CN208043375U - A kind of emitter and system, shooting robot of bullet - Google Patents
A kind of emitter and system, shooting robot of bullet Download PDFInfo
- Publication number
- CN208043375U CN208043375U CN201820171514.7U CN201820171514U CN208043375U CN 208043375 U CN208043375 U CN 208043375U CN 201820171514 U CN201820171514 U CN 201820171514U CN 208043375 U CN208043375 U CN 208043375U
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- bullet
- driving mechanism
- emitter
- driving
- trigger mechanism
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- 230000007246 mechanism Effects 0.000 claims abstract description 171
- 239000008188 pellet Substances 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims description 28
- 230000001133 acceleration Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 10
- 238000002347 injection Methods 0.000 claims description 6
- 239000007924 injection Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 230000008450 motivation Effects 0.000 claims description 5
- 238000005183 dynamical system Methods 0.000 claims description 4
- 238000012360 testing method Methods 0.000 abstract description 34
- 239000000758 substrate Substances 0.000 description 12
- 238000005516 engineering process Methods 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 238000012356 Product development Methods 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002860 competitive effect Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 230000003752 improving hair Effects 0.000 description 1
- 238000001310 location test Methods 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
- A63H33/18—Throwing or slinging toys, e.g. flying disc toys
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41B—WEAPONS FOR PROJECTING MISSILES WITHOUT USE OF EXPLOSIVE OR COMBUSTIBLE PROPELLANT CHARGE; WEAPONS NOT OTHERWISE PROVIDED FOR
- F41B4/00—Friction-wheel operated launchers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/08—Shock-testing
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Toys (AREA)
Abstract
The utility model embodiment belongs to emitter technical field, is related to a kind of emitter of bullet, including mounting base, the first driving mechanism, the second driving mechanism and trigger mechanism；First driving mechanism is installed in the mounting base, and second driving mechanism and the trigger mechanism is driven integrally to move in a first direction；Second driving mechanism drives the trigger mechanism to move in a second direction.According to the emitter that the utility model embodiment provides, the accurate fixed test in a region may be implemented by the driving mechanism in two different driving directions, can flexibly realize to the dynamic shock-testing of product different location, meet different testing requirements.In addition, the utility model also provides the emission system and shooting robot using the emitter, the wherein emission system of bullet can realize adjustment to emitter running parameter according to different testing requirements, and shooting robot may be implemented according to different shooting scenes shot-pellet from different perspectives.
Description
Technical field
The utility model embodiment belongs to emitter and the use of emitter technical field more particularly to a kind of bullet
The emission system and shooting robot of the emitter.
Background technology
In the exploitation design or production process of some products, there is the demand that shock-testing is carried out to product, such as
The dynamic characteristic test of pressure sensor, vibrating sensor, the exploitation for the tool that tests the speed, RoboMaster (international robots
Competitive platform) series product development test etc., the prior art generally pass through auxiliary carry out shock-testing emitter transmitting
Bullet (such as ball bullet) makes bullet impact or hits product surface, with test product performance, or test impact or shock
Influence to properties of product.Thus the exploitation demand of emitter is expedited the emergence of, inventor sends out in the process of implementing the utility model
Existing, the test scene or test-types of the adaptation of emitter in the prior art are single, and low flexibility causes it fast
Speed meets the testing requirement under different test environments.
Utility model content
To solve the above-mentioned problems, the utility model embodiment provides a kind of emitter of bullet, to solve existing skill
Test scene or the test-types for emitting the device adaptation of bullet in art are single, and low flexibility causes it that can not quickly meet not
The problem of with testing requirement under test environment；Further, it would be desirable to provide the emission systems and shooting robot using the emitter.
The technical solution adopted in the utility model is as follows.
On the one hand, the utility model embodiment provides a kind of emitter of bullet, including：Mounting base, the first driving machine
Structure, the second driving mechanism and trigger mechanism；
First driving mechanism is installed in the mounting base, and drives second driving mechanism and the transmitter
Structure integrally moves in a first direction；Second driving mechanism drives the trigger mechanism to move in a second direction.
According to the emitter for the bullet that the utility model embodiment provides, pass through the driving machine in two different driving directions
The accurate fixed test in a region may be implemented in structure, and flexibility is high, may be implemented dynamically to rush product different location
Test is hit, different test scene demands is met.
On the other hand, the utility model embodiment provides a kind of emission system of bullet, including remote control and above-mentioned
Emitter, the remote control are controlled by control module in the emitter described first during pellet injection
The adjustment of driving mechanism, the second driving mechanism and the corresponding running parameter of trigger mechanism.
