CN212082160U

CN212082160U - Launching robot

Info

Publication number: CN212082160U
Application number: CN202020330560.4U
Authority: CN
Inventors: 吴卓兴; 黄嘉奇; 董群; 张潞
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-03-16
Filing date: 2020-03-16
Publication date: 2020-12-04
Anticipated expiration: 2030-03-16

Abstract

A launching robot comprises a launching device and a loading mechanism, wherein the loading mechanism comprises a launching track and an energy storage assembly arranged on the launching track, the loading mechanism comprises a launching track, the loading mechanism is used for loading a to-be-launched body, the loading mechanism is arranged on the launching track in a sliding mode, the energy storage assembly comprises a deformation body, and the deformation body is connected with the loading mechanism; when the bracket mechanism moves along the launching track, the deformation body is driven to move together to deform, so that the energy storage assembly generates elastic potential energy for driving the bracket mechanism to move reversely along the launching track. Elastic force generated by deformation of the deformation body enables the energy storage assembly to generate elastic potential energy capable of driving the bracket mechanism to move along the launching track, and then the to-be-launched body placed on the bracket mechanism can be launched out along the launching track. Compared with other emission modes, the emission mode of the deformation energy storage is easier to control, and can meet the requirement of emitting irregular objects.

Description

Launching robot

Technical Field

The application relates to the field of robots, in particular to a launching robot.

Background

The robot technology is the mainstream top-grade science and technology in the world today, and after years of development, a brand new era is met. The robot competition is gradually heated, and the competition form is that both parties of the competition respectively manufacture a plurality of robot equipment such as combat vehicles, unmanned aerial vehicles and the like, and the robot equipment are mutually compared in a complex field.

The existing launching robot has higher requirements on the appearance of the launched object, and most of the existing launching robots are in regular appearance with the center, so that the influence of the posture of the launched object on the launching effect is reduced. Especially in the case of continuous firing, both active feeding and passive feeding require the objects to be fired to be stacked one upon the other and to enter the firing mechanism in sequence. However, if the shape of the object to be launched is irregular and has a high requirement on the posture of the object to be launched during launching, the traditional launching mode is not easy to control, and the launching requirement cannot be met.

SUMMERY OF THE UTILITY MODEL

The application provides a launching robot, adopts the transmission mode that the morphism volume energy storage, and the emission process is easily controlled.

The embodiment of the application provides a transmission robot, includes:

the launching device comprises a loading mechanism and a bracket mechanism used for loading a to-be-launched body, wherein the loading mechanism comprises a launching track and an energy storage assembly arranged on the launching track, the bracket mechanism is arranged on the launching track in a sliding manner, the energy storage assembly comprises a deformation body, and the deformation body is connected with the bracket mechanism; when the bracket mechanism moves along the launching track, the deformation body is driven to move together to deform, so that the energy storage assembly generates elastic potential energy for driving the bracket mechanism to move reversely along the launching track.

Further, the bracket mechanism comprises a first sliding block arranged on the launching track in a sliding mode and a bracket used for loading the to-be-launched body, the bracket is connected to the first sliding block, and the bracket is connected with the deformation body.

Further, the bracket is provided with a first hanging rod for hanging the body to be shot.

Further, the bracket is provided with a bearing piece which is used for being in butt fit with the body to be launched.

Further, the number of the deformation bodies is at least two, the bracket mechanism further comprises at least two first connecting pieces corresponding to the number of the deformation bodies, the at least two first connecting pieces are arranged on two sides of the first sliding block, and the at least two first connecting pieces are correspondingly connected with the at least two deformation bodies.

Further, the loading mechanism comprises a second sliding block which is used for being matched with the bracket mechanism in an abutting mode, the second sliding block is arranged on the launching track in a sliding mode, and the second sliding block moves along the launching track to drive the bracket mechanism to move along the launching track.

Further, the loading mechanism further comprises a first driving assembly used for driving the second sliding block to move along the launching track, and the first driving assembly is arranged on the launching track and connected with the second sliding block.

Further, the first driving assembly comprises a first driving motor arranged on the launching track and a first transmission assembly connected with the first driving motor, and the first transmission assembly is connected with the second sliding block;

the first driving motor drives the first transmission assembly to move relative to the launching track, and the first transmission assembly drives the second sliding block to move along the launching track.

Furthermore, the first transmission assembly comprises at least two first synchronous wheels arranged on the same side of the launching track and a first synchronous belt wound on the at least two first synchronous wheels, wherein one first synchronous wheel is connected with the first driving motor, and the first synchronous belt is connected with the second sliding block;

the first driving motor drives the first synchronous wheel connected with the first driving motor to rotate, and drives the first synchronous belt to move along the length direction of the launching track, so that the first synchronous belt drives the second sliding block to move along the launching track.

Further, the energy storage assembly further comprises a bracket assembly arranged on the launching track, one end of the deformation body is connected with the bracket assembly, and the other end of the deformation body is connected with the bracket mechanism.

Further, the deformation body comprises a second synchronous belt, the bracket assembly comprises a first bracket, and the first bracket is arranged on the launching track; one end of the second synchronous belt is connected with the first support, and the other end of the second synchronous belt is connected with the bracket mechanism.

Further, the bracket component still includes the second support with set up in the second synchronizing wheel of second support, the second support set up in launch the track, the second support with first support is followed launch orbital length direction arranges, the one end of second hold-in range with first support is connected, the other end of second hold-in range is walked around the second synchronizing wheel with bracket mechanism connects.

Further, the number of the deformation bodies is at least two, the number of the bracket assemblies is at least two corresponding to the number of the deformation bodies, the at least two bracket assemblies are arranged on two sides of the launching track, and the at least two bracket assemblies are correspondingly connected with the at least two deformation bodies.

Further, still include the buffering subassembly, set up in the transmission track, the buffering subassembly includes the elastic component that is used for with the contact cooperation of bracket mechanism.

Further, the launching device also comprises a spreading mechanism used for locking or releasing the bracket mechanism, and the spreading mechanism is arranged on the launching track;

when the bracket mechanism moves to a set position along the launching track and the energy storage assembly generates the elastic potential energy, the spreading mechanism is locked with the bracket mechanism; when the spreading mechanism releases the bracket mechanism, the bracket mechanism moves along the launching track under the action of the elastic potential energy.

Further, the spreading mechanism comprises a spreading device and a steering engine for controlling the spreading device, the spreading device and the steering engine are both arranged on the launching track, and the steering engine controls the spreading device to lock or release the bracket mechanism.

