher greatly, improve the efficiency of training, have great application prospect.

Be more than embodiment the utility model explained further and illustrates, instead of to restriction of the present utility model, any amendment done in interest field of the present utility model, all fall into protection domain of the present utility model.

Claims (8)

1. a practice projectile intelligence recycling machine people, comprise power-supply system, mobile platform, mobile platform positioner, practice projectile automatic detection device, automatic pick-up device, fully loaded warning device, man-machine interface and control system, it is characterized in that: the pneumatic tire of translator is housed in the bottom of robot and is furnished with steering wheel transfer, practice projectile checkout gear and automatic pick-up device are installed in the front of robot, and the top of robot is practice projectile collection box; Control system is core with single-chip microcomputer, is furnished with power-supply system, man-machine interface, navigation system, fully loaded warning.

2. practice projectile intelligence recycling machine people according to claim 1, it is characterized in that intelligent controller (2) with 51 single-chip microcomputers for control core, be furnished with power circuit, display circuit, parameter setting circuit, signal deteching circuit, retracting device elevating control circuit, retracting device move forward and backward control circuit, warning circuit.

3. practice projectile intelligence recycling machine people according to claim 1, it is characterized in that power circuit mainly with the battery of 12V (19) for power resources, retracting device (6), retracting device lifting motor (9), retracting device move forward and backward motor (13), detecting sensor (5), steering wheel (17), electron speed regulator (18), warning lamp (10) and directly adopt DC12V to power; 51 SCM systems, display circuit, parameter setting circuit then adopt DC5V to power, and obtain this magnitude of voltage by voltage reduction module.

4. practice projectile intelligence recycling machine people according to claim 1, is characterized in that display circuit and parameter setting circuit composition man-machine interface (1), is mainly used to the scope arranging robot automatic operation, and can show the instant number reclaiming practice projectile.

5. practice projectile intelligence recycling machine people according to claim 1, it is characterized in that the below of signal deteching circuit mainly for detection of Robot Scanning is with or without practice projectile, one group of detecting sensor (5) is installed in robot moving platform bottom, when practice projectile being detected, robot stops automatically, waits for retracting device work.

6. practice projectile intelligence recycling machine people according to claim 1, it is characterized in that retracting device elevating control main circuit will drive retracting device lifting motor (9) to work, practice projectile detected and with retracting device (6) zoarium after, make retracting device (6) rise to top; After collection box (4) delivered to by practice projectile, make retracting device (6) drops to bottom, prepare subsequent work.

7. practice projectile intelligence recycling machine people according to claim 1, it is characterized in that retracting device moves forward and backward control circuit and mainly drives retracting device to move forward and backward motor (13) work, after retracting device (6) rises to top, after making retracting device (6), move to collection box (4) top; After collection box (4) delivered to by practice projectile, make retracting device (6) move forward to the detecting position side of being set up, prepare subsequent work.

8. practice projectile intelligence recycling machine people according to claim 1, it is characterized in that warning circuit is mainly used in controlling warning lamp (10), this warning lamp (10) is made up of green indicating lamp and red led, during normal work, red led Chang Liang, when the electricity of battery (19) is too low, red led is reported to the police with the frequency scintillation of 1Hz; When the practice projectile full load of collection box, green indicating lamp is with the frequency scintillation of 1Hz.