CN209085438U - Holder, Pellet Injection System and robot - Google Patents

Abstract

The utility model provides a kind of holder, Pellet Injection System and robot, and holder includes first motor and bullet pipeline, and first motor is for driving projectile transmitting device to rotate；One end of bullet pipeline for connecting first motor, first motor is also used to that bullet pipeline is driven to rotate for connecting projectile transmitting device, the other end；First motor includes motor shaft, and the inside of motor shaft is formed with the through-hole axially penetrated through, and the aperture of through-hole is greater than the outer diameter of bullet, so that bullet can pass sequentially through through-hole, bullet pipeline and be delivered to projectile transmitting device.Holder provided by the present application, through-hole on bullet pipeline and the motor shaft of first motor is connected to form channel, for bullet along through-hole, bullet pipeline to projectile transmitting device, meet the ammunition feed transmission demand being separated from each other between the projectile transmitting device of arrangement and magazine, avoids traditional magazine from being located on projectile transmitting device and lead to holder accuracy decline caused by reducing with bullet and restrict big problem to magazine capacity.

Description

Holder, Pellet Injection System and robot

Technical field

The utility model relates to holder technical fields, in particular to a kind of holder, a kind of Pellet Injection System and one Kind robot.

Background technique

The advantages that infantry robot is more, flexible, attack speed is fast due to role's quantity often plays quite in play Important role.Wherein, the magazine capacity of infantry robot determines sustainable operational time, and the stability of holder is in certain journey Attack precision is determined on degree, these two aspects factor suffers from bigger influence to attack.

In traditional infantry robot, magazine and projectile transmitting device become one and are collectively disposed at the pitch axis of holder On, the structure the problem is that: with bullet quantity reduce, the control of holder will receive influence, to further influence Attack precision, and due to the torque of holder, bullet capacity can be made fewer, cannot effectively extend operational time.

In view of the above technical problems, the prior art proposes the scheme for isolating magazine from projectile transmitting device, with solution Certainly cause holder accuracy decline with bullet reduction and restricts big problem, still, existing magazine and pellet injection to magazine capacity The scheme of device fission design is difficult to design there are the ammunition feed link between magazine and projectile transmitting device, it is compatible with holder to be difficult to The problem of, often lead to cradle head structure complication, the adverse effects such as holder precision entire lowering.

Utility model content

In view of this, it is necessary to provide a kind of holders that can solve at least one above-mentioned technical problem.

Another of the utility model is designed to provide a kind of Pellet Injection System.

Another of the utility model is designed to provide a kind of robot.

To achieve the goals above, the technical solution of the utility model first aspect provides a kind of holder, is used for and bullet The connection of ball emitter, the projectile transmitting device is for emitting bullet, wherein the holder includes first motor, bullet Pipeline, the first motor is for driving the projectile transmitting device to rotate；One end of the bullet pipeline is described for connecting Projectile transmitting device, the other end for connecting the first motor, the first motor are also used to that the bullet pipeline is driven to turn It is dynamic；The first motor includes motor shaft, and the inside of the motor shaft is formed with the through-hole axially penetrated through, and the hole of the through-hole Diameter is greater than the outer diameter of the bullet, so that the bullet can pass sequentially through the through-hole, the bullet pipeline and be delivered to The projectile transmitting device.

In addition, the holder in above-mentioned technical proposal provided by the utility model can also have following additional technical feature:

In the above-mentioned technical solutions, the holder further includes connection component, and the connection component is set to the first motor On, it is used to support the projectile transmitting device；The first motor is also used to that the connection component is driven to rotate.

In the above-mentioned technical solutions, the connection component includes mounting plate, the first installing arm and the second installing arm；The peace Loading board is set in the first motor, and first installing arm and second installing arm are set on the two sides of the mounting plate；Institute It states and is formed with accommodating space in the first installing arm, the bullet pipe section is located in the accommodating space.

In the above-mentioned technical solutions, the other end of the bullet pipeline passes through the mounting plate and the first motor Connection, wherein the mounting plate is equipped with the first opening for being adapted to the through-hole, and first opening is located at first installation Between arm and second installing arm, for being connected to the bullet pipeline and the motor shaft.

In the above-mentioned technical solutions, first installing arm is integrally formed with the part bullet pipeline.

In the above-mentioned technical solutions, one in the mounting plate and the bullet pipeline is equipped with boss, on another Equipped with groove, the boss is embedded in the groove.

In the above-mentioned technical solutions, the mounting plate is equipped with the boss, and the boss is in a ring and around described the One opening, projection of the inner wall of the through-hole of the motor shaft on the mounting plate are overlapped with the inner ring of the boss.

In the above-mentioned technical solutions, the first motor includes rotor assembly, stator module and the motor shaft, and described turn Sub-component is fixed with the motor shaft, is rotatablely connected between the stator module and the rotor assembly and the motor shaft.

In the above-mentioned technical solutions, the stator module is connected with the bullet pipeline and the bullet pipeline can be driven to turn It is dynamic.

In the above-mentioned technical solutions, the stator module includes that stator base, first end cover and electricity adjust circuit board, described fixed Sub- pedestal connect with the first end cover and surrounds to form electric appliance cavity, and the electricity adjusts circuit board to be set in the electric appliance cavity.

In the above-mentioned technical solutions, the first motor further includes functional interface, and the functional interface and the electricity adjust electricity The electrical connection of road plate, the stator base and/or the first end cover are equipped with the second opening of the corresponding functional interface；With/ Or, the inner wall of the first end cover is equipped with limiting slot, one end of the motor shaft is protruded into the limiting slot.

In the above-mentioned technical solutions, the motor shaft, and the motor shaft can be rotatably set in the stator base Circuit board is adjusted across the electricity, the first end cover is equipped with the third opening for being adapted to the through-hole；The bullet pipeline passes through Mounting plate is connect with the first end cover, wherein and one in the mounting plate and the first end cover is equipped with positioning protrusion, Another is equipped with locating slot, and the positioning protrusion is embedded in the locating slot.

In the above-mentioned technical solutions, the positioning protrusion includes the first protrusion, and it is convex that the first end cover is equipped with described first It rises, first protrusion is open in a ring and around the third, throwing of the inner wall of the through-hole in the first end cover Shadow is overlapped with the inner ring of first protrusion；The locating slot includes the first locating slot, and the mounting plate is equipped with described first Locating slot, first locating slot are adapted to first protrusion；And/or the positioning protrusion includes the second protrusion, described the The center lines of two protrusions deviate the axis of the motor shaft, and the locating slot includes the second locating slot, second locating slot with The second protrusion adaptation.

In the above-mentioned technical solutions, when the positioning protrusion includes the second protrusion, second protrusion is in a ring.

In the above-mentioned technical solutions, the stator base includes pedestal and deviates from the first end cover from the pedestal is past Direction extend fixed part；First bearing, the first bearing direction are provided between the motor shaft and the fixed part The lock sleeve for being equipped with and being located on the motor shaft is supported in one end of the pedestal；It is also set up between the motor shaft and the fixed part There is second bearing, the second bearing offsets away from one end of the pedestal with the second end cover in the rotor assembly, described Second end cover is set on the motor shaft；The fixed part inner wall is provided with the limiting section to extend internally, the first bearing Offset away from one end of the pedestal and one end of the limiting section, the second bearing towards the pedestal one end with it is described The other end of limiting section offsets.