It, can be according to different surveys by remote control according to the emission system for the bullet that the utility model embodiment provides
Examination demand realizes the adjustment that running parameter and real-time working parameter are preset to emitter so that transmitting is with high flexibility and extensively
Applicability, test scene demand that can be different.
On the other hand, the utility model embodiment provides a kind of shooting robot, including chassis, is installed on the chassis
Dynamical system and above-mentioned emitter.
According to the shooting robot that the utility model embodiment provides, bullet can be emitted from different perspectives, to adapt to not
Same shooting scene.
Description of the drawings
It, below will be to embodiment or the prior art in order to illustrate more clearly of the utility model or scheme in the prior art
Attached drawing needed in description makees a simple introduction, it should be apparent that, the accompanying drawings in the following description is the utility model
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the structure chart of the emitter for the bullet that the utility model embodiment provides；
Fig. 2 is the side view of the emitter for the bullet that the utility model embodiment provides；
Fig. 3 is the structure chart for the first driving mechanism that the utility model embodiment provides；
Fig. 4 is the structure chart for the second driving mechanism that the utility model embodiment provides；
Fig. 5 is the structure chart for the trigger mechanism that the utility model embodiment provides；
Fig. 6 is the vertical view for the trigger mechanism that the utility model embodiment provides；
Fig. 7 is the diagrammatic view in principle block diagram for the emission system that the utility model embodiment provides.
Reference sign：
10 mounting bases
11 pedestals
12 holders
13 reinforcers
20 first driving mechanisms
21 first actuators
The drive shaft of 211 first actuators
22 first support elements
221 first support plates
222 second support plates
23 first guide parts
24 connectors
30 second driving mechanisms
31 second actuators
The drive shaft of 311 second actuators
32 second support elements
321 intermediate plates
322 first side plates
323 second side plates
33 second guide parts
34 first guide parts
40 trigger mechanisms
41 portions
411 substrates
412 support plates
413 movable plates
42 groups of bullet portions
421 go out bomb tube
422 cartridge boxs
423 groups of cartridge drums
43 emission parts
431 accelerating tubes
432 transmitting tubes
433 acceleration components
4331 friction pulleys
50 angle-adjusting mechanisms
60 movement matrixes
Specific implementation mode
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with the technology for belonging to the utility model
The normally understood meaning of technical staff in domain is identical；Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model；The specification and right of the utility model are wanted
It is for distinguishing different objects, rather than for describing spy to ask the term " first " in book and above-mentioned description of the drawings, " second " etc.
Fixed sequence；In addition, term " comprising " and " having " and their any deformations, it is intended that cover and non-exclusive include.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
It is contained at least one embodiment of the utility model., which there is the phrase, in each position in the description to be each meant
Identical embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art are explicit
Ground and implicitly understand, embodiment described herein can be combined with other embodiments.
The utility model embodiment provides a kind of emitter of bullet, including mounting base, the first driving mechanism, the second drive
Motivation structure and trigger mechanism；First driving mechanism is installed in the mounting base, and drive second driving mechanism and
The trigger mechanism integrally moves in a first direction；Second driving mechanism drives the trigger mechanism in a second direction
Movement.Wherein bullet can be that ball bullet or the bullet of specific shape unless specifically indicated, are hereafter implemented convenient for description
Bullet described in example describes the structure and function of the emitter with cooperation by taking ball bullet as an example.
Based on above-mentioned emitter, the utility model embodiment also provides a kind of emission system of bullet, including remote control
Device and the emitter, the remote control control the process of pellet injection by the control module in the emitter
Described in the first driving mechanism, the second driving mechanism and the corresponding running parameter of trigger mechanism adjustment.
Based on above-mentioned emitter, the utility model embodiment also provides a kind of shooting robot, including chassis, installation
Dynamical system in the chassis and above-mentioned emitter.
The emitter that the utility model embodiment provides, may be implemented by the driving mechanism in two different driving directions
The accurate fixed test in a region, flexibility is high, may be implemented, to the dynamic shock-testing of product different location, to meet
Different test scene demands；It, can be according to different test need by remote control using the emission system of the emitter
The realistic existing adjustment that running parameter and real-time working parameter are preset to emitter so that transmitting has high flexibility and is extensively applicable in
Property, test scene demand that can be different；Using the shooting robot of the emitter, bullet can be emitted from different perspectives,
To adapt to different shooting scenes.
In order to make those skilled in the art more fully understand the utility model, below in conjunction with the utility model reality
The attached drawing in example is applied, the technical scheme in the utility model embodiment is clearly and completely described.
