CN213657655U - Projectile launching robot - Google Patents

Abstract

A projectile launching robot relates to a launching robot. The utility model discloses a solve current shooting robot because the shot is concentrated and is supplied with, cause the problem that has the card bullet. The utility model discloses a support frame (2) ann is in the upper end of four-wheel drive automobile body (1), rotation motor (3) ann is in the upper end of support frame (2) and drives support frame (2) rotation, tripod head support (4) ann is in the upper end of rotation motor (3), pitching motor (5) ann is on a side end face of tripod head support (4), pitching motor's (5) output and group bullet support (6) are connected, and pitching motor (5) drive group bullet support (6) realize luffing motion, group bullet motor (7) install on group bullet support (6), the output shaft of group bullet motor (7) with install group bullet device (8) of dialling in group bullet support (6) upper end and be connected, magazine (9) are installed directly over group bullet device (8) and for group bullet device (8) confession bullet; the utility model is used for the shot transmission.

Description

Projectile launching robot

Technical Field

The utility model relates to a launching robot, concretely relates to shot launching robot.

Background

The development of the robot technology is a comprehensive result of the development of science and technology, and meanwhile, the development of the robot technology is a scientific technology which has a great influence on the development of social economy and is attributed to the fact that the economic investment is strengthened in all countries in world war II. The development of electronic technology, computer technology, and manufacturing technology has resulted in providing powerful technical guarantees. The robot competition has strong influence internationally by the characteristics of high technological content, wide subject span, wide participation range, strong exhibition performance and the like. The method relates to the leading-edge research and the technical integration in the fields of artificial intelligence, image processing, communication sensing precision mechanisms, automatic control and the like. The development targets of the human I intelligence and robot projects of the international alliance are formed at present and are emphasized by scientific research institutions of all countries and a plurality of colleges and universities. The robot research is developed and various competition activities are participated in, the aim is to further strengthen the thought moral education of juveniles, improve the scientific literacy of teenagers, develop the self potential, draw more students in middle and primary schools to pay attention to science and technology, love science and technology and go-by science and technology, and emerge more future scientists and future engineers. The cooperative communication between the well-known scientific research institutions and colleges and universities and high-tech enterprises is promoted.

For the competition, the construction of the shooting infantry robot is based on a plurality of technical conditions such as 3D printing technology, laser cutting technology, development of motors, development of sensors, development of programming software and the like. It is known that robots need to be automated, lean and intelligent, and that robots have the advantages of high efficiency, good performance and good quality stability when designing their hardware facilities. However, in the design of the infantry robot, the design is challenging due to the functions of steep slope leap, self-recognition target and self-aiming, self-continuous ammunition and impact resistance.

In the shooting infantry robot for the competition, although a plurality of schools have different scheme designs, the detailed design of the shooting infantry robot still has defects. For the bullet supply of the infantry, most design schemes have the problems of bullet blocking, slow shooting speed and the like. In order to improve the accuracy of shooting shots, the inner diameter of the gun barrel is smaller, the shot diameter is matched, the shot carrying capacity is high, the shots need to enter the gun barrel sequentially and independently, the requirement difficulty is high, the problems that the shooting shots cannot be solved well all the time, and the shooting shots are blocked and the like are easily caused.

In summary, the conventional shooting robot has a problem of jamming of the shots due to the concentrated supply of the shots.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the problem that the existing shooting robot has jamming bullets due to centralized supply of the bullets. Further, a projectile launching robot is provided.

The technical scheme of the utility model is that: a projectile launching robot comprises a four-wheel drive vehicle body, and further comprises a support frame, an autorotation motor, a cradle head support, a pitching motor, a projectile shifting support, a projectile shifting motor, a projectile shifting device and a magazine, wherein the support frame is installed at the upper end of the four-wheel drive vehicle body; dial the bullet device including dialling the magazine, dial the magazine, two friction rollers, leading truck and metal gun barrel, dial the magazine and install directly over dialling the bullet support, dial the magazine and install in dialling the magazine, and dial the magazine and dial the output shaft of bullet motor, dial the one end in magazine and be connected with the one end of leading truck, a friction roller is respectively installed to the left and right sides of leading truck, the other end and the metal gun barrel of leading truck are connected, the shot in the magazine is dialled to between two friction rollers under the fluctuation of dialling the magazine, it pops out shot to metal gun barrel in to roll the realization through two friction rollers.