In the above-mentioned technical solutions, the lock sleeve includes swivel nut, the swivel nut be set on the outside of the motor shaft and with The motor shaft is threadedly coupled；And/or the rotor assembly includes rotor magnetic ring, the lock sleeve towards the pedestal one End is connected with mounting ring, and the rotor magnetic ring is embedded in the mounting ring；And/or the second end cover offers adaptation institute The 4th opening for stating through-hole, for connecting magazine, so that the bullet is delivered to the bullet by the through-hole by the magazine Ball emitter；And/or the stator module includes stator core, the rotor assembly further includes rotor magnet and rotor magnetic Yoke；The rotor magnet is set on the inner wall of the rotor rim, and the rotor rim is fixed on the second end cover, and described Rotor rim nesting is distributed in the outside of the stator core and can rotate relative to the stator core.

In the above-mentioned technical solutions, the inner wall of the lock sleeve is provided with internal screw thread, and the motor shaft has thread segment, institute It states thread segment and is provided with external screw thread, the internal screw thread of the lock sleeve is Nian Jie with the external screw thread on the motor shaft

In the above-mentioned technical solutions, the holder further includes the second motor, and second motor is for driving the bullet Emitter rotation, the driving direction of the first motor are different from the driving direction of second motor.

In the above-mentioned technical solutions, second motor be pitching spindle motor, for drive the projectile transmitting device around Pitch axes.

In the above-mentioned technical solutions, the first motor is yaw spindle motor, for driving the bullet pipeline around yaw Axis rotation.

In the above-mentioned technical solutions, the bullet pipeline includes C-shaped pipes section and connecting bend, one end of the C-shaped pipes section It is connected by the connecting bend with the first motor, the other end of the C-shaped pipes section is for connecting the pellet injection dress It sets；The C-shaped pipes section is used to connect the center line of one end of the projectile transmitting device transversely, and the connecting bend is for connecting Connect the center line of one end of the first motor along longitudinal direction.

The technical solution of the utility model second aspect provides a kind of Pellet Injection System, comprising: projectile transmitting device； Holder described in any of the above-described technical solution, the projectile transmitting device are set on the holder.

In addition, the Pellet Injection System in above-mentioned technical proposal provided by the utility model can also have additional skill as follows Art feature:

In the above-mentioned technical solutions, the Pellet Injection System further includes magazine component, and the magazine component includes magazine And the bullet channel being connect with the magazine；The bullet channel is connected to the through-hole of first motor in the holder.

In the above-mentioned technical solutions, the projectile transmitting device include transmitting tube, accelerating tube, deformable friction pulley and Driving assembly；The accelerating tube is docked with the transmitting tube；The friction pulley includes two, and two friction pulleys are oppositely arranged In the two sides of the accelerating tube, and two friction pulleys are partially located in the accelerating tube, are located at the acceleration to support Bullet in pipe；The driving component is used to that two friction pulleys to be driven to rotate towards the direction of the transmitting tube simultaneously, with So that the bullet accelerates into the transmitting tube under the rotary force effect of two friction pulleys；Wherein, when the transmitting When the direction of the launch of pipe is horizontal direction, the arragement direction of two friction pulleys is vertical direction.

In the above-mentioned technical solutions, the driving component includes two driving motors, and two driving motors are corresponding to be driven Dynamic two friction pulley rotations.

In the above-mentioned technical solutions, the driving motor is external rotor electric machine, and the friction pulley is set in the outer rotor In the rotor case of motor, the rotor case is for driving the friction pulley to rotate.

In the above-mentioned technical solutions, it is respectively equipped with groove in the opposing sidewalls on the accelerating tube, is opened up in the groove There is mounting hole, the friction pulley is by the mounting hole quartile in the accelerating tube.

In the above-mentioned technical solutions, the side wall of the groove is equipped with dismountable mounting portion；The mounting portion includes peace Ontology and mounting shell are filled, the mounting shell is set on the installation ontology；Accommodation space, the driving are equipped in the mounting shell Motor and the friction pulley are located in the accommodation space.

In the above-mentioned technical solutions, the projectile transmitting device further includes bullet connection framework, and the bullet is connected to framework For connecting the accelerating tube and the magazine；The installation ontology is set in the one side wall of the opening up groove, institute The one end for stating mounting shell is connect with the installation ontology, and the other end of the mounting shell is connect with bullet connection framework.

In the above-mentioned technical solutions, the Pellet Injection System further includes master control borad, and the master control borad is located at described in two Side of the friction pulley far from the transmitting tube, and the master control borad is electrically coupled with the driving component and connect.

In the above-mentioned technical solutions, the projectile transmitting device further includes outer cover, and the outer cover is for being provide with the master control Plate and at least one described friction pulley.

In the above-mentioned technical solutions, when the holder includes the second motor, two friction pulleys and second electricity Machine is disposed adjacent.

The technical solution of the utility model third aspect provides a kind of robot, comprising: including chassis, be installed on it is described Pellet Injection System described in chassis and the power mechanism for being used to drive the chassis mobile and any of the above-described technical solution, The Pellet Injection System is set to the chassis.

In the above-mentioned technical solutions, the first electricity when the Pellet Injection System includes magazine component, in the holder Bullet channel in machine and the magazine component is set to the opposite sides on the chassis.

Compared with prior art, the application has technical effect beneficial below: holder provided by the utility model, bullet Through-hole on pipeline and the motor shaft of first motor is connected to form channel, for bullet along through-hole, bullet pipeline to bullet Emitter meets the ammunition feed transmission demand being separated from each other between the projectile transmitting device of arrangement and magazine, avoids traditional bullet Position in storehouse holder accuracy decline caused by causing to reduce with bullet on projectile transmitting device and big ask is restricted to magazine capacity Topic.Meanwhile bullet can be transmitted directly along the motor shaft of first motor in this structure, will not hinder first motor in this way Work is driven, and realizes the integrated form connection for driving and being connected between bullet pipeline and first motor, without meeting bullet Ball drives bullet pipeline to rotate by huge, complicated transmission mechanism while conveying, in this way, cradle head structure is comparatively more Simply, volume is smaller, and by first motor directly drive avoid due to transmission mechanism bring control response speed and Precision problem, so that the compatible result between holder and projectile transmitting device is more preferable, the overall precision of holder is accordingly promoted.

The additional aspect and advantage of the utility model will become obviously in following description section, or practical new by this The practice of type is recognized.

Detailed description of the invention

The above-mentioned and/or additional aspect and advantage of the utility model from the description of the embodiment in conjunction with the following figures will Become obvious and be readily appreciated that, in which:

Fig. 1 is the schematic view of the front view of Pellet Injection System described in the utility model one embodiment；

Fig. 2 is the schematic cross-sectional view of Pellet Injection System shown in Fig. 1；

Fig. 3 is the left view schematic diagram of Pellet Injection System shown in Fig. 1；

Fig. 4 is Pellet Injection System described in the utility model one embodiment (removal outer cover) schematic view of the front view；

Fig. 5 is that structural schematic diagram cuts open in Pellet Injection System described in the utility model one embodiment (removal outer cover) office；

Fig. 6 is the partial enlargement structural representation that structure is cutd open by office shown in Fig. 5；

Fig. 7 is the backsight structural representation of Pellet Injection System shown in Fig. 4；

Fig. 8 is the present invention looks up structural representation of Pellet Injection System shown in Fig. 4；

Fig. 9 is the schematic perspective view of Pellet Injection System shown in Fig. 4；

Figure 10 is that the transmitting tube of Pellet Injection System shown in Fig. 4 is rotated down the structural schematic diagram after α degree；

Figure 11 is the schematic perspective view of Pellet Injection System shown in Figure 10；

Figure 12 is the decomposition texture schematic diagram of Pellet Injection System shown in Fig. 4；

Figure 13 is the partial structure diagram of the decomposition texture of Pellet Injection System shown in Fig. 4；

Figure 14 is the schematic perspective view of first motor described in the utility model one embodiment；

Figure 15 is the side structure schematic view of first motor shown in Figure 14；

Figure 16 is the present invention looks up structural representation of first motor shown in Figure 14；

Figure 17 is the schematic cross-sectional view of first motor shown in Figure 14；

Figure 18 is the decomposition texture schematic diagram of first motor shown in Figure 14；

Figure 19 is the structural schematic diagram of bullet pipeline described in the utility model one embodiment；

Figure 20 is the schematic perspective view of projectile transmitting device described in the utility model one embodiment；

Figure 21 is the schematic perspective view of accelerating tube described in the utility model one embodiment.