Furthermore, the device also comprises an ammunition feeding device, wherein the ammunition feeding device comprises a storage mechanism for storing the to-be-emitted body and a clamping mechanism for transmitting the to-be-emitted body from the storage mechanism to the bracket mechanism, and the storage mechanism and the clamping mechanism are arranged on the emission track.

Further, the storage mechanism comprises a first frame body arranged in the middle of the launching track and a plurality of second hanging rods used for hanging the objects to be launched, and the plurality of second hanging rods are arranged on the first frame body along the length direction of the launching track and are positioned above the launching track; the clamping mechanism transmits the to-be-emitted body to the bracket mechanism from the second hanging rod.

Further, the first frame body comprises a first bottom plate connected to the launching track and two first side plates connected to two sides of the first bottom plate, the first side plates are located above the launching track, and the plurality of second hanging rods are arranged between the two first side plates along the length direction of the launching track; the first bottom plate and the two first side plates enclose to form an accommodating space for accommodating the to-be-emitted body.

Further, the first bottom plate is connected to the bottom of the launching track, and the two first side plates extend from two sides of the launching track to a direction far away from the launching track to be partially located above the launching track.

Furthermore, the storage mechanism further comprises a second driving assembly arranged on the first frame body, and the second driving assembly drives the second hanging rod to move relative to the first frame body along the length direction of the launching track.

Further, the second driving assembly comprises a second driving motor arranged on the first frame body and two second transmission assemblies connected with the second driving motor, and the plurality of second hanging rods are arranged between the two second transmission assemblies;

the second driving motor drives the second transmission assembly to move relative to the first frame body, and the second transmission assembly drives the second hanging rod to move relative to the first frame body along the length direction of the launching track.

Further, the second transmission assembly comprises at least two third synchronous wheels arranged on the first frame body and a third synchronous belt wound on the at least two third synchronous wheels, wherein one third synchronous wheel is connected with the second driving assembly, and the plurality of second hanging rods are arranged between the third synchronous belts of the two second transmission assemblies;

the second driving assembly drives the third synchronous wheel connected with the second driving assembly to rotate, and drives the third synchronous belt to move along the length direction of the launching track, so that the third synchronous belt drives the second hanging rod to move along the length direction of the launching track.

Further, the clamping mechanism comprises a third driving assembly arranged on the launching track and a first clamp connected with the third driving assembly;

when the third driving assembly drives the first clamp to move to a first position, the first clamp clamps the to-be-launched body from the storage mechanism; when the third driving assembly drives the first clamp to move to the second position, the first clamp loads the body to be launched onto the bracket mechanism.

Further, the third driving assembly comprises a third driving motor arranged on the launching track and a third transmission assembly connected with the third driving motor, and the third transmission assembly is connected with the first clamp;

the third driving motor drives the third transmission assembly to move in the direction close to the storage mechanism, and the third transmission assembly drives the first clamp to move to the first position; the third driving motor drives the third transmission assembly to move in a direction away from the storage mechanism, and the third transmission assembly drives the first clamp to move to the second position.

Further, the third transmission assembly comprises two connecting rod structures which are rotatably connected to two sides of the third driving motor, the first clamp is arranged between the two connecting rod structures, and the connecting rod structures can rotate in the direction close to or far away from the bracket mechanism.

Further, still include the ammunition feed device, the ammunition feed device including set up in launch orbital second support body, be used for the centre gripping or loosen a plurality of second anchor clamps and the fourth drive subassembly of treating the emitter, the fourth drive subassembly set up in the second support body, a plurality of second anchor clamps intervals set up in the second support body and with the fourth drive subassembly is connected, the fourth drive subassembly is used for the drive a plurality of second anchor clamps move in proper order extremely the top of bracket mechanism.

Further, the fourth driving assembly comprises a fourth driving motor arranged on the second frame body and a lead screw connected with the fourth driving motor, the lead screw is connected with the second frame body, and the plurality of second clamps are arranged on the lead screw at intervals;

the fourth driving motor drives the lead screw to rotate, and the lead screw drives the second clamps to move to the position above the bracket mechanism in sequence.

Furthermore, the device also comprises a base mechanism, and the transmitting device is movably arranged on the base mechanism.

Further, the base mechanism includes a first base and a second base, the second base is rotatably disposed on the first base around a first direction, and the transmitting device is rotatably disposed on the second base around a second direction.

Further, the base mechanism further comprises a first guide rail, a first rotating shaft and a third frame body, the first rotating shaft is arranged on the top surface of the second base body along the second direction, and the end part of the launching track is rotatably connected to the first rotating shaft;

the first guide rail is arranged on the top surface of the second base body, one end of the third frame body is rotatably connected to the bottom of the launching track, and the other end of the third frame body is slidably arranged on the first guide rail.

Furthermore, the base mechanism further comprises a second guide rail, a second rotating shaft and a sliding assembly, the second rotating shaft is arranged on the top surface of the first base body along the first direction, and the second base body is rotatably connected to the second rotating shaft; the second guide rail is arranged on the top surface of the first seat body, and the sliding assembly is movably connected to the bottom of the second seat body and is arranged on the second guide rail in a sliding manner.

Furthermore, the sliding assembly comprises a third guide rail, a third sliding block and a fourth sliding block, the third guide rail is arranged at the bottom of the second seat body, the third sliding block is arranged at the third guide rail in a sliding manner, and the fourth sliding block is fixedly connected to the third sliding block and arranged at the second guide rail in a sliding manner.

The utility model provides a launching robot makes energy storage component produce the elastic potential energy that can drive bracket mechanism along the motion of transmission track through the produced elasticity of deformation body deformation, and then can launch away along the transmission track the waiting emitter of placing on bracket mechanism. Compared with other emission modes, the emission mode of the deformation energy storage is easier to control, and can meet the requirement of emitting irregular objects.

Drawings

Fig. 1 is a schematic perspective view of a launch robot according to an embodiment of the present application.

Fig. 2 is a schematic perspective view of a launching track and carriage mechanism of a launching robot according to an embodiment of the present application.

Fig. 3 is a partially enlarged schematic view of fig. 2.

Fig. 4 is a perspective view of another perspective view of a launching track and carriage mechanism of a launching robot according to an embodiment of the present application.

Fig. 5 is a partially enlarged schematic view of fig. 4.

Fig. 6 is a schematic perspective view of an energy storage assembly and a loading mechanism of a launch robot before energy storage according to an embodiment of the present application.