Furthermore, dial the bullet dish for disc group bullet dish, and dial the outer circumference of bullet dish and be provided with a plurality of and dial the spacing archs of bullet with the mode of annular array.

Furthermore, the bullet poking bin is provided with a circular groove, and an anti-jamming bullet boss is arranged on the upper end face of one side, close to the guide frame, of the bullet poking bin.

Furthermore, the poking and bouncing device further comprises an anti-blocking and bouncing poking rod, and the anti-blocking and bouncing poking rod is installed on the left side of the anti-blocking and bouncing boss.

Furthermore, the four-wheel drive vehicle also comprises an acrylic shell which is covered on the four-wheel drive vehicle body.

Further, the four-wheel-drive vehicle body comprises a body, a carbon fiber plate, four wheel bodies, four wheel body driving motors, four couplers and a plurality of all-metal shock absorption assemblies, wherein the carbon fiber plate is installed at the middle part of the length direction of the body, the four wheel bodies are respectively installed at the outer sides of the four corners of the body, the four wheel body driving motors are respectively installed on the lower end faces of the four corners of the body, each wheel body driving motor is connected with one wheel body through one coupler, and each wheel body is movably connected with the four corners of the body through at least two all-metal shock absorption assemblies.

Furthermore, the wheel body adopts a Mackelem wheel.

Further, the friction roller comprises a high-speed motor and a rubber layer, the high-speed motor is fixedly installed on the poking and bouncing bin, and the rubber layer is wrapped on an output shaft of the high-speed motor.

Further, the two rubbing rollers face each other to form a counter roll.

Compared with the prior art, the utility model has the following effect:

1. the problems of heavy weight, poor integrity, weak wrapping property, exposed internal wiring structure, uneconomical materials, complex installation and the like exist in the shell of the existing infantry robot. Most schemes all adopt materials such as aluminum alloy to carry out simple installation of buckling, though anti hitting nature is stronger like this, but whole comparatively heavy, lead to whole weight great, and the material is more expensive, the processing expense is more, and is also not fine to the protectiveness of robot internals, and with the scheme of piecemeal installation, the installation is comparatively loaded down with trivial details. And the utility model discloses a black ya keli board is as the casing, and the benefit that adopts such material to bring is economical and practical, and weight is less moreover, and intensity hardness is also enough. The problems of heaviness, insufficient economy of materials, high processing cost and the like are solved, the black effect is selected so as to shield the internal structure, the attractive effect is achieved, and the problem of a naked internal wiring structure is solved.

2. For the ammunition supply of the existing robot infantry, most design schemes have the problems of ammunition blocking, slow shooting speed and the like. In order to improve the accuracy of shooting shots, the inner diameter of the gun barrel is smaller, the shot diameter is matched, the shot carrying capacity is high, the shots need to enter the gun barrel sequentially and independently, the requirement difficulty is high, the problems that the shooting shots cannot be solved well all the time, and the shooting shots are blocked and the like are easily caused. The utility model discloses an anti-sticking bullet boss 8-1-1 can scrape the bullet that is higher than one side above group bullet dish 8-2 when wanting to dial the bullet, simultaneously, in order to guarantee the problem of preventing the card bullet, the utility model discloses still add anti-sticking bullet driving lever 8-6, before carrying out the dialling of anti-sticking bullet boss 8-1-1, filter unnecessary bullet through anti-sticking bullet driving lever 8-6, prevent to have the problem of card bullet through the dual bullet mode of scraping.