Wherein, the corresponding relationship between appended drawing reference and component names of the Fig. 1 into Figure 21 are as follows:

100 first motors, 110 motor shafts, 111 through-holes, 112 thread segments, 121 second end covers, 1211 the 4th openings, 122 Rotor magnetic ring, 123 rotor magnets, 124 rotor rims, 131 stator bases, 1311 pedestals, 1312 fixed parts, 1313 limiting sections, 1314 second openings, 132 stator light-guiding pillars, 133 stator cores, 134 first end covers, 1341 thirds opening, 1,342 first protrusions, 1343 second protrusions, 1344 screw holes, 1345 limiting slots, 135 electric appliance cavities, 137 functional interfaces, 138 screws, 1381 first axles It holds, 1382 second bearings, 139 lock sleeves, 1391 mounting rings, 200 bullet pipelines, 210 connecting bends, 211 grooves, 220C shape pipe Section, 221 straight sections, 222 first bent portions, 223 second bent portions, 300 connection components, 310 mounting plates, 311 first openings, 312 boss, 313 first locating slots, 320 first installing arms, 330 second installing arms, 400 second motors, 500 pellet injections dress It sets, 510 transmitting tubes, 520 accelerating tubes, 521 mounting holes, 522 mounting portions, 5221 installation ontologies, 5222 mounting shells, 5223 accommodate sky Between, 523 grooves, 530 friction pulleys, 540 driving motors, 550 master control borads, 560 outer covers, 570 side plates, 580 bullets connection framework, 600 magazine components, 610 magazines, 620 bullet channels, 700 bullets, 800 chassis.

Specific embodiment

In order to be more clearly understood that the above objects, features, and advantages of the utility model, with reference to the accompanying drawing and have The utility model is further described in detail in body embodiment.It should be noted that in the absence of conflict, this Shen The feature in embodiment and embodiment please can be combined with each other.

Many details are explained in the following description in order to fully understand the utility model, still, this is practical Novel to be implemented using other than the one described here other modes, therefore, the protection scope of the utility model is simultaneously It is not limited by the specific embodiments disclosed below.

The utility model embodiment is provided with a kind of holder.Wherein, holder can be used for Pellet Injection System, pellet injection System can be used for robot, such as land robot (infantry robot), underwater robot, air-robot.The robot can To be remotely controlled by user.Robot has chassis, and holder is set on chassis, can fill equipped with such as pellet injection on holder It sets.Multiple robots can form a team to carry out to anti-fight, to form robot match.

Holder, Pellet Injection System according to the utility model some embodiments are described referring to Fig. 1 to Figure 21 And robot.

As depicted in figs. 1 and 2, the holder that the embodiment of the utility model first aspect provides can be used for sending out with bullet Injection device 500 connects, and projectile transmitting device 500 is for emitting bullet 700, wherein holder includes: first motor 100 and bullet Pipeline 200.Specifically, first motor 100 is the motor for driving projectile transmitting device to rotate；One end of bullet pipeline 200 For connecting projectile transmitting device 500, the other end connects first motor 100.It is understood that bullet pipeline 200 and first It can be to be directly connected to or be indirectly connected with for what is realized by component placed in the middle between motor 100, realize that first motor 100 can drive bullet Ball pipeline 200 rotates, in this way, driving bullet pipeline 200 and projectile transmitting device 500, bullet pipeline using first motor 100 200 and projectile transmitting device 500 rotation synchronism it is more reliable, the connection between bullet pipeline 200 and projectile transmitting device 500 Effect is more stable, reliable.Wherein, first motor 100 includes motor shaft 110, and the inside of motor shaft 110, which is formed with, to be axially penetrated through Through-hole 111, and the aperture of through-hole 111 is greater than the outer diameter of bullet 700, so that bullet 700 can pass sequentially through through-hole 111, bullet Ball pipeline 200 is simultaneously delivered to projectile transmitting device 500.

Through-hole 111 on the motor shaft 110 of holder provided by the utility model, bullet pipeline 200 and first motor 100 connects It is logical to form channel, it is delivered to projectile transmitting device 500 along through-hole 111, bullet pipeline 200 for bullet 700, satisfaction is separated from each other Ammunition feed transmission demand between the projectile transmitting device 500 and magazine 610 of arrangement avoids traditional magazine 610 from being located at bullet hair Holder accuracy decline caused by injection device 500 and causing is reduced with bullet 700 and big problem is restricted to 610 capacity of magazine.Together When, bullet 700 can be transmitted directly along the motor shaft 110 of first motor 100 in this structure, will not be hindered in this way to the first electricity The driving work of machine 100, and realize that the integrated form for driving and being connected between bullet pipeline 200 and first motor 100 connects, and nothing Bullet pipeline 200 need to be driven to rotate by huge, complicated transmission mechanism, in this way, cradle head structure is simpler, volume is smaller, And it is avoided by directly driving for first motor due to transmission mechanism bring control response speed and precision problem, so that cloud Compatible result between platform and projectile transmitting device 500 is more preferable, and the overall precision of holder is accordingly promoted.

Certainly, in other embodiments, it can also make holder that in addition motor is set for driving projectile transmitting device 500 Rotation, and this is adjusted for realizing dimension by way of driving motor and the first motor 100 of projectile transmitting device 500 automatically controlled The rotation synchronism for holding projectile transmitting device 500 Yu bullet pipeline 200, equally can achieve sends out bullet pipeline 200 and bullet Connection effect between injection device 500 is more stable, reliable purpose.

In the present embodiment, as shown in figure 3, holder further includes connection component 300, connection component 300 is set to the first electricity On machine 100, it is used to support projectile transmitting device 500；First motor 100 is also used to be drivingly connected the rotation of component 300.In this way, sharp It is drivingly connected component 300, projectile transmitting device 500 and bullet pipeline 200 simultaneously with first motor 100 to rotate, pellet injection dress Set between 500 and connection component 300 to be adapted to effect more preferable, and be also more conducive to guarantee projectile transmitting device 500 and bullet pipeline Rotation synchronism between 200 avoids the occurrence of between projectile transmitting device 500 and bullet pipeline 200 because rotating asynchronous appearance Pipe problem is pulled, to improve the connection reliability of bullet pipeline 200 Yu projectile transmitting device 500.

In the present embodiment, as shown in figure 3, connection component 300 includes mounting plate 310, the first installing arm 320 and second Installing arm 330；Mounting plate 310 is set in first motor 100, and the first installing arm 320 and the second installing arm 330 are set to mounting plate 310 two sides；Accommodating space is formed in first installing arm 320,200 part of bullet pipeline is located in accommodating space.In this way, sharp With the first installing arm 320 can be formed to bullet pipeline 200 support and be formed effect, it is ensured that bullet pipeline 200 will not damage and Bending, so that it is more reliable to 700 conveying effect of bullet, and projectile transmitting device 500 and bullet are also ensured using connection component 300 Coupling stiffness between ball pipeline 200, it is ensured that projectile transmitting device 500 and bullet pipeline 200 are under the driving of first motor 100 Synchronism is rotated, meanwhile, the structure of the connection component 300 is also conducive to be formed between bullet pipeline 200 and the first installing arm 320 Integrated design further decreases the overall volume of holder.