Refering to fig. 1, the emitter for the bullet that the utility model embodiment provides includes mounting base 10, the first driving mechanism
20, the second driving mechanism 30 and trigger mechanism 40；
First driving mechanism 20 is installed in the mounting base 10, and drives second driving mechanism 30 and described
Trigger mechanism 40 is whole to be moved in a first direction；Second driving mechanism 30 drives the trigger mechanism 40 in second direction
Upper movement.In the present embodiment, the first direction and second direction can be respectively vertically and horizontally, can also
It is the combination of other different directions.Optionally, the mounting base 10 may include pedestal 11 and fixed holder 12 on the base 11,
First driving mechanism 20 is fixed on holder 12；In some embodiments, for avoid trigger mechanism 40 emit bullet when produce
Power is frustrated after raw to have an impact the structure of mounting base 10, reinforcer 13 is additionally provided between pedestal 11 and holder 12, is ensured
The integrally-built stabilization of mounting base 10, advantageously ensures that the launch accuracy of bullet.
Fig. 2 is further regarded to, in the utility model embodiment, the emitter may also include for adjusting transmitter
The angle-adjusting mechanism 50 of launch angle when the transmitting bullet of structure 40；The angle-adjusting mechanism 50 may include level angle tune
Whole group part (not identified in figure) and vertical angles adjustment component (not identified in figure), with difference or cooperation fine-tuned emission mechanism 40
Emit launch angle when bullet, the track of Projectile Motion is can adjust with this, as optional, other can also be arranged as required to
The angle regulation component in direction improves the flexibility of emitter transmitting bullet.Specifically, the angle-adjusting mechanism 50 can be with
For active regulative mode, for example, similar to the structure of holder, acceptable control instruction, and controlled adjustment to corresponding direction or
Angle, with the launch angle of auxiliary adjustment trigger mechanism 40.The angle-adjusting mechanism 50 can be passive modulation section mode, example
Such as flexibly support, after 40 generation of trigger mechanism acts, the vibration of absorption trigger mechanism 40 that can be passive, so that transmitter
The shooting of structure 40 is more accurate.Further, the elasticity of the resilient support is adjustable, so as to select required bullet as needed
Property is to adapt to different Firing Velocities.
Optionally, in the utility model some embodiments, the angle-adjusting mechanism 50 and the transmitter
The combination installation of structure 40, specifically, the angle-adjusting mechanism 50 is located at below the trigger mechanism 40 or side, and described second
Driving mechanism 30 drives the angle-adjusting mechanism 50 and 40 mass motion of the trigger mechanism；In other realities of the utility model
It applies in example, the angle-adjusting mechanism 50 combines installation with second driving mechanism 30, specifically, the angle-adjusting mechanism
50 are located at the lower section or side of second driving mechanism 30, and the angle-adjusting mechanism 50 drives second driving mechanism
30 and 40 mass motion of the trigger mechanism.
It further, can by moving matrix 60 as shown in Fig. 2, the emitter can also include movement matrix 60
It is moved easily emitter, quickly to adjust emitter to operating position, locking member (figure can be also set on movement matrix 60
In be not shown), with after emitter is moved to operating position lock movement matrix 60, make emitter relative to operating position
It is kept fixed, it is ensured that emitter keeps the stabilization of itself at work, will not be subjected to displacement because emitting bullet so that influencing
Launching effect.
Further regard to Fig. 3, in the utility model embodiment, first driving mechanism 20 includes 21 He of the first actuator
Support the first support element 22 of first actuator 21, the drive shaft 211 of first actuator and second driving machine
Structure 30 is connected.Further, first driving mechanism 20 further includes the first guide part 23, and first guide part 23 is solid
It is scheduled on first support element 22, first coordinated with first guide part 23 is provided in second driving mechanism 30
Guide part 34 (refering to Fig. 4, hereafter expansion illustrates).In the present embodiment, first support element 22 and first guide part
23 collectively define second driving mechanism 30 and the whole movement in first direction of motion of the trigger mechanism 40
Range.
In some embodiments, the first support element 22 may include the first support plate 221 and the second support plate 222, and first drives
Moving part 21 is fixed on the first support plate 221, and the drive shaft 211 of first actuator sequentially passes through 221 He of the first support plate
Second support plate 222, while the first guide part 23 is fixed between the first support plate 221 and the second support plate 222, described first
Guide part 23 and the drive shaft 211 of first actuator are arranged in parallel, the drive shaft 211 of first actuator and described the
When two driving mechanisms 30 are connected, first guide part 23 and the first guide part 34 in second driving mechanism 30 are mutual
It matches so that second driving mechanism 30 can do linear movement along first guide part 23.
In the present embodiment, first guide part 23 may include one or more of guide rods.