Fig. 7 is a perspective view of an energy storage assembly and a loading mechanism of a launching robot after energy storage according to an embodiment of the present application.

Fig. 8 is a schematic perspective view of a storage mechanism of a launch robot according to an embodiment of the present application.

Fig. 9 is a schematic perspective view of a chuck of a launch robot according to an embodiment of the present disclosure.

Fig. 10 is a perspective view of another ammunition feeding device of a launching robot according to an embodiment of the present application.

Fig. 11 is a partially enlarged schematic view of fig. 10.

Fig. 12 is a schematic perspective view of a launch robot ammunition removal device according to an embodiment of the present application.

Fig. 13 is a bottom schematic view of a second base of a launch robot according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

The following describes the launch robot of the present application in detail with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

Referring to fig. 1, the embodiment of the present application provides a launching robot, which is suitable for a robot game and can launch a regular object or an irregular object as a launching body. The launching robot includes a launching device 10, a feed device, and a base mechanism 40. The ammunition feeding device is arranged on the launching device 10, the launching device 10 is arranged on the base mechanism 40, and the base mechanism 40 plays a supporting role for the launching device 10.

The launching device 10 comprises a loading mechanism 11 and a bracket mechanism 12 for loading the to-be-launched body 90, the loading mechanism 11 comprises a launching track 13 arranged on the base mechanism 40 and an energy storage assembly 14 arranged on the launching track 13, and the bracket mechanism 12 is slidably arranged on the launching track 13. The energy storage assembly 14 comprises a deformation body 141, the deformation body 141 being connected to the carrier mechanism 12. When the carriage mechanism 12 moves along the launching track 13, the deformation body 141 can be driven to move together to deform, so that the energy storage assembly 14 generates elastic potential energy for driving the carriage mechanism 12 to move reversely along the launching track 13.

Referring to fig. 2 to 5, in an alternative embodiment, the carriage mechanism 12 includes a first slide block 121 slidably disposed on the launching track 13 and a carriage 122 for loading the object to be launched 90, the carriage 122 is connected to the first slide block 121, and the carriage 122 is connected to the deformation body 141. The bracket 122 can slide along the launching track 13 through the first sliding block 121, the object to be launched 90 can be loaded on the bracket 122, and when the bracket 122 moves along the launching track 13, the deformation body 141 can be driven to move together to deform, so that the energy storage component 14 generates elastic potential energy capable of driving the bracket 122 to move along the launching track 13, and the object to be launched 90 can be launched.

Optionally, the number of the deformation bodies 141 is at least two, the bracket mechanism 12 further includes at least two first connecting elements 125 corresponding to the number of the deformation bodies 141, the at least two first connecting elements 125 are disposed on two sides of the first sliding block 121, the at least two first connecting elements 125 are correspondingly connected to the at least two deformation bodies 141, and the first connecting elements 125 may serve as force acting points of the deformation bodies 141. In the example shown in the figure, the number of the deformation bodies 141 and the first connectors 125 is two.

In this embodiment, the emitting rail 13 is a long strip structure, and is disposed on the base mechanism 40 at a certain included angle with respect to the horizontal plane, so that the to-be-emitted object 90 can be emitted along the upward direction of inclination to form a certain parabolic radian, and can reach a farther range. Alternatively, the deformation body 141 may include an elastic member that can be deformed, such as a timing belt, an elastic belt, a rubber tube, a spring, a bow, and the like. When the bracket 122 slides downwards along the launching track 13, the deformation body 141 can be driven to move together to deform, so that the deformation body 141 is in a stretching state, the energy storage assembly 14 generates elastic potential energy capable of driving the bracket 122 to move upwards along the launching track 13, and the body to be launched 90 can be launched.

Therefore, the carriage mechanism 12 can carry and accelerate the object to be shot 90 on the launching track 13, and the energy stored in the deformation body 141 is converted into the kinetic energy of the object to be shot 90. The body to be launched can be in a centrosymmetric regular shape, such as a bullet shape, a spherical shape and a disc shape. The bodies to be launched with the structures can be laminated orderly or disorderly, and the placing posture of the initial position is not required to be too high during continuous launching (for example, balls can be extruded and launched in all directions to achieve the same effect), so that the continuous launching effect can be achieved very conveniently. In the example shown in the figure, the body to be launched 90 is the shape structure of a fixed wing model airplane, the structural details of the bracket mechanism 12 can be changed according to the shape structure of the body to be launched 90, but the whole composition of the bracket mechanism 12 can be unchanged, and compatibility of bodies to be launched with different shapes is realized.

In order to smoothly load the body to be shot 90 on the bracket 122, the bracket 122 may be provided with a first hanging rod 123 for hanging the body to be shot 90. In order to reduce the resistance of the bracket 122 to the body to be launched 90 and thus the launching effect, the bracket 122 may be provided with a bearing member 124 for abutting engagement with the body to be launched 90, so that the friction between the bracket 122 and the body to be launched 90 can be greatly reduced. Alternatively, the bracket 122 has a Y-shaped structure, the first hanging rod 123 is disposed at a straight section which is a front end of the bracket 122, and two branch parts which are branch sections of a rear end of the bracket 122 may be respectively provided with one bearing member 124. In order to balance the force and improve the effect of reducing the friction force, a bearing member 124 may be disposed on the first hanging rod 123.

The loading mechanism 11 includes a second slider 111 for abutting and matching with the first slider 121 of the carriage mechanism 12, the second slider 111 is slidably disposed on the launching track 13, and the position where the second slider 111 is disposed on the launching track 13 may be above the carriage 122. When the second slider 111 moves along the launching track 13 and abuts against the first slider 121, the first slider 121 can be driven to move together, and the bracket 122 is further driven to move along the launching track 13.

In order to enable the carriage 122 to move along the launching track 1 for automatic loading, the loading mechanism 11 may further include a first driving assembly for driving the second slider 111 to move along the launching track 13, wherein the first driving assembly is disposed on the launching track 13 and connected to the second slider 111. The first driving assembly may drive the second sliding block 111 to slide along the launching track 13 through a synchronous belt transmission, a chain transmission, a lead screw transmission, or the like.

In the present embodiment, the first driving assembly drives the second slider 111 to slide along the launching track 13 by means of a synchronous belt transmission. The first driving assembly comprises a first driving motor 112 arranged on the launching track 13 and a first transmission assembly connected with the first driving motor 112, and the first transmission assembly is connected with the second sliding block 111. The first driving motor 112 drives the first transmission assembly to move relative to the launching track 13, and the first transmission assembly drives the second slider 111 to move along the launching track 13, so as to drive the bracket 122 to move along the launching track 13.

