CN209877763U - Projectile launching device, projectile launching system and shooting robot - Google Patents

Abstract

The utility model provides a launcher, transmitting system and shooting robot of shot, launcher includes: the impact mechanism is used for impacting the projectile so that the projectile is launched under the impact action force of the impact mechanism; and at least one driving mechanism which is matched with the impacting mechanism and is used for driving the impacting mechanism to move so that the impacting mechanism impacts the shot. This emitter has utilized striking mechanism to replace the friction pulley of pellet both sides among the prior art, reaches the effect of launching the pellet through the striking of striking mechanism to the pellet, because striking mechanism is instantaneous to the striking effort of pellet, and the striking position is also fixed, therefore can not produce the speed difference in the both sides of pellet, so can prevent effectively that the pellet from producing the spin when aerial motion to the trajectory accuracy of pellet has been guaranteed, has improved the shooting precision.

Description

Projectile launching device, projectile launching system and shooting robot

Technical Field

The utility model relates to a emitter technical field particularly, relates to a projectile's emitter and including this emitter's transmitting system and shooting robot.

Background

At present, the conventional projectile launching device usually takes a friction wheel as a launching source, and the high-speed rotation and the friction force of the friction wheels on two sides of a projectile are utilized to extrude the projectile out, so that the effect of launching the projectile is achieved. However, the shot will spin during the air movement, and then deviate from the original shooting point, reducing the shooting accuracy.

SUMMERY OF THE UTILITY MODEL

In order to solve at least one of the above technical problems, an object of the present invention is to provide a projectile launching device.

Another object of the present invention is to provide a transmitting system including the transmitting device.

Still another object of the utility model is to provide a shooting robot including above-mentioned emitter.

In order to achieve the above object, the present invention provides a projectile launching device, including: the impact mechanism is used for impacting the shot to enable the shot to be shot under the impact action force of the impact mechanism; and the at least one driving mechanism is matched with the impact mechanism and is used for driving the impact mechanism to move so that the impact mechanism impacts the shot.

The utility model discloses the technical scheme of the first aspect provides a projectile's emitter utilizes striking mechanism to replace the friction pulley of projectile both sides among the prior art, reach the effect of launching the projectile through the striking of striking mechanism to the projectile, because striking mechanism is instantaneous to the striking effort of projectile, the striking position is also fixed, therefore can not produce speed difference in the both sides of projectile, so can prevent effectively that the projectile from producing the spin in air motion, thereby the trajectory of having guaranteed the projectile is accurate, the shooting precision has been improved.

Specifically, it has been found that the conventional launching mechanism uses a friction wheel as a launching source, and causes the projectile to spin and deviate from the original shooting point because: the shot passes through between two friction wheels when shooting, therefore can produce the effect of friction force to the friction wheel of both sides in a period of time, leads to the friction wheel of both sides can produce the speed difference, and the shot can carry out quick spin motion after breaking away from the friction wheel like this, and the shot can produce different atmospheric pressure in its both sides when high-speed rotatory, and the shot can deviate from original shooting point under the effect of atmospheric pressure difference, leads to shooting precision to reduce. The generating device comprises the impact mechanism and at least one driving mechanism, the driving mechanism is matched with the impact mechanism, power is provided for the impact mechanism, the impact mechanism is aligned with the shot to impact the shot, instantaneous impact force is generated on the shot, the shot is rapidly ejected to achieve the effect of launching the shot, compared with a scheme of using a friction wheel as an emission source, the shot is placed right ahead the impact mechanism, the impact mechanism is aligned with the target position (namely an impact point) of the shot to impact, the shot can be guaranteed not to spin when moving in the air, the accuracy of the trajectory of the shot is improved, and the shooting accuracy of the launching device is improved.

It is worth to be noted that, because the general shape of the projectile is regular and the structure is uniform, like a spherical projectile, the impact mechanism only needs to be aligned with the central point of the projectile to impact; and for the condition that the shape of the projectile is irregular or the structure of the projectile is not uniform, the connecting line of the impact point and the gravity center of the projectile is ensured to be positioned in the impact direction of the impact mechanism.

Additionally, the utility model provides an emitting device among the above-mentioned technical scheme can also have following additional technical characteristics:

in the above technical scheme, the impact mechanism includes an impact platform and an impact portion located above and connected to the impact platform, the impact platform is used for cooperating with the driving mechanism, and the impact portion is used for impacting the projectile.

In the above technical solution, the driving mechanism includes: a first driving member; the transmission part is connected with the first driving part and used for driving the impact mechanism to move to an energy storage position along a first direction under the driving of the first driving part; and the elastic piece is abutted and matched with the impact platform and used for storing energy when the impact mechanism moves to the energy storage position so as to drive the impact mechanism to move to a launching position along a second direction opposite to the first direction by utilizing the reset elastic force of the elastic piece, so that the impact mechanism impacts the shot.

In the above technical solution, the driving mechanism further includes a guide shaft extending along the first direction, and the impact platform includes a guide portion sleeved on the guide shaft and sliding reciprocally along the guide shaft; the elastic piece is an energy storage spring, the energy storage spring is sleeved on the guide shaft, and one end of the energy storage spring is abutted against the guide part.

In the above technical solution, the launching device further includes at least one buffer member for abutting against the impact mechanism after the impact mechanism impacts the projectile.

In the above technical scheme, the buffer piece is a buffer spring, and the buffer spring is sleeved on the guide shaft and separated from the energy storage spring on two sides of the guide part, and is used for abutting against one end of the guide part far away from the energy storage spring.

In the above technical solution, the launching device further includes a spreading mechanism, the spreading mechanism is fixedly connected to the transmission member, and is configured to move in the second direction to approach and connect to the impact mechanism under the driving of the transmission member, and drive the impact mechanism to move in the first direction to the energy storage position and release the impact mechanism under the driving of the transmission member, so that the impact mechanism moves in the second direction to the launching position to impact the projectile.