In other embodiments, can also design the motor shaft 110 of first motor 100 for respectively with projectile transmitting device 500 and bullet pipeline 200 connect, for example, the motor shaft 110 of first motor 100 is connect with bullet pipeline 200, (such as first is electric Connected between the motor shaft 110 and bullet pipeline 200 of machine 100 by shaft coupling), and the motor shaft 110 of first motor 100 passes through Component (such as mounting plate 310 and the second installing arm 330) placed in the middle is connect with projectile transmitting device 500.

In the present embodiment, the first installing arm 320 is integrally formed with part bullet pipeline 200.Such as the first installing arm 320 and 200 integrated injection molding of part bullet pipeline etc., such structure can save poling installation step, so that product group Dress process is more simplified, while can also take into account the bonding strength promoted between the first installing arm 320 and bullet pipeline 200.

In the present embodiment, as shown in figure 13, one end of bullet pipeline 200 passes through mounting plate 310 and first motor 100 Connection.Wherein, mounting plate 310 is equipped with the first opening 311 of adaptation through-hole 111, as shown in figure 3, the first opening 311 is located at the Between one installing arm 320 and the second installing arm 330, for being connected to bullet pipeline 200 and motor shaft 110.It is opened by design first Mouth 311 is between the first installing arm 320 and the second installing arm 330, in this way, the load in first motor 100 is substantially about electricity 110 symmetric part of arbor is conducive to the long-term stress equalization of motor shaft 110, guarantees product reliability.

In the present embodiment, as shown in Fig. 5, Fig. 6 and Figure 13, mounting plate 310 is equipped with boss 312, bullet pipeline 200 It is equipped with groove 211, boss 312 is embedded in groove 211.Installation is cooperatively formed with groove 211 in this way, can use boss 312 Assembly between plate 310 and bullet pipeline 200 positions instruction, opens conducive to guarantee bullet pipeline 200 with first on mounting plate 310 Mouthful 311 proper alignments, it is ensured that effective between bullet pipeline 200 and the through-hole 111 of motor shaft 110 is connected to, meanwhile, boss 312 Intercalation cooperation with groove 211 is also beneficial to the shear stress between mounting plate 310 and bullet pipeline 200 and transmits, and is promoted to bullet The driving reliability of ball pipeline 200.

In other embodiments, bullet pipeline 200 can also be designed equipped with boss 312, mounting plate 310 is equipped with groove 211, boss 312 is embedded in groove 211.

In the present embodiment, it is preferable that as shown in fig. 6, the boss 312 of mounting plate 310 is opened in a ring and around first The inner ring of the boss 312 of mouth 311, projection of the inner wall of the through-hole 111 of motor shaft 110 on mounting plate 310 and mounting plate 310 It is overlapped.In this way, may make the first opening 311 is formed between through-hole 111 and bullet pipeline 200 to smoothly transit, bullet 700 is avoided By there is clamping stagnation problem when the first opening 311.

In the present embodiment, first motor 100 include rotor assembly, stator module and motor shaft 110, rotor assembly with Motor shaft 110 is fixedly connected, and is rotatablely connected between stator module and rotor assembly and motor shaft 110.

Further, stator module is connected with bullet pipeline 200 and bullet pipeline 200 can be driven to rotate.It is understood that Being can be to be directly connected to or for by between component placed in the middle (such as mounting plate 310) realization between stator module and bullet pipeline 200 It connects in succession.

In other embodiments, rotor assembly and/or motor shaft 110 can also be designed to be connected with bullet pipeline 200 and energy Bullet pipeline 200 is driven to rotate.

In the present embodiment, as shown in figure 17, stator module includes that stator base 131, first end cover 134 and electricity adjust electricity Road plate (not shown), stator base 131 connect with first end cover 134 and surround to form electric appliance cavity 135, and electricity adjusts circuit board In electric appliance cavity 135.In this way, the electricity in electric appliance cavity 135 adjusts circuit board that can rotate with stator module, so that electricity is adjusted Circuit board can keep motion synchronicity with components such as motors in holder, avoid in holder motor and electricity from adjusting and occur between circuit board The problems such as conducting wire is pullled, is wound.Meanwhile by electricity regulation making sheet be integrated in first motor 100, with simplify first motor 100 and The installation of electricity regulation making sheet, simplifies being electrically connected for electricity regulation making sheet and first motor 100, and can be improved first motor 100 and The reliability of electrical connection between electricity regulation making sheet.

Optionally, stator module may also include stator light-guiding pillar 132.

In the present embodiment, as shown in Figure 10, Figure 13, Figure 14, Figure 15 and Figure 18, first motor 100 further includes function Interface 137 (such as connecting terminal), functional interface 137 and electricity adjust circuit board electrical connection, and stator base 131 is equipped with corresponding function Second opening 1314 of interface 137.In this way, the projectile transmitting device 500 and functional interface driven by first motor 100 can be formed It rotates synchronously between 137, so that the conducting wire of projectile transmitting device 500 to functional interface 137 can keep substantially opposing stationary, keeps away The problems such as exempting from conducting wire winding.Wherein, functional interface 137 may include communication interface and power interface.

In other embodiments, the second opening 1314 can also be designed to be located in first end cover 134, alternatively, at stator bottom The second opening 1314 is respectively equipped on seat 131 and first end cover 134 or has cooperatively formed the second opening 1314.Second opening 1314 Quantity and shape can be configured according to actual needs, specifically can be according to the quantity and shape of functional interface 137 or connector Shape is configured, and the present embodiment is not specifically limited herein.Certainly, it may be provided with wireless communication module in electricity regulation making sheet, with Communicate to connect electricity regulation making sheet can module and external component by wireless communication.

In the present embodiment, it as shown in Figure 13, Figure 14, Figure 15 and Figure 18, can be rotatably set in stator base 131 Motor shaft 110, and motor shaft 110 passes through electricity and adjusts circuit board, first end cover 134 is equipped with the third opening of adaptation through-hole 111 1341。

In the present embodiment, bullet pipeline 200 is connect by mounting plate 310 with first end cover 134, wherein mounting plate 310 are equipped with positioning protrusion with one in first end cover 134, another is equipped with locating slot, and positioning protrusion is embedded in locating slot In.

More specifically, as shown in Figure 13 and Figure 15, positioning protrusion includes the first protrusion 1342, and first end cover 134 is equipped with First protrusion 1342, the first protrusion 1342 is in a ring and around third opening 1341, the inner wall of the through-hole 111 of motor shaft 110 Projection in first end cover 134 is overlapped with the inner ring of the first protrusion 1342；Locating slot includes the first locating slot 313, mounting plate 310 are equipped with the first locating slot 313, and the first locating slot 313 is adapted to the first protrusion 1342.In this way, can use the first protrusion 1342 and first locating slot 313 cooperatively form the assembly between mounting plate 310 and first motor 100 positioning indicate, be conducive to guarantee 111 proper alignment of through-hole of third opening 1341 and motor shaft 110, it is ensured that the through-hole 111 of bullet pipeline 200 and motor shaft 110 Between effective connection.