In some embodiments, the first actuator 21 can be motor, and the drive shaft 211 of first actuator accordingly may be used
For threaded rod, it is driven for screw-type between first actuator 21 and second driving mechanism 30；In other embodiments
In, the first actuator 21 can be cylinder, and the drive shaft 211 of first actuator can be accordingly piston rod, and described first drives
It is driven for piston type between moving part 21 and second driving mechanism 30；Certainly, in the application other embodiment, the first driving
Other, which can also be used, in part 21 can drive the second driving mechanism 30 to realize the driving equipment of linear movement, be not limited thereto.
Further, first driving mechanism 20 further includes connector 24, and connector 24 is for connecting the first driving machine
Structure 20 and mounting base 10.In some embodiments, can be the first support element 22 and connector 24 is integral structure, Huo Zhe
One guide part 23 and connector 24 are integral structure or the first support element 22, the first guide part 23 and connector 24
Integral structure.
Fig. 4 is further regarded to, in the utility model embodiment, second driving mechanism 30 includes the second actuator 31
With the second support element 32 for supporting second actuator 31, drive shaft 311 and the trigger mechanism of second actuator
40 are connected.Further, second driving mechanism 30 further includes the second guide part 33, and second guide part 33 is fixed
On second support element 32, the second guide part coordinated with second guide part 33 is provided on the trigger mechanism 40
(hereafter expansion explanation).In the present embodiment, second support element 32 and second guide part 33 limit the hair jointly
Penetrate motion range of the mechanism 40 in second direction of motion.
In some embodiments, the second support element 32 may include intermediate plate 321, the first side plate 322 and the second side plate 323,
First side plate 322 and the second side plate 323 are relatively fixed at the both ends of intermediate plate 321, and the second actuator 31 is fixed on the first side
Plate 322, and the drive shaft 311 of first actuator sequentially passes through the first side plate 322 and the second side plate 323, while second leads
It is fixed between the first side plate 322 and the second side plate 323 to part 33, the drive of second guide part 33 and second actuator
Moving axis 311 is arranged in parallel, when the drive shaft 311 of second actuator is connected with the trigger mechanism 40, described second
Guide part 33 is worked in coordination with the second guide part on the trigger mechanism 40 so that the trigger mechanism 40 can be along described second
Guide part 33 does linear movement.
Further, first guide part 34 is arranged on the intermediate plate 321, and first guide part 34 can be set
The one or more of grooves on the intermediate plate 321 are set, or the one or more bands being integrally fixed on the guide part
Reeded sliding block can also be one or more through-holes across the intermediate plate 321, or be integrally fixed at the intermediate plate
One or more on 321 carries the sliding block of through-hole, and groove and through-hole herein will coordinate realization to be oriented to the first guide part 23
Function.
Further, interconnecting piece (not identified in figure) is provided on the intermediate plate 321, for connecting the first driving mechanism
Transmission shaft 211.In some embodiments, intermediate plate 321, the first side plate 322 and the second side plate 323 can be integrated knots
Structure.
In some embodiments, the second actuator 31 can be motor, and the drive shaft 311 of second actuator accordingly may be used
For threaded rod, it is driven for screw-type between second actuator 31 and the trigger mechanism 40；In further embodiments,
Two actuators 31 can be cylinder, and the drive shaft 311 of second actuator can be accordingly piston rod, second actuator 31
It is driven for piston type between the trigger mechanism 40；Certainly, in the application other embodiment, the second actuator 31 can also be adopted
Trigger mechanism 40 can be driven to realize the driving element of linear movement with other, be not limited thereto.
Fig. 5 is further regarded to, in the utility model some embodiments, the trigger mechanism 40 includes portions 41, and
Be fixed on the portions 41 side by side dials bullet portion 42 and emission part 43, and described group of bullet portion 42 and the combination of emission part 43 form bullet fortune
Dynamic trajectory, fluctuation of the described group of bullet portion 42 for bullet supply, and the emission part 43 is used to provide power, and realizes adding for bullet
Speed and transmitting；Wherein, bullet is stirred so that bullet enters the emission part 43, the transmitting along the trajectory by described group of bullet portion 42
Portion 43 accelerates so that bullet emits at an angle the bullet in the trajectory.
In the present embodiment, portions 41 include substrate 411 and support plate 412 spaced apart, in conjunction with shown in Fig. 6, institute
State dial bullet portion 42 include bomb tube 421, cartridge box 422, dial cartridge drum 423 and dial bullet motor (not identified in figure), it is described go out bomb tube 421
It is docked with the emission part 43, described group of cartridge drum 423 is located at 422 bottom of the cartridge box, and is fixed on support plate 412, described group
It plays motor to be fixed between substrate 411 and support plate 412, and the shaft for dialling bullet motor is connect with described group of cartridge drum 423, described group of bullet
Disk 423 includes several bullet chambers for accommodating bullet, when described group of bullet motor drives described group of cartridge drum 423, several bullets played in chamber
Enter emission part 43 through going out bomb tube 421 successively, acceleration transmitting is carried out to bullet by emission part 43, wherein by adjusting bullet electricity is dialled
The rotating speed of machine can adjust the bullet quantity for entering emission part 43 in the unit interval, to realize pellet injection frequency
It adjusts.