In the above technical solution, the spreading mechanism includes: a second driving member; and the connecting piece is movably connected with the second driving piece and used for moving relative to the impact mechanism under the driving of the second driving piece so as to connect or release the impact mechanism.

In the above technical scheme, the connecting piece is a draw hook, the impact platform comprises a pull ring, wherein the draw hook cooperates with the pull ring hook to connect the connecting piece with the impact mechanism, and the draw hook and the pull ring are separated to release the connecting piece from the impact mechanism.

In the technical scheme, a bearing is arranged at the contact part of the draw hook and the pull ring.

In the technical scheme, the spreading mechanism further comprises a support, the second driving piece is mounted on the support, the support is fixedly connected with the driving piece, the draw hook is rotatably connected with the second driving piece through a first rotating shaft, and the draw hook is rotatably connected with the support through a second rotating shaft; the second driving piece is used for driving the draw hook to rotate around the second rotating shaft in a reciprocating mode, so that the draw hook is hooked on the pull ring or separated from the pull ring.

In the above technical scheme, the support includes the backup pad and with the extension board that the backup pad links to each other, the second driving piece is installed in the backup pad, the drag hook passes through the second pivot with the backup pad rotates to be connected, the extension board with driving medium fixed connection.

In the above technical solution, the transmission member is a pull rope, the driving mechanism further includes two steering members, and the pull rope is sleeved on the two steering members and is fixedly connected with the spreading mechanism and the first driving member; wherein, the pull rope encloses a closed loop structure; or a closed loop structure is defined by the pull rope, the connecting part of the spreading mechanism and the pull rope and the connecting part of the first driving part and the pull rope.

In the above technical scheme, the first driving member is an air cylinder, and a piston rod of the air cylinder is fixedly connected with the pull rope through a machining piece.

In the above technical solution, the firing device further includes a distance adjusting member, and the distance adjusting member is used for abutting against the workpiece to limit the movement amplitude of the piston rod.

In any of the above technical solutions, the impact mechanism is a mirror-symmetric structure, and a symmetric plane of the impact mechanism passes through a center of gravity of the projectile when the impact mechanism impacts the projectile.

In the above technical solution, the number of the driving mechanisms is two, and the two driving mechanisms are symmetrically distributed about the symmetry plane.

In any of the above technical solutions, the launching device further includes a mounting bracket, and the striking mechanism, the driving mechanism, and the spreading mechanism are all mounted on the mounting bracket.

In the above technical scheme, the mounting bracket includes an upper base plate and a lower base plate located below the upper base plate, the first driving member is installed on the lower base plate, the transmission member is located between the upper base plate and the lower base plate, the elastic member, the striking mechanism and the spreading mechanism are installed on the upper base plate, and part of the spreading mechanism extends to between the upper base plate and the lower base plate and is fixedly connected with the transmission member.

In the above technical solution, the upper base plate is further provided with a sliding shaft extending along the first direction, the sliding shaft is sleeved with a first slider and a second slider which slide along the sliding shaft in a reciprocating manner, the first slider is fixedly connected with the impact mechanism, and the second slider is fixedly connected with the spreading mechanism; the upper bottom plate is provided with a sliding groove extending along the first direction, and an extending plate of the spreading mechanism downwards penetrates through the sliding groove to be fixedly connected with the transmission part and slides back and forth along the sliding groove.

In the above technical scheme, the extension plate is provided with an anti-tilting member, and the anti-tilting member is in contact fit with the upper bottom plate and used for preventing the scattering mechanism from tilting.

In the above technical scheme, the mounting bracket is further including setting up mount pad on the upper plate, the mount pad is equipped with the orientation the striking mouth of striking portion, striking portion can stretch into in the striking mouth and the striking the shot.

In the above technical solution, the mounting seat is provided with a launching slot for accommodating the projectile, and the launching slot has the impact port facing the impact mechanism and a launching port disposed opposite to the impact port.

The utility model discloses technical scheme of second aspect provides a transmission system of shot, including any one in remote control unit and the first aspect technical scheme emitter, remote control unit with emitter's actuating mechanism electricity is connected.

The utility model discloses the technical scheme of third aspect provides a shooting robot, including the chassis, install in the driving system on chassis and any one of the first aspect technical scheme emitter.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic perspective view of a launching device according to some embodiments of the present invention in a first state;

FIG. 2 is an enlarged schematic view of portion A of FIG. 1;

FIG. 3 is a schematic left side view of the transmitting device of FIG. 1;

FIG. 4 is an enlarged schematic view of the portion B of FIG. 3;

FIG. 5 is a schematic top view of the transmitting device of FIG. 1;

FIG. 6 is a schematic perspective view of the transmitter of FIG. 1 in a second state;

FIG. 7 is a schematic left side view of the transmitting device of FIG. 6;

FIG. 8 is a schematic top view of the transmitting device of FIG. 6;

FIG. 9 is a schematic perspective view of the transmitting device of FIG. 1 in a third state;

FIG. 10 is a schematic left side view of the transmitting device of FIG. 9;

fig. 11 is a schematic top view of the transmitting device of fig. 9.

Fig. 12 is a schematic diagram of an exploded view of a transmitting device according to some embodiments of the present invention;

fig. 13 is a schematic perspective view of a dispensing mechanism according to some embodiments of the present invention;

FIG. 14 is a schematic left side elevational view of the dispensing mechanism of FIG. 13;

FIG. 15 is a schematic top view of the dispensing mechanism of FIG. 13;

FIG. 16 is a rear view of the dispensing mechanism of FIG. 13;

fig. 17 is a schematic perspective view of a striking mechanism according to some embodiments of the present invention;

FIG. 18 is a schematic top view of the impact mechanism of FIG. 17;

FIG. 19 is a front view schematic of the impact mechanism of FIG. 17;

wherein, the correspondence between the reference numbers and the part names in fig. 1 to 19 is:

1 impact mechanism, 11 impact platforms, 111 guide parts, 112 pull rings, 113 parts, 12 impact parts, 2 driving mechanisms, 21 first driving parts, 22 pull ropes, 23 energy storage springs, 24 guide shafts, 25 steering parts, 26 machined parts, 3 spreading mechanisms, 31 second driving parts, 32 pull hooks, 321 bearings, 33 supports, 331 supporting plates, 332 extending plates, 333 anti-tilting parts, 34 first rotating shafts, 35 second rotating shafts, 4 mounting frames, 41 upper base plates, 411 sliding shafts, 412 fixing blocks, 413 sliding chutes, 414 first sliding blocks, 415 second sliding blocks, 42 lower base plates, 43 mounting seats, 431 launching grooves, 4311 impact ports, 4312 launching ports, 5 distance adjusting parts and 6 buffer springs.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The projectile launching device provided by the present application may be a ball projectile or a projectile with a specific shape, and is convenient for description, unless otherwise specified, the projectiles described in the following embodiments are all exemplified by the ball projectile to cooperatively describe the structure and function of the launching device.