3. The problem of poor stability of robot still can't effectively be solved to present most design scheme, because the robot will accomplish high-speed leap obstacle etc. if can't accomplish fine shock attenuation or robot stability is relatively poor after falling to the ground, cause the damage of robot inner part easily, influence next action. The utility model discloses a all install two all-metal shock absorbers 1-6 between every wheel body 1-3 and the four corners of body 1-1 at least, and then guarantee the shock attenuation effect of robot, can realize strideing across the barrier and fly the slope.

4. For the adjustment and movement of the position of the gun platform, most robots can only perform small-amplitude movement and adjustment, and although the robots can deal with variable hitting targets in most cases, the flexibility of the robots still has a great problem. The utility model discloses a rotation motor 3 drives the rotation of cloud platform support 4, and cloud platform support 4 passes through pitching motor 5 and realizes the every single move angle that the shot takes place, uses more nimble reliable.

5. For the design of the ammunition cabin of the robot, a plurality of schemes are that materials such as aluminum alloy are used for connection, the weight of the ammunition cabin is large, the center of gravity of the robot is higher, and the amount of the ammunition inside cannot be estimated by the outside due to the opaque materials. This use neotype magazine adopts transparent material to make.

Drawings

Fig. 1 is a front view of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a side view of FIG. 1;

FIG. 4 is a front view of the four-wheel drive body removed;

FIG. 5 is a top view of FIG. 4;

fig. 6 is a side view of fig. 4.

Detailed Description

The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 6, the projectile launching robot of the embodiment comprises a four-wheel drive vehicle body 1, and further comprises a support frame 2, a rotation motor 3, a pan-tilt support 4, a pitch motor 5, a projectile shifting support 6, a projectile shifting motor 7, a projectile shifting device 8 and a magazine 9, the support frame 2 is mounted at the upper end of the four-wheel drive vehicle body 1, the rotation motor 3 is mounted at the upper end of the support frame 2 and drives the support frame 2 to rotate, the pan-tilt support 4 is mounted at the upper end of the rotation motor 3, the pitch motor 5 is mounted on one side end face of the pan-tilt support 4, the output end of the pitch motor 5 is connected with the projectile shifting support 6, the pitching motor 5 drives the bullet poking support 6 to realize pitching motion, the bullet poking motor 7 is installed on the bullet poking support 6, an output shaft of the bullet poking motor 7 is connected with a bullet poking device 8 installed at the upper end of the bullet poking support 6, and the magazine 9 is installed right above the bullet poking device 8 and supplies bullets for the bullet poking device 8; the bullet poking device 8 comprises a bullet poking bin 8-1, a bullet poking disc 8-2, two friction rollers 8-3, a guide frame 8-4 and a metal gun barrel 8-5, wherein the bullet poking bin 8-1 is arranged right above the bullet poking bracket 6, the bullet poking disc 8-2 is arranged in the bullet poking bin 8-1, and the bullet-poking disc 8-2 is connected with the output shaft of the bullet-poking motor 7, one end of the bullet-poking bin 8-1 is connected with one end of the guide frame 8-4, the left side and the right side of the guide frame 8-4 are respectively provided with a friction roller 8-3, the other end of the guide frame 8-4 is connected with the metal gun barrel 8-5, the bullet in the bullet bin 9 is poked between the two friction rollers 8-3 under the fluctuation of the bullet-poking disc 8-2, the shot is ejected into the metal gun barrel 8-5 to be ejected through the pair rolling of the two friction rollers 8-3.

The second embodiment is as follows: referring to fig. 5, the bullet-poking disc 8-2 of the present embodiment is a disc-shaped bullet-poking disc, and the outer circumference of the bullet-poking disc is provided with a plurality of bullet-poking limit protrusions 8-2-1 in an annular array. Due to the design, a plurality of poking and bullet limiting bulges 8-2-1 are arranged according to actual working requirements, and a bullet can be contained between every two adjacent poking and bullet limiting bulges 8-2-1. Other components and connections are the same as those in the first embodiment.