In addition, positioning protrusion further includes the second protrusion 1343, the center line of the second protrusion 1343 as shown in Figure 13 and Figure 15 Deviate the axis of motor shaft 110, locating slot includes the second locating slot, and the second locating slot is adapted to the second protrusion 1343.In this way, can It is positioned with cooperatively forming the fast-assembling between mounting plate 310 and first motor 100 using the second protrusion 1343 and the second locating slot, together When, the intercalation cooperation of the second protrusion 1343 and the second locating slot is also beneficial to the shearing between mounting plate 310 and first motor 100 Stress transfer promotes driving reliability.Wherein, the second protrusion 1343 can be set in first end cover 134, and the second locating slot can be with On mounting plate 310.

Preferably, as shown in figure 16, the second protrusion 1343 is in a ring.The molding of the second protrusion 1343 is advantageously ensured that in this way Quality avoids the bad problems such as shrink.And more specifically, first end cover 134 is equipped with several screw holes 1344 for first It is connected between end cap 134 and mounting plate 310 by screw 138, this programme designs the second protrusion 1343 in a ring, can further exist Screw hole 1344 is arranged inside, so to realize the integrated distribution of structure in first end cover 134, reduces to first end cover 134 Intensity weakens the influence, and promotes 134 intensity of first end cover.

In the present embodiment, as shown in Figure 17 and Figure 18, stator base 131 includes pedestal 1311 and from pedestal 1311 The fixed part 1312 extended toward the direction away from first end cover 134；First axle is provided between motor shaft 110 and fixed part 1312 1381 are held, first bearing 1381 supports the lock sleeve 139 for being equipped with and being located on motor shaft 110 towards one end of pedestal 1311；Motor shaft It is additionally provided with second bearing 1382 between 110 and fixed part 1312, rotor assembly includes second end cover 121, and 121 sets of second end cover It is located on motor shaft 110, second bearing 1382 offsets away from one end of pedestal 1311 with second end cover 121；In fixed part 1312 Wall is provided with the limiting section 1313 to extend internally, and first bearing 1381 is away from one end of pedestal 1311 and one end of limiting section 1313 It offsets, second bearing 1382 offsets towards one end of pedestal 1311 and the other end of limiting section 1313.

Since the upper end of first bearing 1381 and the limiting section 1313 of fixed part 1312 offset, the upper end of lock sleeve 139 with The lower end of first bearing 1381 offsets, and it is upward relative to pedestal 1311 to so, it is possible limiting motor axis 110 and second end cover 121 It is mobile；Further, since the lower end of second bearing 1382 offsets with limiting section 1313, the upper end of second bearing 1382 and second end cover 121 offset, and so, it is possible limiting motor axis 110 and second end cover 121 is moved down relative to pedestal 1311.

Therefore, in the present embodiment, can axial movement of the limiting motor axis 110 relative to pedestal 1311, so as to disappear Except the axial gap in first motor 100 between rotor assembly and stator module, namely eliminate motor shaft in first motor 100 110 axial float, and then guarantee the accuracy of revolving speed and torque that first motor 100 exports.

Preferably, as shown in figure 17, lock sleeve 139 includes swivel nut, and swivel nut is set in 110 outside of motor shaft and and motor shaft 110 are threadedly coupled.

Further, the inner wall of lock sleeve 139 is provided with internal screw thread, and motor shaft 110 has thread segment 112, thread segment 112 It is provided with external screw thread, the internal screw thread of lock sleeve 139 is Nian Jie with the external screw thread on motor shaft 110, for example, into lock sleeve 139 Glue is injected between external screw thread on screw thread and motor shaft 110, realizing makes on the internal screw thread and motor shaft 110 of lock sleeve 139 It is further bonded between external screw thread, to guarantee the fixation reliability of lock sleeve 139 Yu motor shaft 110, improves to 110 axis of motor shaft To the restriction effect of play.

In the present embodiment, as shown in Figure 17 and Figure 18, the inner wall of first end cover 134 is equipped with limiting slot 1345, One end of motor shaft 110 is protruded into limiting slot 1345.It can be formed and be limited in the end of motor shaft 110 in this way, avoid the first electricity In 100 operation process of machine, there is amplitude or the excessive problem of deviation amount in the distal portion of motor shaft 110, to avoid because of electricity 110 amplitude of arbor or deviation amount it is excessive caused by motor shaft 110 collide electricity and adjust the bad situation such as circuit board.

In the present embodiment, as shown in Figure 17 and Figure 18, rotor assembly includes rotor magnetic ring 122,139 direction of lock sleeve One end of pedestal 1311 is connected with mounting ring 1391, and rotor magnetic ring 122 is embedded in mounting ring 1391.Using rotor magnetic ring 122, It can be used for the angle feed-back of first motor 100.

Further, second end cover 121 offers the 4th opening 1211 of adaptation through-hole 111, for connecting magazine 610, So that bullet 700 is delivered to projectile transmitting device 500 by through-hole 111 by magazine 610.Wherein, magazine 610 is for storing bullet Ball.

Wherein, motor shaft 110 is fixed in the 4th opening 1211, so that the structure of first motor 100 is more stepped up It gathers；Wherein, motor shaft 110 can stretch out 121 preset length of second end cover upwards, and the present embodiment does not do specifically the preset length It limits, can be configured according to actual needs.

Wherein, second end cover 121 can be equipped with shallow slot away from the upper end of first end cover 134, and shallow slot can be with the 4th opening 1211 It is arranged concentrically, mutually copes with, the upper end of motor shaft 110 is provided with flange, and flange is arranged in shallow slot；Flange can be with second end cover 121 bondings are fastenedly connected, to improve the connection reliability of motor shaft 110 Yu second end cover 121.

Further, stator module includes stator core 133, and rotor assembly further includes rotor magnet 123 and rotor rim 124；Rotor magnet 123 is set on the inner wall of rotor rim 124, and rotor rim 124 is fixed on second end cover 121, and rotor magnetic 124 nesting of yoke is distributed in the outside of stator core 133 and can rotate relative to stator core 133.

In the present embodiment, as shown in Fig. 4, Fig. 9, Figure 10 and Figure 11, holder further includes the second motor 400, the second electricity For machine 400 for driving projectile transmitting device 500 to rotate, the driving direction of first motor 100 is different from the driving of the second motor 400 Direction.

More specifically such as, the second motor 400 is pitching spindle motor, for driving projectile transmitting device 500 around pitch axes. As shown in figures 4 and 9, for projectile transmitting device 500 transmitting tube 510 substantially transversely when state, such as Figure 10 and Figure 11 institute Show, is pitch axis motor driven projectile transmitting device 500 from the state after rotation alpha degree laterally down (such as 60 degree), to pass through Driving projectile transmitting device 500 makes pitch rotation to change the direction of the launch.Wherein it is possible to understand, projectile transmitting device 500 Pitch angle threshold value and pitch angle threshold value can be adjusted by the driving trip of the second motor 400, do not do herein specific It limits.

Further, as shown in Fig. 4, Fig. 9, Figure 10 and Figure 11, first motor 100 is yaw spindle motor, for driving bullet Ball pipeline 200 is rotated around yaw axis.Compared with it is traditional the structure on projectile transmitting device is arranged in magazine for, by this knot Structure can mitigate the load of pitching spindle motor, so that the controllability of pitching spindle motor is more preferable, and no longer need to set at the spindle motor of course Drive mechanism is set for driving bullet pipeline 200, so that the structure at the spindle motor of course is more simplified, and passes through the straight of first motor The problems such as driving is avoided due to transmission mechanism bring response lag and precision reduction is connect, meanwhile, it is logical by being arranged on holder Road conveys bullet 700, can be arranged apart by magazine 610 and projectile transmitting device 500, can be to avoid in magazine 610 The problem of 700 quantity of bullet reduces and leads to gravity center shift bring cradle head control precision, and may be implemented bullet 700 in bullet Capacity in storehouse 610 from 200 original hairs increase to 1000 hairs even more than.