Further, again refering to Fig. 5, the emission part 43 includes accelerating tube 431, transmitting tube 432 and acceleration component
433, the accelerating tube 431 is docked with the transmitting tube 432, meanwhile, the accelerating tube 431 also with it is described go out bomb tube 421 dock,
The acceleration component 433 accelerates the bullet in the accelerating tube 431 so that bullet is emitted by the transmitting tube 432.
In some embodiments, the acceleration component 433 includes being oppositely arranged on the friction pulley of 431 both sides of the accelerating tube
4331 and the friction turbin generator (not identified in figure) that rotates of the driving friction pulley 4331, the friction turbin generator be fixed on institute
It states in portions 41, such as substrate shown in fig. 5 411, the shaft of the friction turbin generator passes through support plate 412 and the friction pulley
4331 connections；Wherein, the part of friction pulley 4331 described in 431 face of the accelerating tube is engraved structure, the acceleration component 433
When accelerating to bullet, the friction pulley 4331 is in direct contact with bullet, and bullet kinetic energy is assigned by way of friction, is passed through
Adjustment friction turbin generator drives the rotating speed that friction pulley 4331 rotates, and can assign bullet different initial kinetic energies, to realize bullet
The adjusting of the emission rate of ball.
In some embodiments, the relative distance being arranged between the friction pulley 4331 of 431 both sides of the accelerating tube
It is adjustable, to be suitable for different size and specification bullet transmitting.
In some embodiments, bullet inlet is provided with positioning region (not identified in figure) in the accelerating tube 431,
The positioning region can position bullet before the acceleration component 433 accelerates bullet.
In some embodiments, however it is not limited to which above-mentioned group of bullet mode disclosed in the present embodiment can also be pneumatic, hydraulic pressure etc.
Type of drive.
Optionally, the portions 41 further include the movable plate 413 between the substrate 411 and support plate 412, the work
Certain spacing is all had between movable plate 413 and the substrate 411 and support plate 412, the angle-adjusting mechanism 50 may be provided at
Between the movable plate 413 and the substrate 411, described group of bullet motor and friction turbin generator are arranged in the support plate 412 and institute
Between stating movable plate 413, the angle of movable plate 413 can be adjusted by angle-adjusting mechanism 50, so as to adjust on movable plate 413
The support plate 412 of side and the angle of emission part 43.
Further, second guide part is arranged in 411 bottom of the substrate, and second guide part can be arranged
The one or more of grooves of 411 bottom of the substrate, or be integrally fixed at the one or more of 411 bottom of the substrate and carry
The sliding block of groove can also be one or more through-holes across the substrate 411, or be integrally fixed at 411 bottom of the substrate
The one or more in portion carries the sliding block of through-hole, and groove and through-hole herein will coordinate realization to be oriented to work(with the second guide part 33
Energy.
Based on above-described embodiment, the emitter further includes the detection for being mounted in the mounting base 10 and interconnecting
Module (not identified in figure) and control module (not identified in figure)；The detection module detects the bullet of the transmitting of the trigger mechanism 40
The kinematic parameter of ball, and the kinematic parameter is transmitted to the control module；The control module is according to predetermined movement parameter
With the kinematic parameter to the running parameter of first driving mechanism 20, the second driving mechanism 30 and trigger mechanism 40 into action
State controls.In some embodiments, the detection module is additionally operable to detect first driving mechanism 20, the second driving mechanism 30
With the working condition of trigger mechanism 40, with the work to first driving mechanism 20, the second driving mechanism 30 and trigger mechanism 40
It is accurately controlled as state.In the present embodiment, the kinematic parameter of bullet include launch angle, launching track, emission rate,
Tranmitting frequency etc.；The running parameter of first driving mechanism 20 and the second driving mechanism 30 includes driving distance, actuating speed etc., institute
The running parameter for stating trigger mechanism 40 includes the rotating speed for dialling bullet motor, rub between the rotating speed of turbin generator, friction pulley 4331 away from
From etc..By presetting relevant parameter in the control module, the automatic operation of emitter may be implemented, effectively improve hair
Efficiency and launch accuracy are penetrated, the testing time can be greatlyd save when carrying out shock-testing to product, and test can be effectively improved
Precision.