A projectile launching device, a launching system and a shooting robot according to some embodiments of the present invention are described below with reference to fig. 1 to 19.

Example one

As shown in fig. 1, 6 and 9, an embodiment of the first aspect of the present invention provides a projectile launching device, including: a striking mechanism 1 (as shown in fig. 17, 18 and 19) and at least one drive mechanism 2.

Specifically, the impact mechanism 1 is used for impacting the projectile so that the projectile is launched under the impact force of the impact mechanism 1; the driving mechanism 2 is matched with the impacting mechanism 1 and used for driving the impacting mechanism 1 to move so that the impacting mechanism 1 impacts the shot.

The utility model discloses the emitter of pellet that the embodiment of first aspect provided utilizes striking mechanism 1 to replace the friction pulley of pellet both sides among the prior art, reach the effect of launching the pellet through the striking of striking mechanism 1 to the pellet, because striking mechanism 1 is instantaneous to the striking effort of pellet, the striking position is also fixed, therefore can not produce the speed difference in the both sides of pellet, so can prevent effectively that the pellet from producing the spin in air motion, thereby the trajectory of having guaranteed the pellet is accurate, the shooting precision has been improved.

Specifically, it has been found that the conventional launching mechanism uses a friction wheel as a launching source, and causes the projectile to spin and deviate from the original shooting point because: the shot passes through between two friction wheels when shooting, therefore can produce the effect of friction force to the friction wheel of both sides in a period of time, leads to the friction wheel of both sides can produce the speed difference, and the shot can carry out quick spin motion after breaking away from the friction wheel like this, and the shot can produce different atmospheric pressure in its both sides when high-speed rotatory, and the shot can deviate from original shooting point under the effect of atmospheric pressure difference, leads to shooting precision to reduce. And generating device of this scheme includes striking mechanism 1 and at least one actuating mechanism 2, actuating mechanism 2 cooperatees with striking mechanism 1, for striking mechanism 1 provides power, striking mechanism 1 strikes the pellet, produce instantaneous impact to the pellet, thereby make the pellet jet out fast and reach the effect of launching the pellet, compare in the scheme that utilizes friction wheel as the emission source, as long as place the pellet in striking mechanism 1 dead ahead, make striking mechanism 1 aim at the target location (striking point) striking of pellet, can guarantee that the pellet can not produce the spin in air motion, thereby the accuracy of the trajectory of pellet has been improved, and then the shooting precision of emitter has been improved.

It is worth to be noted that, because the general shape of the projectile is regular and the structure is uniform, such as a spherical projectile, the impact mechanism 1 only needs to be aligned with the central point of the projectile for impact; and for the case that the shape of the projectile is irregular or the structure is not uniform, the connecting line of the impact point and the gravity center of the projectile is ensured to be positioned in the impact direction of the impact mechanism 1.

Further, the striking mechanism 1 comprises a striking platform 11 and a striking section 12 (shown in fig. 6) located above the striking platform 11 and connected to the striking platform 11, the striking platform 11 being adapted to cooperate with the drive mechanism 2, the striking section 12 being adapted to strike the projectile.

The striking mechanism 1 includes a striking plate 11 and a striking section 12. Wherein, the impact platform 11 is used for cooperating with the driving mechanism 2 to ensure that the impact mechanism 1 can reciprocate, and the impact platform 11 may be an integrated structure, or may be formed by assembling a plurality of parts 113 (as shown in fig. 12); the impact part 12 is located above the impact platform 11, so as to be convenient for matching with the shot and realize the launching function by impacting the shot.

Further, the drive mechanism 2 includes: a first driving member 21, a transmission member and an elastic member. Specifically, the transmission member is connected to the first driving member 21, and is used for driving the impact mechanism 1 to move to the energy storage position along the first direction under the driving of the first driving member 21, as shown in fig. 6 to 8; the elastic member is in abutting fit with the impact platform 11, and is used for storing energy in the process that the impact mechanism 1 moves to the energy storage position, so that the impact mechanism 1 is driven to move to the launching position along a second direction opposite to the first direction by utilizing the reset elastic force of the elastic member, as shown in fig. 1, 3 and 5, so that the impact mechanism 1 impacts the projectile.

The driving mechanism 2 comprises a first driving part 21, a transmission part and an elastic part, the first driving part 21 is used as a power source, power is transmitted to the impact mechanism 1 through the transmission part, and the impact mechanism 1 is driven to move to an energy storage position along a first direction (namely the direction from front to back in the figure); in the process, the impact platform 11 drives the elastic element to elastically deform, and the elastic deformation amount of the elastic element gradually increases to store elastic potential energy, so that when the matching between the transmission element and the impact mechanism 1 is released, the elastic element can release the elastic potential energy to generate reset deformation, and further the reset elasticity of the elastic element is utilized to drive the impact mechanism 1 to reversely (i.e. along the second direction, namely from the backward direction to the forward direction in the figure) move to the emission position; and the speed of the impact mechanism 1 is gradually increased in the process of moving to the launching position, so that the impact mechanism impacts the projectile when the speed reaches the highest speed, the projectile is ejected at a high speed under the impact of the impact mechanism 1 according to the momentum conservation law, and the impact mechanism 1 can continue to advance at a low speed or stop motionless or move backwards at a low speed.