In the present embodiment, motor shaft 110 is the hollow shaft of internal diameter 18mm, can penetrate the cannonball of RM17mm 700, hollow shaft end is nominal diameter 20, and the external screw thread of screw pitch 0.5 locks the internal screw thread of set 139 to eliminate rotor set The axial gap of part and stator module.

In the present embodiment, as shown in figure 19, bullet pipeline 200 includes C-shaped pipes section 220 and connecting bend 210, C-shaped Component can be integrated between pipeline section 220 and connecting bend 210 or for seperated component, in positional relationship, the one of C-shaped pipes section 220 End is connected by connecting bend 210 with first motor 100, and the other end of C-shaped pipes section 220 is for connecting projectile transmitting device 500. The bullet pipeline 200 of the moulding is conducive to bullet 700 being transmitted to projectile transmitting device 500 by first motor 100, especially when When holder includes the second motor 400, the movement of the projectile transmitting device driven by the second motor 400 can not be caused to interfere.

Preferably, connecting bend 210 is 90 degree of elbows.

More specifically, as shown in figure 19, the part that C-shaped pipes section 220 can be understood as bullet pipeline 200 is substantially in C Shape rather than absolutely it is C-shaped, wherein C-shaped pipes section 220 may particularly include substantially rectilinear shape straight sections 221 and be located at straight sections First bent portion 222 and the second bent portion 223 at 221 both ends, the first bent portion 222 and the second bent portion 223 are preferably directed towards directly The same lateral bend of pipe portion 221.

Preferably, C-shaped pipes section 220 be used for connect projectile transmitting device 500 one end center line transversely, connecting bend The center line of 210 one end for connecting first motor 100 is along longitudinal direction.

As depicted in figs. 1 and 2, the Pellet Injection System that the embodiment of the utility model second aspect provides, comprising: bullet Emitter 500；Holder described in any of the above-described technical solution, projectile transmitting device 500 are set on holder.

More specifically, as shown in figures 4 and 9, Pellet Injection System further includes magazine component 600, and magazine component 600 wraps The bullet channel 620 for including magazine 610 and being connect with magazine 610；The through-hole of first motor 100 in bullet channel 620 and holder 111 connections.

In the present embodiment, as shown in figure 20, projectile transmitting device 500 includes transmitting tube 510, accelerating tube 520, friction Wheel 530 and driving assembly；As shown in Figure 2 and Figure 5, accelerating tube 520 is docked with transmitting tube 510；Friction pulley 530 includes two, Two friction pulleys 530 are oppositely arranged on the two sides of accelerating tube 520, and two friction pulleys 530 part is located in accelerating tube 520, To support the bullet 700 being located in accelerating tube 520；Driving assembly is for driving two friction pulleys 530 simultaneously towards transmitting tube 510 Direction rotate so that bullet 700 accelerates into transmitting tube 510 under the rotary force effect of two friction pulleys 530；Wherein, As shown in Figure 1, Figure 2, Figure 4 shows, when the direction of the launch of transmitting tube 510 is horizontal direction, the arragement direction of two friction pulleys 530 is Vertical direction.

In the related technology, when the direction that projectile transmitting device 500 emits bullet 700 is horizontal direction, two friction pulleys 530 arragement direction is also at horizontal direction, and this arrangement mode increases the transverse width of holder, so that the layout of holder is not Enough compact, space utilization rate is low；In addition, in the related technology when projectile transmitting device 500 to be set on holder, to prevent holder In structure (the second motor 400, the first installing arm 320, the second installing arm 330 in such as this structure) interfere two friction pulleys 530 movement needs to reserve a horizontal space between the above structure in two friction pulleys 530 and holder, this is resulted in The horizontal distance of the rotation axis of second motor 400 into holder of transmitting tube 510 increases.However, in order to ensure transmitting tube 510 Stability emits bullet 700 to stablize, and usually to increase additional weight in rear end structure, so that such as the second motor in holder The center of gravity of driving part move back, therefore the arrangement mode of above-mentioned two friction pulley 530 is also unfavorable for the counterbalance design of holder.

And in the design, through design when the direction of the launch of transmitting tube 510 is horizontal direction, two friction pulleys 530 Arragement direction is vertical direction.The transverse width of entire projectile transmitting device not only can be reduced, it is tight to promote product component Gathering property and space utilization rate, and be conducive to that friction pulley 530 is made to avoid the second motor 400, the first installing arm 320, the second installing arm 330 Interference, thus need not reserved horizontal space avoided, advantageously reduce the rotary shaft of 510 to the second motor 400 of transmitting tube The horizontal distance of line, while being conducive to the counterbalance design of holder, counterweight is carried out without additional, is also beneficial to prevent the second motor 400 Export unnecessary torque.

In the present embodiment, as shown in Figure 2 and Figure 5, driving assembly includes two driving motors 540, two driving electricity Machine 540 is corresponding to drive two friction pulleys 530 to rotate.Two friction pulleys 530 are respectively driven using two driving motors 540 to rotate, In this way, the output torque peak value of single driving motor 540 is unlikely to excessive, and the torque output on two friction pulleys 530 It is more accurate, accelerate efficiency higher on bullet 700.

In other embodiments, it can also design and be realized by a driving motor 540 by transmission mechanism while driving two A friction pulley 530 rotates.

Preferably, as shown in figure 5, driving motor 540 is external rotor electric machine, friction pulley 530 is set in external rotor electric machine In rotor case, rotor case is for driving friction pulley 530 to rotate.Wherein, rotor case can be the rotor portions in driving motor 540 Point, or the stationary part in driving motor 540.Using outer rotor motor driven friction pulley 530, small turn may be implemented Fast, big torque output, so that friction pulley 530 is more preferable to the frictional force acceleration effect of bullet 700, and by the way that friction pulley 530 is straight Female connector is located in the rotor case of external rotor electric machine, and the transmission loss between friction pulley 530 and driving motor 540 can be made small, For slow-speed of revolution transmission, transmission accuracy also can more effectively be guaranteed.

In the present embodiment, as shown in Fig. 9, Figure 11, Figure 12 and Figure 21, in the opposing sidewalls on accelerating tube 520 respectively Equipped with groove 523, mounting hole 521 is offered in groove 523, friction pulley 530 is located at accelerating tube 520 by 521 part of mounting hole It is interior.In this structure, by the way that mounting hole 521 to be set on the wall of groove 523, it may make mounting hole 521 to acceleration using groove 523 There is certain the amount of sinking in pipe 520, realize in this way, friction pulley 530 can be more easily embedded accelerating tube 520 to the drive of bullet 700 It is dynamic, and the risk that friction pulley 530 and accelerating tube 520 are interfered reduces.

Further, as shown in figure 5, the side wall of groove 523 be equipped with mounting portion 522, wherein the side wall of groove 523 with It is detachably connected between mounting portion 522；Mounting portion 522 includes that installation ontology 5221 and mounting shell 5222, mounting shell 522 are set In on installation ontology 5221；Accommodation space 5223 is equipped in mounting shell 522, driving motor 540 and friction pulley 530, which are located at, to be accommodated In space 5223.Using mounting shell 522 accommodate friction wheel 530, in this way can to avoid friction wheel 530 rotary motion by external force Interference guarantees friction wheel 530 to the accuracy and reliability of 700 power output of bullet, and also can avoid using mounting shell 522 will The friction of friction pulley 530 and other components in projectile transmitting device 500 and caused by wear, for example, can be with using mounting shell 522 Friction pulley 530 and the extraction wire of master control borad 550 in projectile transmitting device 500 are effectively spaced apart by realization, avoid 530 shadow of friction pulley Ring the extraction wire of master control borad 550.