The relevant components of control module and detection module and function described in the present embodiment are by the phase in emission system below
It closes and is further described in embodiment.
According to the emitter that the utility model embodiment provides, at least exist as follows beneficial to effect compared with prior art
Fruit：
(1) the accurate fixed test in a region may be implemented by the driving mechanism in two different driving directions,
Switch to the test of plane by the test of single-point, flexibility is high, may be implemented to the dynamic shock-testing of product different location, full
The different test scene demand of foot；
(2) launch angle when trigger mechanism 40 emits bullet can be adjusted by angle-adjusting mechanism 50, it is adjustable with this
The flexibility of emitter transmitting bullet is improved in the track of whole Projectile Motion；
(3) trigger mechanism 40 that the utility model embodiment provides can realize the tune of pellet injection frequency and emission rate
Section；
(4) automatic operation that emitter may be implemented by detection module and control module, can effectively improve transmitting
Efficiency and launch accuracy；
(5) in addition, emitter provided by the utility model be alternatively arranged as teaching aid visual illustration object in different angle and
Parabolic motion track under speed.
The utility model embodiment provides a kind of emission system of bullet comprising remote control and above-mentioned any embodiment
Described in emitter (seeing Fig. 1 to Fig. 6), the emitter includes detection module and control module, the remote control
First driving mechanism 20, second is driven during device controls pellet injection by the control module in the emitter
The adjustment of 40 corresponding running parameter of motivation structure 30 and trigger mechanism.
Specifically, in the present embodiment, Fig. 7 show the schematical functional block diagram of the emission system, on the one hand, institute
Control module is stated for respectively driving the actuator in the first driving mechanism 20 and the second driving mechanism 30, and controls actuator
Movement, adjusts the transmitting position of bullet, such as when actuator is motor, and the control module drives the first driving mechanism 20 and the
Motor and the movement of motor is controlled in two driving mechanisms 30；On the other hand, the control module is additionally operable to control trigger mechanism 40
The movement for dialling bullet motor dialled in bullet portion 42, adjust the tranmitting frequency of bullet, and control trigger mechanism 40 emission part 43
In acceleration component 433, adjust the emission rate of bullet；In another aspect, the control module is additionally operable to driving angle adjustment machine
The movement of structure 50 and control angle-adjusting mechanism 50, adjusts the launch angle of bullet.
The detection module is used to obtain the kinematic parameter of bullet, and obtains first driving mechanism 20, second and drive
The working condition of motivation structure 30 and trigger mechanism 40；Kinematic parameter and the detection of the control module according to preset bullet
The kinematic parameter for the bullet that module obtains, and in conjunction with first driving mechanism 20, the second driving mechanism 30 and trigger mechanism 40
Working condition to the running parameter of first driving mechanism 20, the second driving mechanism 30 and trigger mechanism 40 into Mobile state control
System.
It, can be according to different surveys by remote control according to the emission system for the bullet that the utility model embodiment provides
Examination demand realizes the adjustment that running parameter and real-time working parameter are preset to emitter so that transmitting is with high flexibility and extensively
Applicability, test scene demand that can be different.
The utility model embodiment provides a kind of shooting robot, including chassis, the dynamical system for being installed on the chassis
And the emitter described in above-mentioned any embodiment；Specifically, in conjunction with Fig. 1 to Fig. 6, the emitter include mounting base 10,
First driving mechanism 20, the second driving mechanism 30 and trigger mechanism 40；First driving mechanism 20 is installed on the mounting base
On 10, and second driving mechanism 30 and 40 entirety of the trigger mechanism is driven to move in a first direction；Described second drives
Motivation structure 30 drives the trigger mechanism 40 to move in a second direction.In some embodiments, the mounting base 10 may include
Pedestal 11 and fixed holder 12 on the base 11, wherein the pedestal 11 can be the part on the chassis.
In some embodiments, shooting robot is also equipped with protecting crust, can detect from other projectile transmitting devices or
Person shoots the impact for the bullet that machine human hair is penetrated.
In other embodiments, the structure of the emitter sees the relevant technologies content in previous embodiment,
This is repeated no more.There is the repertoire of emitter using the shooting robot of the emitter described in previous embodiment and have
Beneficial effect, bullet can be emitted from different perspectives by thus shooting robot, to adapt to different shooting scenes.
Obviously, embodiments described above is only the utility model a part of the embodiment, rather than whole implementation
, the preferred embodiment of the utility model is given in attached drawing, but be not intended to limit the scope of the claims of the utility model.This practicality is new
Type can realize in many different forms, make public affairs to the utility model on the contrary, purpose of providing these embodiments is
The understanding for opening content is more thorough and comprehensive.Although the utility model is described in detail with reference to the foregoing embodiments, for
For those skilled in the art comes, the technical solution recorded in aforementioned each specific implementation mode can still be repaiied
Change, or equivalence replacement is carried out to which part technical characteristic.It is every to be done using the utility model specification and accompanying drawing content
Equivalent structure, other related technical areas are directly or indirectly used in, similarly in the utility model patent protection domain
Within.