Further, the driving mechanism 2 further includes a guide shaft 24 extending along the first direction, and the impact platform 11 includes a guide portion 111, as shown in fig. 5 and 6, the guide portion 111 is fitted over the guide shaft 24 and slides back and forth along the guide shaft 24; the elastic member is an energy storage spring 23, the energy storage spring 23 is sleeved on the guide shaft 24, and one end of the energy storage spring 23 abuts against the guide part 111, as shown in fig. 5 and 6.

Actuating mechanism 2 still includes guiding axle 24, guiding axle 24 extends along the first direction, striking platform 11 is corresponding including guide part 111, guide part 111 suit is on guiding axle 24 and along guiding axle 24 reciprocating sliding, then guide part 111 can play the guide effect to striking mechanism 1's reciprocating motion with guiding axle 24's cooperation, guarantee that striking mechanism 1 can not take place to shift or skew and set for the track, thereby the stability and the reliability of striking mechanism 1 have been improved, guaranteed that striking mechanism 1 can accurately strike the target location of shot, and then improve emitter's shooting precision.

The elastic part is an energy storage spring 23, so that the structure is simple and the energy storage effect is good; the energy storage spring 23 is sleeved on the guide shaft 24, so that the conditions of inclination, displacement and the like of the energy storage spring 23 can be prevented, and the stability and the use reliability of the energy storage spring 23 are improved; one end of the energy storage spring 23 abuts against the guide part 111, so that the impact mechanism 1 can interact with the energy storage spring 23 in the moving process, and further the energy storage spring 23 is driven to elastically deform to store elastic potential energy, or the impact mechanism accelerates to move under the action of the reset elastic force of the energy storage spring 23 to impact the shot.

Example two

The difference from the first embodiment is that: on the basis of the first embodiment, the launching device further comprises at least one buffer member for abutting against the impact mechanism 1 after the impact mechanism 1 impacts the projectile, as shown in fig. 1, 3 and 5.

The launching device further comprises at least one buffer piece, the buffer piece can abut against the impact mechanism 1 after the impact mechanism 1 impacts the shot, the impact mechanism 1 is prevented from being separated from the mounting frame 4 or excessively impacting other structures to cause damage or generate excessive noise, the service life of the launching device is prolonged, noise is reduced, and the use comfort of a user is improved.

Specifically, the buffer member is a buffer spring 6, the buffer spring 6 is sleeved on the guide shaft 24, and is separated from the energy storage spring 23 at two sides of the guide portion 111, and is used for abutting against one end of the guide portion 111 far away from the energy storage spring 23, as shown in fig. 1, 3 and 5.

The buffer piece adopts the buffer spring 6, the buffer effect is good, the structure is simple, and the cost is low. The buffer spring 6 is sleeved on the guide shaft 24 of the driving mechanism 2 and is separated from the energy storage spring 23 of the driving mechanism 2 at two sides of the guide part 111, so that when the impact mechanism 1 continues to move forward after impacting a shot, the energy storage spring 23 can abut against one end, away from the energy storage spring 23, of the guide part 111 of the impact mechanism 1, so that the energy of the impact mechanism 1 is absorbed, the speed of the impact mechanism 1 is reduced, and an effective buffer effect is achieved.

EXAMPLE III

The difference from any of the above embodiments is that: on the basis of any of the above embodiments, further, the launching device further includes a spreading mechanism 3 (as shown in fig. 1, 13, 14, 15 and 16), the spreading mechanism 3 is fixedly connected to the transmission member, and is configured to move in the second direction to approach and connect the impact mechanism 1 (as shown in fig. 1, 3 and 5) under the driving of the transmission member, and drive the impact mechanism 1 to move in the first direction to the energy storage position and release the impact mechanism 1 (as shown in fig. 9 to 11) under the driving of the transmission member, so that the impact mechanism 1 moves in the second direction to the launching position to impact the projectile.

The launching device also comprises a spreading mechanism 3, the spreading mechanism 3 is fixedly connected with the transmission member, so that the indirect matching of the transmission member and the impact mechanism 1 is realized, and the power of the first driving member 21 can be indirectly transmitted to the impact mechanism 1; and the scattering mechanism 3 can be connected with the impact mechanism 1 or release the impact mechanism 1, so that the power of the first driving part 21 can be transmitted to the impact mechanism 1 only under the condition that the scattering mechanism 3 is connected with the impact mechanism 1, and under the condition that the scattering mechanism 3 releases the impact mechanism 1, the impact mechanism 1 can only move under the action of the elastic part, so that the interference of the first driving part 21 and the transmission part to the movement of the impact mechanism 1 is prevented. Specifically, when the shot needs to be shot, the first driving part 21 acts in the positive direction, and the spreading mechanism 3 is driven by the driving part to move in the second direction and further approach and connect with the impact mechanism 1; then the first driving piece 21 acts reversely, the driving piece indirectly drives the impact mechanism 1 to move to an energy storage position through the spreading mechanism 3, and simultaneously the impact mechanism 1 drives the elastic piece to deform and store energy; and then the spreading mechanism 3 releases the impact mechanism 1, the elastic piece resets and deforms to drive the impact mechanism 1 to move to a launching position along a second direction, and then the shot is impacted to realize launching. The spreading mechanism 3 is additionally arranged, indirect matching of the transmission part and the impact mechanism 1 is realized, the driving mechanism 2 is simplified, and the positions of each part of the driving mechanism 2 and the impact mechanism 1 are conveniently and reasonably arranged, so that the layout of the launching device is optimized.

Specifically, the spreading mechanism 3 includes: a second driving member 31 and a connecting member, the connecting member is movably connected with the second driving member 31 and is used for moving relative to the impact mechanism 1 under the driving of the second driving member 31 so as to connect or release the impact mechanism 1.

The spreading mechanism 3 comprises a second driving piece 31 and a connecting piece, and the second driving piece 31 provides power for the spreading mechanism 3 to connect or release the impact mechanism 1; the connecting piece is matched with the impact mechanism 1 to realize the connecting or releasing function.