Referring to fig. 6 and 7, in an alternative embodiment, the first transmission assembly may include at least two first synchronizing wheels 113 disposed on the same side of the launching track 13 and a first synchronizing belt 114 wound around the at least two first synchronizing wheels 113, wherein one of the first synchronizing wheels 113 is connected to the first driving motor 112, and the first synchronizing belt 114 is connected to the second slider 111. The first driving motor 112 drives the first synchronous wheel 113 connected thereto to rotate, so as to drive the first synchronous belt 114 to move along the length direction of the launching track 13, so that the first synchronous belt 114 drives the second slider 111 to move along the launching track 13. In the example shown in the figures, the first synchronization wheels 113 are two in number, arranged on the same side of said launch rail 13.

Further, the energy storage assembly 14 further includes a bracket assembly disposed on the launching track 13, one end of the deformation body 141 is connected to the bracket assembly, and the other end of the deformation body 141 is connected to the bracket 122 of the bracket mechanism 12. In this embodiment, the deformation body 141 includes a second timing belt 142, and the carriage assembly includes a first carriage 143, and the first carriage 143 is disposed on the launching track 13. One end of the second timing belt 142 is connected to the first bracket 143, and the other end of the second timing belt 142 is connected to the first link 125 of the carriage mechanism 12. Because one end of the deformation body 141 is fixed by the first bracket 143, when the bracket 122 slides downwards along the launching track 13, the deformation body 141 can be driven to move together to deform, so that the deformation body 141 is in a stretching state, the energy storage assembly 14 generates elastic potential energy capable of driving the bracket 122 to move upwards along the launching track 13, and the body to be launched 90 can be launched after the bracket 122 is released.

In order to extend the stretching length of the variant 141, the bracket assembly further includes a second bracket 144 and a second synchronizing wheel 145 disposed on the second bracket 144, the second bracket 144 and the first bracket 143 are arranged along the length direction of the launching track 13, the second bracket 144 is disposed at a position near the top end of the launching track 13, and the first bracket 143 is disposed at a position near the bottom end of the launching track 13. One end of the second timing belt 142 is connected to the first bracket 143, and the other end of the second timing belt 142 is connected to the first link 125 of the tray mechanism 12 by bypassing the second timing wheel 145. With the above arrangement, the elongatable length of the deformation body 141 can be doubled.

In practice, the initial position of the second slider 111 and the carriage 122 of the carriage mechanism 12 may be located near the top end of the launching track 13. The first driving motor 112 drives the first synchronous wheel 113 connected thereto to rotate clockwise, so as to drive the first synchronous belt 114 to move clockwise along the length direction of the launching track 13, the first synchronous belt 114 drives the second slider 111 to move downwards along the launching track 13, and further drives the bracket 122 to move downwards along the launching track 13 from the position shown in fig. 6 to the position shown in fig. 7, that is, the position near the bottom end of the launching track 13, so as to complete the process of loading and storing energy. After the loading and energy storage process is completed, the first driving motor 112 can drive the first synchronous pulley 113 connected thereto to rotate in the opposite direction, and the first synchronous belt 114 moves the second slider 111 to the initial position to complete the unloading, and at this time, the cradle mechanism 12 is in the dischargeable state. When the carriage 122 slides downwards along the launching track 13, the deformation body 141 can be driven to move together to deform, so that the deformation body 141 is in a stretching state, the energy storage assembly 14 generates elastic potential energy capable of driving the carriage 122 to move upwards along the launching track 13, and the body to be launched 90 can be launched after the carriage 122 is released.

Optionally, the number of the deformation bodies 141 is at least two, the number of the bracket assemblies is at least two corresponding to the number of the deformation bodies 141, the at least two bracket assemblies are disposed on two sides of the launching track 13, and the at least two bracket assemblies are correspondingly connected with the at least two deformation bodies 141. In the example shown in the figures, the number of the deformation bodies 141 and the bracket assemblies is two, and it can be understood that the two deformation bodies 141 can generate two forces which are symmetrical to each other in two directions on the bracket 122, so that the bracket 122 is subjected to force balance.

Referring again to fig. 1, in an alternative embodiment, the launching device 10 may further include a release mechanism for locking or releasing the carriage mechanism 12, the release mechanism being disposed near the bottom end of the launching track 13. When the bracket 122 of the bracket mechanism 12 moves to a set position along the launching track 13 and the energy storage assembly 14 generates the elastic potential energy, the releasing mechanism can be locked with the bracket 122 of the bracket mechanism 12. When the spreading mechanism releases the bracket 122 of the bracket mechanism 12, the bracket 122 can move upwards along the launching track 13 under the action of the elastic potential energy, and then the object to be launched 90 is launched.

Optionally, the spreading mechanism may include a spreader 15 and a steering engine 16 for controlling the spreader 15, the spreader 15 and the steering engine 16 are both disposed on the launching track 13, the spreader 15 is located at a position close to the bottom end of the launching track 13, and the steering engine 16 is used for controlling the spreader 15 to lock or release the bracket mechanism 12. As described above, after the carriage 122 moves from the position near the top end of the launching track 13 to the position near the bottom end, the charging and energy storage process is completed, so that the energy storage assembly 14 generates elastic potential energy for driving the carriage 122 to move upwards along the launching track 13.

That is, the carriage 122 is moved from a position near the top end of the firing track 13 to a position near the bottom end of the spreader 15, the spreader can be locked with the carriage 122, the charging is completed, and the carriage 122 is in a state to be fired. The steering engine 16 triggers the spreader 15, the spreader 15 releases the bracket 122, and the bracket 122 and the body to be launched 90 can be accelerated upwards along the launching track 13 to be launched, and the energy stored in the deformation body is converted into the kinetic energy of the bracket and the body to be launched in the process. When the carriage 122 moves to the top end of the launching track 13, the second sliding block 111 stops moving, and the object to be launched 90 can continue to be launched outwards under the action of inertia. The first driving motor 112 and the steering engine 16 can be controlled in a programming mode, and energy storage is combined with a launching track and a bracket mechanism through deformation, so that automatic up-and-down movement is achieved, and the effect that the to-be-launched body can reach high launching speed is achieved.