Claims (16)
1. a kind of emitter of bullet, which is characterized in that including：Mounting base, the first driving mechanism, the second driving mechanism and hair
Penetrate mechanism；
First driving mechanism is installed in the mounting base, and drives second driving mechanism and the trigger mechanism whole
Body moves in a first direction；Second driving mechanism drives the trigger mechanism to move in a second direction.
2. emitter according to claim 1, which is characterized in that the emitter further includes for adjusting transmitter
The angle-adjusting mechanism of launch angle when structure transmitting bullet.
3. emitter according to claim 2, which is characterized in that the angle-adjusting mechanism includes level angle adjustment
Component and vertical angles adjust component.
4. emitter according to claim 2, which is characterized in that the angle-adjusting mechanism and the trigger mechanism group
Installation is closed, second driving mechanism drives the angle-adjusting mechanism and the trigger mechanism mass motion；Or
The angle-adjusting mechanism combines installation with second driving mechanism, and the angle-adjusting mechanism driving described second is driven
Motivation structure and the trigger mechanism mass motion.
5. emitter according to claim 1 or 2, which is characterized in that the trigger mechanism includes portions, and side by side
Be fixed on the portions dials bullet portion and emission part, and described group of bullet portion and emission part combine the trajectory to form Projectile Motion, wherein
Bullet is stirred in described group of bullet portion so that bullet enters the emission part along the trajectory, and the emission part is to the bullet in the trajectory
Ball accelerates so that bullet emits at an angle.
6. emitter according to claim 5, which is characterized in that the emission part includes accelerating tube, transmitting tube and adds
Fast component, the accelerating tube are docked with the transmitting tube, the acceleration component to the bullet in the accelerating tube accelerated with
Make bullet pass through the transmitting tube to emit.
7. emitter according to claim 6, which is characterized in that be provided with close to bullet inlet in the accelerating tube
Positioning region, the positioning region can position bullet before the acceleration component accelerates bullet.
8. emitter according to claim 6, which is characterized in that the acceleration component includes being oppositely arranged on described add
The friction pulley of fast pipe both sides and the friction turbin generator of the driving friction pulley rotation, the friction turbin generator are fixed on the seat
Portion, wherein the part of friction pulley described in the accelerating tube face is engraved structure, and the acceleration component accelerates bullet
When, the friction pulley is in direct contact with bullet.
9. emitter according to claim 8, which is characterized in that the friction pulley being arranged in the accelerating tube both sides
Between relative distance it is adjustable.
10. emitter according to claim 1 or 2, which is characterized in that first driving mechanism includes the first driving
Part and the first support element for supporting first actuator, the drive shaft of first actuator are matched with second driving mechanism
Close connection.
11. emitter according to claim 10, which is characterized in that first driving mechanism further includes the first guiding
Part, first guide part are fixed on first support element, are provided in second driving mechanism and are led with described first
The first guide part coordinated to part.
12. emitter according to claim 1 or 2, which is characterized in that second driving mechanism includes the second driving
Part and the second support element for supporting second actuator, drive shaft and the trigger mechanism cooperation of second actuator connect
It connects.
13. emitter according to claim 12, which is characterized in that second driving mechanism further includes the second guiding
Part, second guide part are fixed on second support element, are provided on the trigger mechanism and second guide part
Second guide part of cooperation.
14. emitter according to claim 1 or 2, which is characterized in that the emitter further includes mounted on described
In mounting base and interconnect detection module and control module；The detection module detects the bullet of the trigger mechanism transmitting
Kinematic parameter, and the kinematic parameter is transmitted to the control module；
The control module is according to predetermined movement parameter and the kinematic parameter to first driving mechanism, the second driving mechanism
Dynamic control is carried out with the running parameter of trigger mechanism.
15. a kind of emission system of bullet, which is characterized in that including remote control and claim 1~14 any one of them
Emitter, the remote control are controlled by control module in the emitter described first during pellet injection
The adjustment of driving mechanism, the second driving mechanism and the corresponding running parameter of trigger mechanism.