Further, the connecting member is a hook 32 (shown in fig. 13 to 15), and the striking plate 11 includes a pull ring 112 (shown in fig. 17 and 18), wherein the hook 32 and the pull ring 112 are hooked to cooperate to connect the connecting member to the striking mechanism 1 (shown in fig. 6, 7 and 8), and the hook 32 and the pull ring 112 are separated to release the connecting member from the striking mechanism 1 (shown in fig. 9, 10 and 11).

The connecting piece adopts a draw hook 32, the impact platform 11 correspondingly comprises a pull ring 112, and when the draw hook 32 is hooked and matched with the pull ring 112, the scattering mechanism 3 can drive the impact mechanism 1 to synchronously move, so that the connecting function of the impact mechanism 1 is realized; when the drag hook 32 is separated from the pull ring 112, the impact mechanism 1 can be separated from the release mechanism 3 to move independently, so that the release function of the release mechanism 3 on the impact mechanism 1 is realized, the structure and the principle are simple, and the realization is easy.

Further, a bearing 321 is provided at a portion where the draw hook 32 contacts the draw ring 112, as shown in fig. 2.

Set up bearing 321 at the position of drag hook 32 and pull ring 112 contact, frictional resistance when can reducing drag hook 32 and pull ring 112 relative motion is favorable to improving the smooth and easy degree when drag hook 32 cooperates and/or the phase separation with pull ring 112 hook, and then improves the speed when scattering mechanism 3 and striking mechanism 1 are connected and/or release, and then shortens the emission time of shot, improves emitter's emission efficiency.

Further, the spreading mechanism 3 further includes a support 33, as shown in fig. 2, the second driving member 31 is mounted on the support 33, the support 33 is fixedly connected with the driving member, the hook 32 is rotatably connected with the second driving member 31 through a first rotating shaft 34, and the hook 32 is rotatably connected with the support 33 through a second rotating shaft 35, as shown in fig. 2; the second driving member 31 is used for driving the drag hook 32 to rotate back and forth around the second rotating shaft 35, so that the drag hook 32 is hooked on the pull ring 112 or separated from the pull ring 112.

The spreading mechanism 3 further comprises a support 33, the support 33 is used as an installation carrier of the second driving piece 31 and the connecting piece, and the fixed connection function of the spreading mechanism 3 and the transmission piece is realized; the drag hook 32 is rotatably connected with the second driving part 31 through the first rotating shaft 34, and is rotatably connected with the support 33 through the second rotating shaft 35, and the second driving part 31 drives the drag hook 32 to rotate around the second rotating shaft 35 in a reciprocating manner, so that the second driving part 31 which can move linearly can be adopted to drive the connecting piece to rotate, which is beneficial to reducing the motion amplitude of the second driving part 31 and increasing the rotating torque applied by the second driving part 31 to the connecting piece, and further reduces the power requirement and the position requirement on the second driving part 31, and is convenient for reasonably selecting the type (such as a small cylinder) of the second driving part 31 and reasonably arranging the positions of the second driving part 31 and the connecting piece, and further optimizes the layout of the launching device.

Further, the support 33 includes a support plate 331 and an extension plate 332 (shown in fig. 2) connected to the support plate 331, the second driving member 31 is mounted on the support plate 331, the hook 32 is rotatably connected to the support plate 331 through the second rotating shaft 35, and the extension plate 332 is fixedly connected to the transmission member, as shown in fig. 4.

The support 33 includes backup pad 331 and extension board 332, and the backup pad 331 is as the installation carrier of second driving piece 31 and connecting piece, extends board 332 and driving medium fixed connection, realizes the fixed connection function with the driving medium, and the setting of extension board 332 is favorable to reducing the distance between support 33 and the driving medium, and then is favorable to simplifying the structure of driving medium. The supporting plate 331 may be a single plate structure with a regular structure, or a structure in which a plurality of plates are stacked. Such as: the supporting plate 331 includes an upper plate and a lower plate, the upper plate is connected to the two extending plates 332 to form a U-shaped structure, the lower plate is fixedly connected to the upper plate, and two ends of the lower plate protruding from the U-shaped structure are connected to the connecting member and the second driving member 31, respectively.

Further, the transmission component is a pulling rope 22 (as shown in fig. 3, 7 and 10), the driving mechanism 2 further includes two steering components 25 (as shown in fig. 12), and the pulling rope 22 is sleeved on the two steering components 25 and is fixedly connected with the spreading mechanism 3 and the first driving component 21; wherein the pull cord 22 encloses a closed loop structure, as shown in fig. 12.

The driving part adopts a pull rope 22 form, which is beneficial to reducing the production cost, and the pull rope 22 has flexible deformation capacity, which is beneficial to reducing the assembly difficulty; and as long as the cooperation of the pull rope 22, the spreading mechanism 3 and the first driving member 21 realizes a closed loop structure, the pull rope 22 can drive the spreading mechanism 3 to move forward and backward, and further, bidirectional power transmission is realized. Specifically, the driving mechanism 2 further comprises two steering members 25, and the pull rope 22 is sleeved on the two steering members 25, so that the pull rope 22 is ensured to be in a tensioning state; and the pull rope 22 is fixedly connected with the spreading mechanism 3 and the first driving member 21, so that reliable matching between the pull rope 22 and the spreading mechanism 3 and the first driving member 21 is ensured. Wherein, the stay cord 22 can directly enclose out closed loop structure, promptly: the pull rope 22 is annular, and only part of the pull rope needs to be fixedly connected with the spreading mechanism 3 and the first driving piece 21 in a binding or clamping way and the like;

the first driving member 21 is an air cylinder (as shown in fig. 12), and a piston rod of the air cylinder is fixedly connected to the pull rope 22 through a processing member 26, as shown in fig. 3, 7 and 10.