Because the energy stored in the deformation body enables the speed of the carriage to be high, the carriage is easy to collide with the second sliding block under the unprotected state to cause damage. Therefore, the launching robot may further include a buffer assembly disposed near the top end of the launching track 13, the buffer assembly including an elastic member 146 for contacting and cooperating with the first slider 121 of the carriage mechanism 12. The elastic member 146 may be an elastic structure such as an elastic band, and is used to absorb the kinetic energy of the movement of the carriage, so that the carriage moving at high speed can be decelerated to stop quickly, the damage of the mechanism caused by the fact that the first slider of the carriage directly impacts the second slider is avoided, and the service life of the whole mechanism is prolonged. When the first driving motor 112 drives the first synchronous belt 114 to drive the second slider 111 to move out of the chamber, the second slider 111 can be moved to the position above the elastic member 146, so that the bracket is prevented from colliding with the first slider after being launched. The buffer assembly can intercept the bracket moving at high speed to play a role of being decelerated and buffered, the bracket can be separated from the body to be launched after being intercepted, and the body to be launched continues to fly outwards under the inertia effect to finish launching. The residual kinetic energy of the bracket mechanism can be gradually absorbed by the buffer assembly until the buffer assembly stops, so that the damage to the bracket mechanism is reduced.

Referring to fig. 8 and 9, in an alternative embodiment, the ammunition feeding device may include a storage mechanism 20 for storing the to-be-fired objects 90 and a gripper 30 for transferring the to-be-fired objects 90 from the storage mechanism 20 to the carriage mechanism 12, and both the storage mechanism 20 and the gripper 30 may be disposed on the firing track 13.

In this embodiment, the storage mechanism 20 is a frame structure and is disposed at the middle position of the launching track 13, and the object to be launched can be suspended on the storage mechanism 20 without affecting the loading mechanism located below to drive the object to be launched loaded on the bracket to launch. The storage mechanism 20 may include a first frame body 21 disposed at a middle position of the launching track 13 and a plurality of second hanging rods 22 for hanging the objects to be launched 90, wherein the plurality of second hanging rods 22 are disposed along a length direction of the launching track 13 on the first frame body 21 and above the launching track 13. The clamping mechanism 30 is disposed at a position close to the bracket mechanism 12 at the bottom end of the launching track 13, and is convenient for transferring the body to be launched 90 from the second hanging rod 22 to the bracket 122 of the bracket mechanism 12.

In order to ensure that a sufficient space is reserved for the to-be-launched object, the first frame body 21 includes a first bottom plate 23 connected to the launching track 13 and two first side plates 24 connected to two sides of the first bottom plate 23, the first side plates 24 are partially located above the launching track 13, the plurality of second hanging rods 22 are arranged between the two first side plates 24 along the length direction of the launching track 13, and each second hanging rod 22 can be hung with one to-be-launched object. The first bottom plate 23 and the two first side plates 24 enclose a receiving space for receiving the object to be shot 90.

In order to ensure that the first frame body 21 is disposed on the launching track 13 and then a sufficient space is left without affecting the sliding of the bracket 122 loaded with the object to be launched on the launching track 13, the first bottom plate 23 is connected to the bottom of the launching track 13, and the two first side plates 24 extend from the two sides of the launching track 13 to the direction away from the launching track 13 to be partially located above the launching track 13. The first side plate 24 may be located in a space formed after the second timing belt 142 is wound around the second timing wheel 145, so that the overall structure of the launching robot is more compact.

In an optional embodiment, the storage mechanism 20 may further include a second driving assembly disposed on the first frame body 21, and the second driving assembly drives the second hanging rod 22 to move along the length direction of the launching track 13 relative to the first frame body 21, so that the to-be-launched body can be moved towards the clamping mechanism 30 in order, and the clamping mechanism 30 is convenient to obtain the to-be-launched body. The second driving assembly may drive the second hanging rod 22 to move along the length direction of the launching track 13 through a synchronous belt transmission, a chain transmission, a lead screw transmission or the like.

In this embodiment, the second driving assembly drives the second hanging rod 22 to slide along the length direction of the launching track 13 by means of synchronous belt transmission. The second driving assembly may include a second driving motor 25 disposed on the first frame body 21 and two second transmission assemblies connected to the second driving motor 25, and the plurality of second hanging rods 22 are disposed between the two second transmission assemblies. The second driving motor 25 drives the second transmission assembly to move relative to the first frame 21, and the second transmission assembly drives the second hanging rod 22 to move relative to the first frame 21 along the length direction of the launching track 13. A second drive motor 25 and a second transmission assembly are both provided at the top of first side plate 24 so that the body to be launched can be suspended above launching track 13, leaving more room for the underlying carriage mechanism to slide.

The second transmission assembly may include at least two third synchronous wheels 26 disposed on the first frame body 21 and a third synchronous belt 27 wound on the at least two third synchronous wheels 26, wherein one of the third synchronous wheels 26 is connected to the second driving motor 25 of the second driving assembly, and the plurality of second hanging rods 22 are disposed between the third synchronous belts 27 of the two second transmission assemblies. The second driving motor 25 of the second driving assembly drives the third synchronous wheel 26 connected with the second driving motor to rotate, so as to drive the third synchronous belt 27 to move along the length direction of the launching track 13, and the third synchronous belt 27 drives the second hanging rod 22 to move along the length direction of the launching track 13. In this embodiment, the second transmission assembly includes three third synchronizing wheels 26, sets up the intermediate position at the top both ends and the top of first curb plate 24, can play better supporting role to third synchronizing belt 26, guarantees the stability when third synchronizing belt 26 removes.

Referring to fig. 1 and 8, the second driving motor 25 drives the third synchronous pulley 26 connected thereto to rotate counterclockwise, so as to drive the third synchronous belt 27 to move counterclockwise along the length direction of the launching track 13, thereby driving the second hanging rod 22 to move downward along the length direction of the launching track 13, so that the clamping mechanism 30 can clamp the to-be-launched object.

In an alternative embodiment, the clamping mechanism 30 may include a third driving assembly disposed on the launching track 13 and a first clamp 31 connected to the third driving assembly. The first clamp 31 may include a clamp body 311, a driving steering engine 312 mounted to the clamp body 311, and two mechanical clamp arms 313 mounted to both sides of the clamp body 311. The driving steering engine 312 can control the two mechanical clamping arms 313 to open or close relatively in a programmable manner, so as to clamp or release the object to be shot. Alternatively, the mechanical clamping arm 313 may be replaced by a solid clamp to clamp the object to be shot by means of carrying, electromagnetic attraction, or the like.