16. a kind of shooting robot, which is characterized in that including chassis, be installed on the dynamical system and claim 1 on the chassis
~14 any one of them emitters.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820171514.7U CN208043375U (en) | 2018-01-31 | 2018-01-31 | A kind of emitter and system, shooting robot of bullet |
| PCT/CN2018/103265 WO2019148829A1 (en) | 2018-01-31 | 2018-08-30 | Device and system for launching projectile, and launcher robot |
| CN201880067665.0A CN111226102A (en) | 2018-01-31 | 2018-08-30 | Projectile launching device and system and shooting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820171514.7U CN208043375U (en) | 2018-01-31 | 2018-01-31 | A kind of emitter and system, shooting robot of bullet |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208043375U true CN208043375U (en) | 2018-11-02 |
Family
ID=63951323
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820171514.7U Expired - Fee Related CN208043375U (en) | 2018-01-31 | 2018-01-31 | A kind of emitter and system, shooting robot of bullet |
| CN201880067665.0A Pending CN111226102A (en) | 2018-01-31 | 2018-08-30 | Projectile launching device and system and shooting robot |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880067665.0A Pending CN111226102A (en) | 2018-01-31 | 2018-08-30 | Projectile launching device and system and shooting robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN208043375U (en) |
| WO (1) | WO2019148829A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109724460A (en) * | 2018-12-18 | 2019-05-07 | 南京理工大学 | A kind of friction pulley ammunition feed mechanism that firing frequency can be provided |
| CN109794949A (en) * | 2019-03-11 | 2019-05-24 | 桂林理工大学 | A kind of grasping mechanism and shooting robot |
| CN110793386A (en) * | 2019-11-18 | 2020-02-14 | 南昌大学 | Controllable shot transmitting system without blockage |
| WO2020220336A1 (en) * | 2019-04-30 | 2020-11-05 | 深圳市大疆创新科技有限公司 | Mobile robot |
| CN112730111A (en) * | 2020-12-18 | 2021-04-30 | 西安理工大学 | Vertical high-speed projectile launcher based on hydraulic thrust |
| CN113686198A (en) * | 2021-09-10 | 2021-11-23 | 中国人民武装警察部队工程大学 | Transmitting device capable of transmitting in multiple specifications and control method thereof |
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| CN112158350B (en) * | 2020-11-09 | 2024-01-12 | 哈尔滨理工大学 | Single-emission-port continuous emission device of small fixed-wing unmanned aerial vehicle |
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| JP3515936B2 (en) * | 2000-01-20 | 2004-04-05 | コナミ株式会社 | Simulated gun |
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| US10209035B2 (en) * | 2012-09-13 | 2019-02-19 | Christopher V. Beckman | Non-lethal probe for target control |
| CN202814231U (en) * | 2012-09-28 | 2013-03-20 | 上海公安高等专科学校 | Confronting shooting target |
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| JP6151856B2 (en) * | 2014-05-06 | 2017-06-21 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Apparatus, transporter, facility, and method for detecting projectile hits on a surface |
| CN104780985B (en) * | 2014-08-29 | 2017-04-19 | 深圳市大疆创新科技有限公司 | Position adjusting device, shooting game device using same, and shooting method thereof |
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- 2018-01-31 CN CN201820171514.7U patent/CN208043375U/en not_active Expired - Fee Related
- 2018-08-30 WO PCT/CN2018/103265 patent/WO2019148829A1/en active Application Filing
- 2018-08-30 CN CN201880067665.0A patent/CN111226102A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109724460A (en) * | 2018-12-18 | 2019-05-07 | 南京理工大学 | A kind of friction pulley ammunition feed mechanism that firing frequency can be provided |
| CN109794949A (en) * | 2019-03-11 | 2019-05-24 | 桂林理工大学 | A kind of grasping mechanism and shooting robot |
| WO2020220336A1 (en) * | 2019-04-30 | 2020-11-05 | 深圳市大疆创新科技有限公司 | Mobile robot |
| JP2022530387A (en) * | 2019-04-30 | 2022-06-29 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッド | Mobile robot |
| CN110793386A (en) * | 2019-11-18 | 2020-02-14 | 南昌大学 | Controllable shot transmitting system without blockage |
| CN110793386B (en) * | 2019-11-18 | 2023-10-03 | 南昌大学 | Controllable shot transmitting system without blockage |
| CN112730111A (en) * | 2020-12-18 | 2021-04-30 | 西安理工大学 | Vertical high-speed projectile launcher based on hydraulic thrust |
| CN112730111B (en) * | 2020-12-18 | 2023-09-22 | 西安理工大学 | Vertical high-speed projectile launching device based on hydraulic thrust |
| CN113686198A (en) * | 2021-09-10 | 2021-11-23 | 中国人民武装警察部队工程大学 | Transmitting device capable of transmitting in multiple specifications and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019148829A1 (en) | 2019-08-08 |
| CN111226102A (en) | 2020-06-02 |
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