The third concrete implementation mode: referring to fig. 5, the bullet poking bin 8-1 of the present embodiment is a bullet poking bin with a circular groove, and an anti-jamming boss 8-1-1 is arranged on the upper end surface of the bullet poking bin on the side close to the guide frame 8-4. Due to the design, the projectile on the upper layer can be conveniently pulled off, and the projectile is prevented from being blocked. Other components and connection relationships are the same as those in the first or second embodiment.

The fourth concrete implementation mode: referring to fig. 5, the present embodiment is described, and the poking device 8 of the present embodiment further includes an anti-jamming poking rod 8-6, and the anti-jamming poking rod 8-6 is installed on the left side of the anti-jamming boss 8-1-1. So design, be convenient for dial the pellet on second floor in advance and fall, prevent the card bullet. Other components and connection relationships are the same as those in the first, second or third embodiment.

The fifth concrete implementation mode: the automobile comprises a four-wheel drive automobile body 1, an acrylic shell, and a cover of the acrylic shell. So set up, solved the heavy, material economy inadequately, the more scheduling problem of processing expense that exist among the prior art, select black effect also in order to shelter from inner structure, reach pleasing to the eye effect, solved the problem of exposed inner wiring structure. Other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.

The sixth specific implementation mode: the embodiment is described with reference to fig. 1 to 3, a four-wheel-drive vehicle body 1 of the embodiment includes a body 1-1, a carbon fiber plate 1-2, four wheel bodies 1-3, four wheel body driving motors 1-4, four couplers 1-5 and a plurality of all-metal shock absorbing assemblies 1-6, the carbon fiber plate 1-2 is installed in the middle of the body 1-1 in the length direction, the four wheel bodies 1-3 are respectively installed at the outer sides of four corners of the body 1-1, the four wheel body driving motors 1-4 are respectively installed on the lower end faces of the four corners of the body 1-1, each wheel body driving motor 1-4 is connected with one wheel body 1-3 through one coupler 1-5, and each wheel body 1-3 is movably connected with the four corners of the body 1-1 through at least two all-metal shock absorption components 1-6 through movable brackets. So set up, the drive effect is good, is applicable to in various service condition. Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.

The seventh embodiment: the present embodiment is described with reference to fig. 1 to 3, and the wheel body 1-3 of the present embodiment is a mackelem wheel. So set up, can wind its rotation, use in a flexible way. Other compositions and connection relationships are the same as in the first, second, third, fourth, fifth or sixth embodiment.

The specific implementation mode is eight: the embodiment is described with reference to fig. 1 to 3, the friction roller 8-3 of the embodiment comprises a high-speed motor 8-3-1 and a rubber layer 8-3-2, the high-speed motor 8-3-1 is fixedly installed on the poking magazine 8-1, and the rubber layer 8-3-2 is wrapped on the output shaft of the high-speed motor 8-3-1. By the design, the shot is conveniently driven to rotate at a high speed and then ejected, and the two friction wheels rotate at a high speed. Other compositions and connection relationships are the same as those of embodiment one, two, three, four, five, six or seven.

The specific implementation method nine: the present embodiment will be described with reference to fig. 4 to 6, and the two rubbing rollers 8-3 of the present embodiment face each other to form a pair of rollers. So as to be convenient for ejecting the projectile under the action of the two projectiles. Other compositions and connection relationships are the same as those of embodiment one, two, three, four, five, six or seven.

The utility model discloses a black ya keli board has been selected to the material, and such material benefit is economical and practical, and weight is less moreover, and intensity hardness is also enough. The problems of heavy, economical and high processing cost of materials are solved, the black effect is selected to shield the internal structure, the attractive effect is achieved, and the problem of a naked internal wiring structure is solved.

Carry out the accurate calculation to its size, later with laser cutting, reuse metal hinge splices the shell, and the shell concatenation is a whole in addition, no longer is solitary individuality, and such benefit can let and can make things convenient for the dismantlement and the installation of shell, and the wholeness is strong, and the structure is inseparable. The problems of poor integrity, weak wrapping property, exposed internal wiring structure, complex installation and the like are solved.