When the third driving assembly drives the first clamp 31 to move to the first position, which may be understood as a position near the bottom end of the storage mechanism 20, the control motor 312 of the first clamp 31 can control the two mechanical clamping arms 313 to clamp the nearest one of the objects to be launched 90 from the storage mechanism 20. When the third driving assembly drives the first clamp 31 to move to the second position, which is understood to be a position on the bracket 122 of the bracket 122, the control motor 312 of the first clamp 31 can control the two mechanical clamping arms 313 to release the object to be shot 90, so as to load the object to be shot onto the bracket 122 of the bracket mechanism 12. With the storage mechanism 20 moving the to-be-launched body in the direction of the clamping mechanism 30 in order, after the loading mechanism 11 launches one to-be-launched body, the clamping mechanism 30 can clamp and load the next to-be-launched body from the storage mechanism 20 onto the bracket 122 for the next launch, so as to achieve the effect of automatic continuous launch.

Further, the third driving assembly includes a third driving motor 32 disposed on the launching track 13 and a third transmission assembly connected to the third driving motor 32, and the third transmission assembly is connected to the clamp body 311 of the first clamp 31. The third driving motor 32 drives the third transmission assembly to move in a direction close to the storage mechanism 20, and the third transmission assembly drives the first clamp 31 to move to the first position. The third driving assembly drives the third transmission assembly to move in a direction away from the storage mechanism 20, and the third transmission assembly drives the first clamp 31 to move to the second position.

The third driving assembly may include a motor base 321, the third driving motor 32 is installed in the motor base 321, the third transmission assembly includes two link structures 33 rotatably connected to two sides of the motor base 321, and the link structures 33 are connected to the third driving motor 32. The clamp body 311 of the first clamp 31 is disposed between the two link structures 33, and the link structures 33 can rotate in a direction close to or far from the bracket mechanism 12, so as to drive the first clamp 31 to move. In the present embodiment, the clamp body 311 is located at the top of the two link structures 33, and the motor base 321 is located at the bottom of the two link structures 33.

In the example shown in the figure, the third driving motor 32 drives the link structure 33 to rotate clockwise, which can drive the first clamp 31 to move in the direction approaching the storage mechanism 20. When the first clamp 31 moves to the first position, the two mechanical clamping arms 313 are controlled by the control motor 312 to clamp the nearest one of the objects to be launched 90 from the storage mechanism 20. Then, the third driving motor 32 drives the link structure 33 to rotate counterclockwise, which drives the first clamp 31 to move in a direction away from the storage mechanism 20. When the first clamp 31 moves to the second position, the two mechanical clamping arms 313 are controlled by the control motor 312 to release the object to be shot 90, so that the object to be shot is loaded on the carriage 122 of the carriage mechanism 12. With the storage mechanism 20 moving the to-be-launched body in the direction of the clamping mechanism 30 in order, after the loading mechanism 11 launches one to-be-launched body, the clamping mechanism 30 repeats the above steps to clamp and load the next to-be-launched body from the storage mechanism 20 onto the bracket 122 for the next launch, so as to achieve the effect of automatic continuous launch.

Through the setting, the launching robot of this application utilizes mutually supporting of clamping mechanism, storage mechanism and bracket mechanism, can treat that the emitter carries out full attitude control, reaches the automatic effect that treats the emitter and running fire that supplies to trade to the appearance of treating the emitter has higher compatibility.

Referring to fig. 10 and 11, in an alternative embodiment, the ammunition feed device may take another form. The ammunition feed device including set up in launch track 13's second support body 34, be used for the centre gripping or unclamp a plurality of second anchor clamps 35 and the fourth drive assembly of waiting emitter 90, the fourth drive assembly set up in second support body 34, a plurality of second anchor clamps 35 intervals set up in second support body 34 is connected with the fourth drive assembly, the fourth drive assembly is used for the drive a plurality of second anchor clamps 35 move in proper order extremely the top of bracket mechanism 12. Alternatively, the second clamp 35 may be replaced by a solid clamp to clamp the object to be shot by means of carrying, electromagnet adsorption, or the like.

In this embodiment, the second frame body 34 is disposed at a position close to the carriage mechanism 12 at the bottom end of the launching track 13, and the plurality of second clamps 35 are disposed on the second frame body 34 at intervals along the height direction of the second frame body 34, so that a part of the second clamps 35 is located above the carriage mechanism 12, a part of the second clamps 35 is located below the carriage mechanism 12, and each second clamp 35 located above the carriage mechanism 12 can clamp one to-be-launched object 90. The fourth driving assembly can drive the second clamp 35 to move towards the direction close to the carriage mechanism 12, so that the second clamp 35 clamping the body to be shot moves above the carriage mechanism 12 in sequence, the second clamp 35 closest to the carriage 122 of the carriage mechanism 12 releases the body to be shot, and the body to be shot can be loaded on the carriage 122 for shooting.

Alternatively, the fourth driving assembly may drive the second clamp 35 to move through a chain drive or a lead screw drive, etc. In the present embodiment, the fourth driving assembly drives the second clamp 35 to move through a screw transmission manner. The fourth driving assembly may include a fourth driving motor 36 disposed on the second frame 34 and a lead screw 37 connected to the fourth driving motor 36, the lead screw 37 is connected to the second frame 34 along a height direction of the second frame 34, and the plurality of second clamps 35 are disposed at intervals on the lead screw 37 and are in threaded engagement with the lead screw 37. The fourth driving motor 36 drives the lead screw 37 to rotate, and the lead screw 37 drives the second clamp 35 to move along the length direction of the lead screw 37, so that the plurality of second clamps 35 can sequentially move above the bracket mechanism 12. The second gripper 35, which is first adjacent to the carriage 122 of the carriage mechanism 12, releases the body to be fired, i.e., the body to be fired can be loaded onto the carriage 122 for firing. With the second fixture 35 loaded with the to-be-fired body sequentially moving toward the direction of the carriage mechanism 12 by the fourth driving assembly, after the loading mechanism 11 has fired one to-be-fired body, the fourth driving assembly repeats the above steps to load the next to-be-fired body onto the carriage 122 for the next firing, so as to achieve the effect of automatic continuous firing.

Referring to fig. 12 and 13 in conjunction with fig. 1, in an alternative embodiment, the launching device 10 is movably disposed on the base mechanism 40, and can function to adjust the launching angle and the launching direction of the launching device 10.