The first driving part 21 is a cylinder, a piston rod of the cylinder is indirectly and fixedly connected with the pull rope 22 through a machining part 26, and compared with the direct fixed connection of the pull rope 22 and the piston rod, the structure of the piston rod can be simplified, the pull rope 22 is arranged at a reasonable position, the pull rope 22 and the piston rod are prevented from interfering with each other, the structure is simple, and the power transmission is reliable.

Further, the firing device further comprises a distance adjusting member 5, the distance adjusting member 5 being adapted to abut against the workpiece 26, as shown in fig. 3, 7 and 10, to limit the amplitude of the movement of the piston rod.

The launching device also comprises a distance adjusting part 5, when the workpiece 26 moves to abut against the distance adjusting part 5, the workpiece 26 is blocked by the distance adjusting part 5, the workpiece 26 cannot move continuously, and the piston rod cannot move continuously, so that the aim of limiting the movement amplitude of the piston rod is fulfilled; the motion amplitude of the piston rod can be adjusted by adjusting the position of the distance adjusting piece 5, so that the distance adjusting purpose is realized, and the motion amplitude of the piston rod can be reasonably controlled according to different structures and different requirements of products, so that the structure and the performance of the products are optimized.

Example four

The difference from the third embodiment is that: a closed loop structure is enclosed by the pull rope 22, the connecting part of the spreading mechanism 3 and the pull rope 22 and the connecting part of the first driving part 21 and the pull rope 22.

The pull cord 22 may also be made up of several segments, namely: the pulling rope 22 itself is not annular, and after the pulling rope 22 is fixedly connected with the spreading mechanism 3 and the first driving member 21, a closed loop structure is defined by the connecting portion of the pulling rope 22, the spreading mechanism 3 and the pulling rope 22 and the connecting portion of the first driving member 21 and the pulling rope 22 (for example, the pulling rope 22 comprises two sections which are respectively sleeved on the two steering members 25, and two ends of the two sections are respectively fixedly connected with the spreading mechanism 3 and the first driving member 21), so that bidirectional transmission can be realized.

EXAMPLE five

The difference from any of the above embodiments is that: in addition to any of the above embodiments, the impact mechanism 1 is further of a mirror-symmetrical structure, as shown in fig. 11, and the plane of symmetry passes through the center of gravity of the projectile when the impact mechanism 1 impacts the projectile.

The impact mechanism 1 is of a mirror symmetry structure, has a regular structure and is convenient to machine and form; and the symmetrical plane passes through the gravity center of the projectile when the impact mechanism 1 impacts the projectile, so that the balanced stress of the impact structure is ensured, and the service life of the impact structure is prolonged.

Further, the number of the driving mechanisms 2 is two, and the two driving mechanisms 2 are symmetrically distributed about the symmetry plane, as shown in fig. 11.

The number of the driving mechanisms 2 is two, the two driving mechanisms 2 are symmetrically distributed about the symmetrical plane of the impact structure, symmetrical dual power is provided for the impact structure, the balance of stress of the impact structure is guaranteed, the stable operation of the impact mechanism 1 is also guaranteed, meanwhile, the power requirement for the single driving mechanism 2 can be reduced, the type, the form and the distribution position of the driving mechanisms 2 can be conveniently and reasonably selected according to the specific structure and the requirement of a product, and further the layout of the product is optimized.

EXAMPLE six

The difference from any of the above embodiments is that: on the basis of any of the above embodiments, further, the launching device further includes a mounting frame 4, and the striking mechanism 1, the driving mechanism 2 and the spreading mechanism 3 are all mounted on the mounting frame 4, as shown in fig. 1 and fig. 6.

The launching device further comprises a mounting frame 4, and the mounting frame 4 is used as a mounting carrier of the impact mechanism 1, the driving mechanism 2 and the spreading mechanism 3, so that the launching device can form a whole, and can be conveniently mounted at corresponding positions of a shooting robot or other structures to realize modular mounting. Of course, the launching device may not include the mounting frame 4, and the striking mechanism 1, the driving mechanism 2, the spreading mechanism 3 and other structures may be directly mounted on corresponding portions of the shooting robot or other platforms, and the shooting robot or other platforms provide mounting carriers for the striking mechanism 1, the driving mechanism 2, the spreading mechanism 3 and other structures.

Specifically, the mounting frame 4 includes an upper base plate 41 and a lower base plate 42 located below the upper base plate 41, as shown in fig. 1 and 6, the first driving member 21 is mounted on the lower base plate 42, the transmission member is located between the upper base plate 41 and the lower base plate 42, the elastic member, the striking mechanism 1 and the spreading mechanism 3 are mounted on the upper base plate 41, and a part of the spreading mechanism 3 extends between the upper base plate 41 and the lower base plate 42 and is fixedly connected with the transmission member, as shown in fig. 4.

The mounting frame 4 comprises an upper base plate 41 and a lower base plate 42, the upper base plate 41 and the lower base plate 42 divide the mounting frame 4 into two layers, the driving mechanism 2 and the impact mechanism 1 are conveniently and reasonably arranged on the mounting frame 4, the transverse length of the launching device is favorably shortened, and the space utilization rate is improved. Specifically, the first driving member 21 (e.g., an air cylinder) of the driving mechanism 2 is mounted on the lower plate 42, the elastic member of the driving mechanism 2 and the striking mechanism 1 are mounted on the upper plate 41, and accordingly, the mounting seat 43 is mounted on the upper plate 41 and provided with the striking groove 431, ensuring that the striking mechanism 1 can strike the projectile through the striking port 4311. Furthermore, a fixing block 412 is further arranged on the upper bottom plate 41, two ends of the guide shaft 24 are fixedly connected with the fixing block 412, and the other end of the energy storage spring 23 abuts against the fixing block 412; the spreading mechanism 3 of the launching device is arranged on the upper bottom plate 41 and is convenient to be matched with the impact mechanism 1 so as to connect or release the spreading mechanism 3; the transmission member (such as the pull rope 22) of the driving mechanism 2 is located between the upper base plate 41 and the lower base plate 42, and the local part of the spreading mechanism 3 extends to between the upper base plate 41 and the lower base plate 42, so as to be fixedly connected with the transmission member, thereby shortening the distance between the transmission member and the spreading mechanism 3 and being beneficial to simplifying the structure of the transmission member.