Further, as shown in Figure 2 and Figure 5, projectile transmitting device 500 further includes bullet connection framework 580, and bullet connects Logical framework 580 is for connecting accelerating tube 520 and magazine 610, it is to be understood that between accelerating tube 520 and magazine 610 and non-straight It connects, but is indirectly connected in succession, more specifically, in present embodiment, being indirectly connected between accelerating tube 520 and magazine 610 Concretely: magazine 610- bullet channel 620- first motor 100- bullet pipeline 200- bullet is connected to framework 580- accelerating tube 520, in this way, realizing that magazine 610 is connected to accelerating tube 520.

Wherein, as shown in figure 21, when the direction of the launch of projectile transmitting device 500 is horizontal direction, in two grooves 523 One it is opening up, another is opening down, wherein as shown in figure 5, installation ontology 5221 be set to opening up groove In 523 one side wall, one end of mounting shell 5222 is connect with installation ontology 5221, and the other end of mounting shell 5222 is connected to bullet Framework 580 connects.

More specifically, as shown in Fig. 2, Fig. 5 and Figure 21, groove 523 is respectively equipped on the top and bottom sidewall of accelerating tube 520, Groove 523 on upper side wall is opening up and is equipped with mounting hole 521, and the groove 523 in lower wall is opening down and is equipped with installation Hole 521, the installation ontology 5221 of mounting portion 522 are fixed on the side wall of the groove 523 of 520 upper side wall of accelerating tube by screw, It realizes and is removably assembled between accelerating tube 520 and mounting portion 522, installing can also pass through between ontology 5221 and accelerating tube 520 Clamping structure realizes that the card of clamping form dismantles assembly.Wherein, on upper side wall mounting hole 521 cooperate friction pulley 530 and The friction pulley 530 for driving the driving motor 540 of the friction pulley 530 to be respectively positioned in mounting portion 522, and in mounting portion 522 It is located in accelerating tube 520 by mounting hole 521 and part.It is worth noting that aforementioned described upper and lower not absolute direction It is upper and lower, with the pitch rotation of projectile transmitting device, this can also mutually be interpreted as tiltedly upper, obliquely downward above and below.

More specifically, as depicted in figure 5 and figure 12, the mounting shell 5222 of mounting portion 522 is C-shaped, and both ends correspond to C-shaped and open The both ends of mouth, wherein one end of mounting shell 5222 is fixed on bullet by screw and is connected to framework 580, and the other end is set to installation originally On body 5221, and it is fixed by screw and installation ontology 5221.

It is understood that bullet, which is connected between framework 580 and bullet pipeline 200, forms rotation company in present embodiment It connects namely bullet connection framework 580 can be relatively rotated with bullet pipeline 200.For example, bullet connection framework 580 and bullet pipeline 200 are connected by bearing, or with forming the form of can be rotated shaft hole matching etc., in this way, projectile transmitting device 500 carries out pitch rotation When not will drive bullet pipeline 200, to ensure bullet pipeline 200 and the connection component being attached thereto 300 even first motor 100 Held stationary.

In the present embodiment, as shown in figure 20, Pellet Injection System further includes master control borad 550, and master control borad 550 is located at two A side of the friction pulley 530 far from transmitting tube 510, and master control borad 550 is electrically coupled with driving assembly and connect.Guaranteeing to drive in this way While component and 550 easy-to-connect of master control borad, it is possible to reduce the vibration from transmitting tube 510 that master control borad 550 is subject to Influence and heat affecting, conducive to the working environment for improving master control borad 550.

In the present embodiment, as shown in Figure 1 to Figure 3, emitter further includes outer cover 560, and outer cover 560 is for being provide with master Control plate 550 and at least one friction pulley 530.It can be played using outer cover 560 to master control borad 550 and at least one friction pulley 530 The effect of dustproof and waterproof guarantees master control borad 550 and the life and reliability of at least one friction pulley 530, and but also product More aesthetics.

In the present embodiment, as shown in fig. 7, when holder includes the second motor 400, two friction pulleys 530 and second Motor 400 is disposed adjacent.In this way while guaranteeing driving assembly and 400 cabling convenience of the second motor, friction can be shortened The distance between wheel 530 and the second motor 400 reduce rotary inertia, and it is dynamic to friction wheel to be conducive to the second motor 400 of promotion in this way What the control accuracy of power outbound course, promotion fire accuracy, and two friction pulleys 530 were disposed adjacent with the second motor 400 Structure is also conducive to holder counterbalance design, promotes holder entirety stationarity.

In the present embodiment, as shown in figure 4, holder further includes the pitch axis armshaft 570 driven by the second motor 400, Pitch axis armshaft 570 is connect with the driving motor 540 in two friction pulleys 530.

The robot that the embodiment of the utility model third aspect provides, robot include chassis 800, are installed on chassis 800 and the power mechanism for driving chassis 800 mobile and any of the above-described technical solution described in Pellet Injection System, bullet Ball emission system is set to chassis 800.

In the present embodiment, as shown in Figure 7 and Figure 8, the first motor 100 in holder and the bullet in magazine component 600 Ball channel 620 is set to the opposite sides on chassis 800.It is advantageously implemented first motor 100 in this way to assemble steadily, further promotes cloud Platform controls precision, and design is also beneficial to promote the space utilization rate to around chassis 800 in this way, is promoted between the component of product Compactedness, be conducive to product miniaturization.

Preferably, robot can be land robot, and specific such as infantry robot, correspondingly, driving chassis 800 are mobile Power mechanism may include crawler belt or wheel etc., certainly, can also the artificial air-robot of planing machine, specific such as unmanned plane, Correspondingly, the mobile power mechanism in driving chassis 800 may include the aerodynamic features such as wing, fan or design robot For robot underwater or waterborne, specifically such as ship or submarine, correspondingly, the mobile power mechanism in driving chassis 800 may include water The hydraulic parts such as wheel.

More specifically, as shown in Fig. 2, the magazine 610 of first motor 100 and magazine component 600 in holder is located at bottom The same side of disk 610 and the two is distributed side by side, the bullet channel 620 in magazine component 600 is set to the other side on chassis 800.

The one end in bullet channel 620 is connected directly or indirectly to magazine 610, the other end in bullet channel 620 directly or It is indirectly attached to one end of the through-hole 111 of the motor shaft 110 of first motor 100, the other end of the through-hole 111 passes through bullet pipe Road 200 is connected to projectile transmitting device 500.

Wherein, bullet 700 is stored in magazine 610, magazine 610 is big to the path that projectile transmitting device 500 conveys bullet It causes are as follows: the through-hole 111- bullet pipeline 200- projectile transmitting device 500 of magazine 610- bullet channel 620- first motor 100.

After bullet 700 enters in projectile transmitting device 500, rubbed wheel 530 it can accelerate in accelerating tube 520, and complete Launch at after acceleration along transmitting tube 510.