The base mechanism 40 may include a first base 41 and a second base 42, the second base 42 is rotatably disposed on the first base 41 around a first direction, and the transmitting device 10 is rotatably disposed on the second base 42 around a second direction. Alternatively, the first direction may be understood as a yaw axis and the second direction may be understood as a pitch axis. That is, the transmitting device 10 rotates about the pitch axis with respect to the second base 42, enabling adjustment of the transmitting angle of the transmitting device 10, and the second base 42 rotates about the yaw axis with respect to the first base 41, enabling adjustment of the transmitting direction of the transmitting device 10, thereby enabling the transmitting device 10 to have two degrees of freedom of adjustment.

Further, the base mechanism 40 may further include a first guide rail 43, a first rotating shaft 44, a first support 441, and a third frame 45, the first support 441 is disposed on the top surface of the second seat 42, and the first rotating shaft 44 is disposed on the first support 441, that is, the first rotating shaft 44 may be disposed on the top surface of the second seat 42 along the second direction (which may be regarded as a horizontal direction in the drawing) through the first support 441. The bottom end of the launching track 13 of the launching device 10 is rotatably connected to the first rotating shaft 44, so that the launching track 13 rotates around the pitch axis. Because the loading mechanism 11 and the ammunition feeding device are both arranged on the launching track 13, the launching angle and the launching direction of the launching device 10 can be integrally adjusted only by adjusting the position of the launching track 13.

First guide rail 43 can adopt elongated structure, along the length direction of second pedestal 42 set up in the top surface of second pedestal 42, the one end of third support body 45 rotate connect in the bottom of launching track 13, the other end of third support body 45 slide set up in first guide rail 43. The third frame body 45 is supported below the launching rail 13 and functions to support the launching device 10. The third frame 45 slides along the first guide rail 43, and can drive the launching track 13 to descend or ascend, so as to achieve the effect of adjusting the pitch angle of the launching device 10. Alternatively, the third frame body 45 has a triangular frame structure, so that sufficient supporting strength can be ensured. First guide rail 43 can adopt the lead screw, and the tip can set up the motor 431 that is used for driving the lead screw, and third support body 45 can adopt lead screw drive's mode to remove first guide rail 43 relatively, utilizes the auto-lock of lead screw to improve holistic stability.

The bottom of the second base 41 may further be provided with a bull-eye wheel 49, and the second base 41 is supported on the first base 41 through the bull-eye wheel 49 to improve the supporting strength, so as to prevent the second guide rail 46 from being damaged due to the excessive gravity of the launching device.

The base mechanism 40 may further include a second guide rail 46, a second rotating shaft 47 and a sliding assembly 48, the second rotating shaft 47 may be disposed on the top surface of the first base 41 along the first direction (which may be regarded as a vertical direction in the drawing), and the second base 42 is rotatably connected to the second rotating shaft 47, so as to achieve an effect of driving the launching track 13 to rotate around the yaw axis. Since the transmitting device 10 is disposed on the second base 42, the transmitting direction of the transmitting device 10 can be adjusted by adjusting the position of the second base 42.

The second guide rail 46 is disposed on the top surface of the first seat 41, and the sliding component 48 is movably connected to the bottom of the second seat 42 and slidably disposed on the second guide rail 46. Optionally, the second rotating shaft 47 is disposed at one end of the top surface of the first seat 41, and the second guide rail 46 is disposed at the other end of the top surface of the first seat 41, so that one end of the second seat 42 can rotate relative to the first seat 41, and the other end of the second seat 42 can slide along the second guide rail 46 through the sliding assembly 48, and can drive the launching track 13 to rotate around the yaw axis, thereby achieving the effect of adjusting the launching direction of the launching device 10.

Second guide rail 46 may have a circular arc-shaped structure for guiding second fastening structure 42 to rotate. However, the space required by the circular arc structure is large, which may cause the overall volume of the launching robot to be too large. Referring to fig. 13, in an alternative embodiment, the second guide rail 46 may have a long strip shape and is disposed along the width direction of the first housing 41. The sliding assembly 48 may include a third guide rail 481, a third slider 482 and a fourth slider 483, wherein the third guide rail 481 is disposed at the bottom of the second seat 42 along the length direction of the second seat 42, the third slider 482 is slidably disposed at the third guide rail 481, and the fourth slider 483 is fixedly connected to the third slider 482 and slidably disposed at the second guide rail 46. Alternatively, the second guiding rail 46 may be a lead screw, a motor 471 for driving the lead screw may be disposed at an end of the second guiding rail, the fourth sliding block 483 may be disposed on a nut member 484 engaged with the lead screw, and the fourth sliding block 483 moves relative to the second guiding rail 46 in a lead screw transmission manner, so that the overall stability may be improved by self-locking of the lead screw.

With the above arrangement, when the fourth slider 483 slides relative to the second guide rail 46, the third slider 482 can slide along the third guide rail 481, so that the second seat 42 can form an arc-shaped sliding track relative to the first seat 41, and the function of driving the launching track 13 to rotate around the yaw axis is achieved.

Although the present application has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the application, and all changes, substitutions and alterations that fall within the spirit and scope of the application are to be understood as being covered by the following claims.

The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.

Claims

1. A launch robot, comprising:

2. The launch robot of claim 1, wherein the carriage mechanism comprises a first slide slidably disposed on the launch rail and a carriage for carrying the object to be launched, the carriage being connected to the first slide, the carriage being connected to the form.

3. The launch robot of claim 2 wherein said cradle is provided with a first hanger for hanging the body to be launched.

4. The launch robot of claim 2, wherein said cradle is provided with bearing members for abutting engagement with a body to be launched.

5. The launch robot of claim 2, wherein the number of said deformation bodies is at least two, and said cradle mechanism further comprises at least two first connectors corresponding to the number of said deformation bodies, said at least two first connectors being disposed on both sides of said first slide block, said at least two first connectors being connected to said at least two deformation bodies.

6. The launch robot of claim 1, wherein the loading mechanism includes a second slider for abutting engagement with the carriage mechanism, the second slider being slidably disposed on the launch rail, the second slider moving along the launch rail to move the carriage mechanism along the launch rail.

7. The launching robot of claim 6, wherein the loading mechanism further comprises a first driving assembly for driving the second slide block to move along the launching track, the first driving assembly being disposed on the launching track and connected to the second slide block.