Further, the upper base plate 41 is further provided with a sliding shaft 411 extending along the first direction, the sliding shaft 411 is sleeved with a first sliding block 414 and a second sliding block 415 (as shown in fig. 12) which slide back and forth along the sliding shaft 411, the first sliding block 414 is fixedly connected with the impact mechanism 1, and the second sliding block 415 is fixedly connected with the spreading mechanism 3; the upper bottom plate 41 is provided with a sliding groove 413 (shown in fig. 5 and 12) extending along a first direction, and the extending plate 332 of the spreading mechanism passes through the sliding groove 413 downwards to be fixedly connected with the transmission member, and slides back and forth along the sliding groove 413.

The upper base plate 41 is further provided with a sliding shaft 411, the sliding shaft 411 extends along a first direction, a first sliding block 414 and a second sliding block 415 are sleeved on the sliding shaft 411, the first sliding block 414 is fixedly connected with the impact mechanism 1, the impact mechanism 1 is ensured to slide back and forth along the sliding shaft 411, and the accuracy of the motion track of the impact mechanism 1 is further improved; the second sliding block 415 is fixedly connected with the spreading mechanism 3, so that the spreading mechanism 3 can slide back and forth along the sliding shaft 411, and the accuracy of the motion track of the spreading mechanism 3 is improved; meanwhile, the synchronous motion of the impact mechanism 1 and the spreading mechanism 3 is ensured to be along the same straight line all the time, so that the matching reliability of the spreading mechanism 3 and the impact mechanism 1 is improved, and the use reliability of the launching device is further improved.

Further, the slide shaft 411 is also fitted with a damper spring 6, and as shown in fig. 1, 6, and 8, the damping effect can be further improved.

Be equipped with spout 413 on the upper plate 41, and spout 413 extends along first direction, and the extension board 332 of mechanism 3 of broadcasting passes spout 413 and driving medium fixed connection downwards to along spout 413 reciprocating sliding, both realized the fixed connection function with the driving medium, played certain guide effect and limiting displacement to the reciprocating sliding of mechanism 3 of broadcasting again, further improved the accuracy nature of mechanism 3 movement track of broadcasting.

Further, the extension plate 332 is provided with an anti-tilting member 333, as shown in fig. 2 and 12, the anti-tilting member 333 is in contact engagement with the upper plate 41 for preventing the tilting of the spreading mechanism 3.

The extending plate 332 is provided with an anti-tilting member 333, the anti-tilting member 333 is in contact fit with the upper base plate 41, and when the spreading mechanism 3 is inclined in the sliding process, the anti-tilting member 333 abuts against the upper base plate 41 to prevent the spreading mechanism 3 from inclining, so that the stability and reliability of the spreading mechanism 3 in the using process are improved. The anti-tilt member 333 may be a roller, a bearing 321, or the like.

Further, the mounting bracket 4 further includes a mounting seat 43 disposed on the upper base plate 41, as shown in fig. 1, 6, 9 and 12, the mounting seat 43 is provided with a striking port 4311 (shown in fig. 3) facing the striking part 12, and the striking part 12 can extend into the striking port 4311 and strike the projectile.

The mounting frame 4 further comprises a mounting seat 43, the mounting seat 43 is arranged on the upper base plate 41 and is provided with a launching groove 431, the striking part 12 of the striking mechanism 1 can be ensured to extend into the striking port 4311 to strike the shot, and the shot launching function is realized.

Further, the mount 43 is provided with a shooting pot 431 (shown in fig. 6, 9 and 12) for accommodating a shot, the shooting pot 431 having a striking port 4311 facing the striking mechanism 1 and a shooting port 4312 disposed opposite to the striking port 4311, as shown in fig. 3.

The mounting seat 43 is provided with a shooting slot 431 for accommodating the shot, the shooting slot 431 is provided with an impact port 4311 facing the impact mechanism 1 and a shooting port 4312 opposite to the impact port 4311, the shot is placed in the shooting slot 431 when being shot, the impact mechanism 1 moves towards the impact port 4311 and impacts the shot through the impact port 4311, and the shot is shot out from the shooting port 4312 after being impacted. Set up launch slot 431 on mounting bracket 4 for striking mechanism 1 and launch slot 431's relative position keeps fixed, and then makes striking mechanism 1 and the relative position of shot keep fixed, is favorable to further improving the accuracy that striking mechanism 1 accurately strikes the target location of shot, and then further launcher's transmission precision.

The embodiment of the second aspect of the present invention provides a projectile launching system (not shown in the drawings), comprising a remote control device and the launching device of any one of the embodiments of the first aspect, wherein the remote control device is electrically connected to the driving mechanism 2 of the launching device.

The utility model discloses the projectile launching system that the embodiment of second aspect provided, because of including the launching device of any one in the first aspect embodiment, therefore have all beneficial effects that any one of above-mentioned embodiments had, no longer describe herein.

The remote control device can adjust preset working parameters and real-time working parameters of the transmitting device according to different test requirements, so that the transmitting device has high flexibility and wide applicability, and different test scene requirements can be met.

The utility model discloses the embodiment of third aspect provides a shooting robot (not shown in the figure), including the chassis, install in the driving system on chassis and the emitter of any one of the first aspect embodiment.

The utility model discloses the embodiment of third aspect provides a shooting robot, because of including the emitter of any one of the first aspect embodiment, therefore have any beneficial effect that any one of the above-mentioned embodiments had, no longer describe herein. The shooting robot can launch the shots from different angles so as to adapt to different shooting scenes.

To sum up, the utility model provides a launcher of shot utilizes striking mechanism to replace the friction pulley of shot both sides among the prior art, reaches the effect of launching the shot through the striking of striking mechanism to the shot, because striking mechanism is instantaneous to the striking effort of shot, the striking position is also fixed, therefore can not produce the speed difference in the both sides of shot, so can prevent effectively that the shot from producing the spin in air motion to the trajectory of shot has been guaranteed, has improved the shooting precision.