In conclusion holder provided by the utility model, Pellet Injection System and robot, make in holder bullet pipeline and Through-hole on the motor shaft of first motor is connected to form channel, fills for bullet along through-hole, bullet pipeline to pellet injection It sets, meets the ammunition feed transmission demand being separated from each other between the projectile transmitting device of arrangement and magazine, traditional magazine is avoided to be located at Reducing in the presence of structure with bullet causes holder accuracy decline and restricts big ask to magazine capacity on projectile transmitting device Topic.Meanwhile bullet can be transmitted directly along the motor shaft of first motor in this structure, will not hinder first motor in this way Work is driven, and realizes that the integrated form for driving and being connected between bullet pipeline and first motor connects, without by huge, multiple Miscellaneous transmission mechanism drives bullet pipeline to rotate, in this way, cradle head structure is simpler, volume is smaller, and eliminates due to transmission Mechanism bring control response speed and precision problem, the compatible result between holder and projectile transmitting device is more preferable, holder Overall precision is accordingly promoted.

In the present invention, term " first ", " second ", " third " are only used for the purpose of description, and should not be understood as Indication or suggestion relative importance；Term " multiple " then refers to two or more, unless otherwise restricted clearly.Term " peace Dress ", " connected ", " connection ", the terms such as " fixation " shall be understood in a broad sense, can also be with for example, " connection " may be a fixed connection It is to be detachably connected, or be integrally connected；" connected " can be directly connected, can also be indirectly connected through an intermediary.It is right For those skilled in the art, can understand as the case may be above-mentioned term in the present invention specifically contain Justice.

In the description of the utility model, it is to be understood that term " on ", "lower", "left", "right", "front", "rear" etc. refer to The orientation or positional relationship shown be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the utility model and Simplify description, rather than the device or unit of indication or suggestion meaning there must be specific direction, with specific orientation construction And operation, it is thus impossible to be construed as a limitation of the present invention.

In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc. Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least the one of the utility model In a embodiment or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment Or example.Moreover, the particular features, structures, materials, or characteristics of description can be in any one or more embodiment or examples In can be combined in any suitable manner.

The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.

Claims (17)

1. a kind of holder, for connecting with projectile transmitting device, for emitting bullet, feature exists the projectile transmitting device In the holder includes first motor and bullet pipeline, and the first motor is for driving the projectile transmitting device to rotate；

One end of the bullet pipeline is for connecting the projectile transmitting device, and the other end is for connecting the first motor, institute First motor is stated to be also used to that the bullet pipeline is driven to rotate；

The first motor includes motor shaft, and the inside of the motor shaft is formed with the through-hole axially penetrated through, and the through-hole Aperture is greater than the outer diameter of the bullet, so that the bullet can pass sequentially through the through-hole, the bullet pipeline and convey To the projectile transmitting device.

2. holder according to claim 1, which is characterized in that

The holder further includes connection component, and the connection component is set in the first motor, is used to support the bullet hair Injection device；

The first motor is also used to that the connection component is driven to rotate.

3. holder according to claim 2, which is characterized in that

The connection component includes mounting plate, the first installing arm and the second installing arm；

The mounting plate is set in the first motor, and first installing arm and second installing arm are set to the mounting plate Two sides；

Accommodating space is formed in first installing arm, the bullet pipe section is located in the accommodating space.

4. holder according to claim 3, which is characterized in that

The bullet pipeline is connect by the mounting plate with the first motor, wherein the mounting plate is equipped with adaptation institute The first opening of through-hole is stated, first opening is between first installing arm and second installing arm, for being connected to The bullet pipeline and the motor shaft.

5. holder according to claim 4, which is characterized in that

One in the mounting plate and the bullet pipeline is equipped with boss, another is equipped with groove, the boss insertion In the groove.

6. holder according to claim 1, which is characterized in that

The first motor includes rotor assembly, stator module and the motor shaft, and the rotor assembly and the motor shaft are solid It is fixed, it is rotatablely connected between the stator module and the rotor assembly and the motor shaft.

7. holder according to claim 6, which is characterized in that

The stator module is connected with the bullet pipeline and the bullet pipeline can be driven to rotate；

The stator module includes that stator base, first end cover and electricity adjust circuit board, the stator base and the first end cover It connects and surrounds to form electric appliance cavity, the electricity adjusts circuit board to be set in the electric appliance cavity.

8. holder according to claim 7, which is characterized in that

The first motor further includes functional interface, and the functional interface and the electricity adjust circuit board electrical connection, the stator bottom Seat and/or the first end cover are equipped with the second opening of the corresponding functional interface；And/or

The inner wall of the first end cover is equipped with limiting slot, and one end of the motor shaft is protruded into the limiting slot.

9. holder according to claim 7, which is characterized in that

The motor shaft is can be rotatably set in the stator base, and the motor shaft passes through the electricity and adjusts circuit board, institute It states first end cover and is equipped with the third opening for being adapted to the through-hole；

The bullet pipeline is connect by mounting plate with the first end cover, wherein in the mounting plate and the first end cover One be equipped with positioning protrusion, another is equipped with locating slot, and the positioning protrusion is embedded in the locating slot.

10. holder according to claim 7, which is characterized in that

The stator base includes pedestal and the fixed part from the past direction extension for deviating from the first end cover of the pedestal；

First bearing is provided between the motor shaft and the fixed part, one end of the first bearing towards the pedestal is supported Equipped with the lock sleeve being located on the motor shaft；

Second bearing is additionally provided between the motor shaft and the fixed part, the second bearing deviates from one end of the pedestal It offsets with the second end cover in the rotor assembly, the second end cover is set on the motor shaft；

The fixed part inner wall is provided with the limiting section to extend internally, the first bearing away from the pedestal one end with it is described One end of limiting section offsets, and the second bearing offsets towards one end of the pedestal and the other end of the limiting section.

11. holder according to claim 10, which is characterized in that

The lock sleeve includes swivel nut, and the swivel nut is set on the outside of the motor shaft and is threadedly coupled with the motor shaft；With/ Or

The rotor assembly includes rotor magnetic ring, and one end of the lock sleeve towards the pedestal is connected with mounting ring, the peace The rotor magnetic ring is embedded in dress ring；And/or

The second end cover offers the 4th opening of the adaptation through-hole, for connecting magazine, so that the bullet is by described Magazine is delivered to the projectile transmitting device by the through-hole；And/or

The stator module includes stator core, and the rotor assembly further includes rotor magnet and rotor rim；The rotor magnetic Body is set on the inner wall of the rotor rim, and the rotor rim is fixed on the second end cover, and the rotor rim is nested It is distributed in the outside of the stator core and can be rotated relative to the stator core.

12. holder according to claim 1, which is characterized in that

The holder further includes the second motor, and second motor is for driving the projectile transmitting device to rotate, and described first The driving direction of motor is different from the driving direction of second motor.

13. holder according to claim 12, which is characterized in that

Second motor is pitching spindle motor, for driving the projectile transmitting device around pitch axes.

14. according to claim 1, holder described in 12 or 13, which is characterized in that

The first motor is yaw spindle motor, for driving the bullet pipeline to rotate around yaw axis.

15. holder according to claim 1, which is characterized in that

The bullet pipeline includes C-shaped pipes section and connecting bend, one end of the C-shaped pipes section by the connecting bend with it is described First motor is connected, and the other end of the C-shaped pipes section is for connecting the projectile transmitting device；

The C-shaped pipes section is used to connect the center line of one end of the projectile transmitting device transversely, and the connecting bend is used for Connect the center line of one end of the first motor along longitudinal direction.

16. a kind of Pellet Injection System characterized by comprising

Projectile transmitting device；

Holder as described in any one of claims 1 to 15, the projectile transmitting device are set on the holder.

17. a kind of robot, which is characterized in that including chassis, be installed on the chassis and for driving the chassis movement Power mechanism and Pellet Injection System as claimed in claim 16, the Pellet Injection System are set to the chassis.