8. The launch robot of claim 7, wherein the first drive assembly comprises a first drive motor disposed on the launch rail and a first transmission assembly coupled to the first drive motor, the first transmission assembly being coupled to the second slide;

9. The launch robot of claim 8, wherein the first transmission assembly comprises at least two first synchronization wheels disposed on a same side of the launch rail, one of the first synchronization wheels being coupled to the first drive motor, and a first synchronization belt wound around the at least two first synchronization wheels, the first synchronization belt being coupled to the second slider;

10. The launch robot of claim 1, wherein said energy storage assembly further comprises a cradle assembly disposed on said launch rail, one end of said deformable body being connected to said cradle assembly, the other end of said deformable body being connected to said cradle mechanism.

11. The launch robot of claim 10, wherein the morph body comprises a second timing belt, wherein the carriage assembly comprises a first carriage disposed on the launch rail; one end of the second synchronous belt is connected with the first support, and the other end of the second synchronous belt is connected with the bracket mechanism.

12. The launch robot of claim 11, wherein the carriage assembly further comprises a second carriage and a second synchronizing wheel disposed on the second carriage, the second carriage being disposed on the launch rail, the second carriage and the first carriage being disposed along a length of the launch rail, one end of the second synchronizing belt being connected to the first carriage, the other end of the second synchronizing belt being connected to the carriage mechanism by bypassing the second synchronizing wheel.

13. The launch robot of claim 10, wherein the number of said morphs is at least two, the number of said bracket assemblies is at least two corresponding to the number of said morphs, said at least two bracket assemblies are disposed on both sides of said launch rail, said at least two bracket assemblies are correspondingly connected to said at least two morphs.

14. The launch robot of claim 1, further comprising a bumper assembly disposed on the launch rail, the bumper assembly including a resilient member for contacting engagement with the carriage mechanism.

15. The launch robot of claim 1, wherein said launch device further comprises a release mechanism for locking or releasing said carriage mechanism, said release mechanism being disposed on said launch rail;

16. The launching robot of claim 15, wherein the spreader mechanism comprises a spreader and a steering engine for controlling the spreader, the spreader and the steering engine are both arranged on the launching track, and the steering engine controls the spreader to lock or release the bracket mechanism.

17. The launch robot of claim 1, further comprising a projectile feeding device, wherein the projectile feeding device comprises a storage mechanism for storing projectiles to be launched and a clamping mechanism for transferring projectiles to be launched from the storage mechanism to the carriage mechanism, and the storage mechanism and the clamping mechanism are both disposed on the launch rail.

18. The launch robot of claim 17, wherein the storage mechanism comprises a first frame body disposed at a middle position of the launch rail and a plurality of second hanging rods for hanging the objects to be launched, the plurality of second hanging rods being disposed on the first frame body and above the launch rail along a length direction of the launch rail; the clamping mechanism transmits the to-be-emitted body to the bracket mechanism from the second hanging rod.

19. The launch robot of claim 18, wherein the first frame comprises a first bottom plate connected to the launch rail and two first side plates connected to two sides of the first bottom plate, wherein the first side plates are partially positioned above the launch rail, and wherein the plurality of second hanging rods are disposed between the two first side plates along a length of the launch rail; the first bottom plate and the two first side plates enclose to form an accommodating space for accommodating the to-be-emitted body.

20. The launch robot of claim 19, wherein the first bottom plate is attached to the bottom of the launch rail, and wherein the two first side plates extend from both sides of the launch rail away from the launch rail to partially above the launch rail.

21. The launch robot of claim 19, wherein the storage mechanism further comprises a second drive assembly disposed on the first frame, the second drive assembly driving the second hanging rod to move relative to the first frame along the length of the launch rail.

22. The launch robot of claim 21, wherein the second drive assembly comprises a second drive motor disposed on the first frame and two second transmission assemblies coupled to the second drive motor, the plurality of second hanging rods being disposed between the two second transmission assemblies;

23. The launch robot of claim 22, wherein the second transmission assembly comprises at least two third synchronizing wheels disposed on the first frame and a third synchronizing belt wound around the at least two third synchronizing wheels, wherein one of the third synchronizing wheels is connected to the second driving assembly, and the plurality of second hanging rods are disposed between the third synchronizing belts of the two second transmission assemblies;

24. The launching robot of claim 17, wherein the clamping mechanism includes a third driving assembly disposed on the launching track and a first clamp connected to the third driving assembly;

25. The launch robot of claim 24, wherein the third drive assembly comprises a third drive motor disposed on the launch rail and a third transmission assembly coupled to the third drive motor, the third transmission assembly being coupled to the first gripper;

26. The launch robot of claim 25, wherein said third transmission assembly includes two linkage structures pivotally coupled to either side of said third drive motor, said first clamp being disposed between said two linkage structures, said linkage structures being pivotable in a direction toward and away from said carriage mechanism.

27. The launch robot of claim 1, further comprising a bullet supply device, wherein the bullet supply device comprises a second frame body arranged on the launch track, a plurality of second clamps for clamping or loosening the to-be-launched body, and a fourth driving assembly, the fourth driving assembly is arranged on the second frame body, the plurality of second clamps are arranged on the second frame body at intervals and connected with the fourth driving assembly, and the fourth driving assembly is used for driving the plurality of second clamps to sequentially move above the bracket mechanism.

28. The launch robot of claim 27, wherein the fourth drive assembly includes a fourth drive motor disposed on the second frame and a lead screw coupled to the fourth drive motor, the lead screw coupled to the second frame, the plurality of second grippers being spaced apart from each other on the lead screw;

29. The launch robot of claim 1, further comprising a base mechanism, wherein the launch device is movably disposed on the base mechanism.

30. The launch robot of claim 29, wherein the base mechanism comprises a first base and a second base, the second base being rotatably mounted to the first base about a first direction, and the launch device being rotatably mounted to the second base about a second direction.

31. The launch robot of claim 30, wherein the base mechanism further comprises a first guide rail, a first rotating shaft and a third frame, wherein the first rotating shaft is disposed on the top surface of the second base along the second direction, and an end of the launch rail is rotatably connected to the first rotating shaft;

32. The launch robot of claim 30, wherein the base mechanism further comprises a second guide rail, a second pivot shaft, and a slide assembly, the second pivot shaft being disposed on a top surface of the first base along the first direction, the second base being pivotally coupled to the second pivot shaft; the second guide rail is arranged on the top surface of the first seat body, and the sliding assembly is movably connected to the bottom of the second seat body and is arranged on the second guide rail in a sliding manner.

33. The launch robot of claim 32, wherein the slide assembly comprises a third rail, a third slider, and a fourth slider, wherein the third rail is disposed at the bottom of the second base, the third slider is slidably disposed on the third rail, and the fourth slider is fixedly connected to the third slider and slidably disposed on the second rail.