In the present application, the terms "first", "second", "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or unit indicated must have a specific direction, be constructed and operated in a specific orientation, and therefore, should not be construed as limiting the present invention.

In the description of the present specification, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (19)

1. A projectile launching device, comprising:

the impact mechanism is used for impacting the shot to enable the shot to be shot under the impact action force of the impact mechanism; and

and the driving mechanism is matched with the impact mechanism and used for driving the impact mechanism to move so that the impact mechanism impacts the shot.

2. The transmitting device of claim 1,

the impact mechanism comprises an impact platform and an impact part, the impact part is located above the impact platform and connected with the impact platform, the impact platform is used for being matched with the driving mechanism, and the impact part is used for impacting the shot.

3. The launch device of claim 2, wherein said drive mechanism comprises:

a first driving member;

the transmission part is connected with the first driving part and used for driving the impact mechanism to move to an energy storage position along a first direction under the driving of the first driving part; and

the elastic piece is abutted and matched with the impact platform and used for storing energy when the impact mechanism moves to the energy storage position so as to drive the impact mechanism to move to a launching position along a second direction opposite to the first direction by utilizing the reset elastic force of the elastic piece, and the impact mechanism impacts the shot.

4. The transmitting device of claim 3,

the driving mechanism further comprises a guide shaft extending along the first direction, and the impact platform comprises a guide part which is sleeved on the guide shaft and slides in a reciprocating manner along the guide shaft;

the elastic piece is an energy storage spring, the energy storage spring is sleeved on the guide shaft, and one end of the energy storage spring is abutted against the guide part.

5. The transmitting device of claim 4,

the launching device further comprises at least one buffer piece, and the buffer piece is used for abutting against the impact mechanism after the impact mechanism impacts the projectile.

6. The transmitting device of claim 5,

the buffer piece is a buffer spring, the buffer spring is sleeved on the guide shaft and is separated from the energy storage spring on two sides of the guide part, and the buffer piece is abutted against one end of the energy storage spring far away from the guide part.

7. The transmitting device of claim 3,

the launching device further comprises a spreading mechanism which is fixedly connected with the transmission member and used for moving along the second direction under the driving of the transmission member to approach and connect with the impact mechanism, and driving the impact mechanism to move along the first direction to the energy storage position and release the impact mechanism under the driving of the transmission member, so that the impact mechanism moves along the second direction to the launching position to impact the shot.

8. The firing apparatus of claim 7, wherein the spreading mechanism comprises:

a second driving member; and

and the connecting piece is movably connected with the second driving piece and used for moving relative to the impact mechanism under the driving of the second driving piece so as to connect or release the impact mechanism.

9. The transmitting device of claim 8,

the connecting piece is the drag hook, the striking platform includes the pull ring, wherein, the drag hook with pull ring hook cooperation makes the connecting piece is connected striking mechanism, the drag hook with the pull ring phase separation makes the connecting piece release striking mechanism.

10. The transmitting device of claim 9,

the spreading mechanism further comprises a support, the second driving piece is mounted on the support, the support is fixedly connected with the driving piece, the drag hook is rotatably connected with the second driving piece through a first rotating shaft, and the drag hook is rotatably connected with the support through a second rotating shaft;

the second driving piece is used for driving the draw hook to rotate around the second rotating shaft in a reciprocating mode, so that the draw hook is hooked on the pull ring or separated from the pull ring.

11. The transmitting device of claim 10,

the support includes the backup pad and with the extension board that the backup pad links to each other, the second driving piece is installed in the backup pad, the drag hook passes through the second pivot with the backup pad rotates to be connected, the extension board with driving medium fixed connection.

12. The transmitting device of claim 7,

the transmission part is a pull rope, the driving mechanism further comprises two steering parts, and the pull rope is sleeved on the two steering parts and is fixedly connected with the spreading mechanism and the first driving part;

wherein, the pull rope encloses a closed loop structure; or a closed loop structure is defined by the pull rope, the connecting part of the spreading mechanism and the pull rope and the connecting part of the first driving part and the pull rope.

13. The transmitting device of claim 7,

the launching device further comprises a mounting frame, and the striking mechanism, the driving mechanism and the spreading mechanism are all mounted on the mounting frame.

14. The transmitting device of claim 13,

the mounting bracket comprises an upper base plate and a lower base plate located below the upper base plate, a first driving piece is installed on the lower base plate, a transmission piece is located between the upper base plate and the lower base plate, an elastic piece, an impact mechanism and a spreading mechanism are installed on the upper base plate, and part of the spreading mechanism extends to the upper base plate and the lower base plate and is fixedly connected with the transmission piece.

15. The transmitting device of claim 14,

the upper bottom plate is also provided with a sliding shaft extending along the first direction, the sliding shaft is sleeved with a first sliding block and a second sliding block which slide along the sliding shaft in a reciprocating manner, the first sliding block is fixedly connected with the impact mechanism, and the second sliding block is fixedly connected with the spreading mechanism;

the upper bottom plate is provided with a sliding groove extending along the first direction, and an extending plate of the spreading mechanism downwards penetrates through the sliding groove to be fixedly connected with the transmission part and slides back and forth along the sliding groove.

16. The transmitting device of claim 14,

the mounting bracket is still including setting up mount pad on the upper plate, the mount pad is equipped with the orientation the striking mouth of striking portion, striking portion can stretch into in the striking mouth and striking the projectile.

17. The transmitting device of claim 16,

the mounting seat is provided with a launching groove used for containing the projectile, and the launching groove is provided with an impact opening facing the impact mechanism and a launching opening opposite to the impact opening.

18. A projectile launching system comprising a remote control device and a launching device as claimed in any one of claims 1 to 17, said remote control device being electrically connected to a drive mechanism of said launching device.

19. A shooting robot comprising a chassis, a power system mounted to the chassis, and the launching device of any of claims 1-17.