The hinge connection is adopted for the robot, so that a small amount of movable gaps are formed under the condition that the stability of a robot shell can be guaranteed, the shell has certain mobility, the gaps are almost invisible under the stable condition of the robot, great buffering can be brought in the process that the robot falls down from a high place or is impacted, and the stability of the whole robot can be greatly enhanced under the condition that no shock absorber is arranged on the upper portion of the robot. Solves the problems of poor stability, complex installation, expensive processing cost and the like of the robot

The shell has two different connections (can refer to the legend below) with the robot after the concatenation is good, and one is just carrying out whole position with aluminium square pipe and connecting in the front and back, and another utilizes the copper pipe to support hollow shell in the middle part, and stability and shock resistance are splendid.

Because the robot projectile blocks the bullet problem seriously, at first designed a central rotating wheel to adjust the projectile position, secondly, utilized double-deck barrier layer and a driving lever to cut apart the projectile, can realize the effect of zero bullet block under suitable motor rotation rate, can reach the effect of 300 projectiles of 60 seconds transmission through the test. Solves the problems of robot jamming and shooting speed slow and the like

For improving the stability and the anti-falling performance, high-strength materials such as carbon fiber plates and shock absorbers are adopted. The four corners of the robot, the joints of the four corners of the robot and the McColem wheels, and three all-metal negative pressure shock absorbers are adopted in each place, so that the stability and shock absorption strength of the robot are greatly enhanced. Solves the problem of the damage to the inside of the robot after the robot jumps over the obstacle

For the rotation of the gun platform, two motors of X-Y plane rotation and Y-Z plane rotation are adopted, so that the gun platform can be aimed at a target object in an all-around manner.

The ammunition cabin for reloading the shots adopts the laser cutting of the transparent acrylic plates, reasonably calculates the cutting amount, and adopts a joggle mode to connect the plates to form the ammunition cabin. Inferior gram force board weight is less, has solved overweight metal ammunition cabin and has increased the robot focus, reduce stability scheduling problem, and transparent inferior gram force board simple to operate, and can see the clear inside ammunition condition, has solved the problem that can't predict inside ammunition quantity.

Claims (9)

1. The utility model provides a shot-shooting robot, it includes four-wheel drive automobile body (1), its characterized in that: it also comprises a supporting frame (2), a rotation motor (3), a holder bracket (4), a pitching motor (5), a bullet-poking bracket (6), a bullet-poking motor (7), a bullet-poking device (8) and a magazine (9),

the support frame (2) is installed at the upper end of the four-wheel drive vehicle body (1), the rotation motor (3) is installed at the upper end of the support frame (2) and drives the support frame (2) to rotate, the holder support (4) is installed at the upper end of the rotation motor (3), the pitching motor (5) is installed on one side end face of the holder support (4), the output end of the pitching motor (5) is connected with the bullet poking support (6), the pitching motor (5) drives the bullet poking support (6) to achieve pitching motion, the bullet poking motor (7) is installed on the bullet poking support (6), the output shaft of the bullet poking motor (7) is connected with a bullet poking device (8) installed at the upper end of the bullet poking support (6), and the bullet cabin (9) is installed right above the bullet poking device (8) and supplies bullets for the bullet pok;

the bullet poking device (8) comprises a bullet poking bin (8-1), a bullet poking disc (8-2), two friction rollers (8-3), a guide frame (8-4) and a metal gun barrel (8-5), the bullet poking bin (8-1) is arranged right above a bullet poking bracket (6), the bullet poking disc (8-2) is arranged in the bullet poking bin (8-1), the bullet poking disc (8-2) is connected with an output shaft of a bullet poking motor (7), one end of the bullet poking bin (8-1) is connected with one end of the guide frame (8-4), the left side and the right side of the guide frame (8-4) are respectively provided with one friction roller (8-3), the other end of the guide frame (8-4) is connected with the metal gun barrel (8-5), and the bullets in the bullet bin (9) are poked between the two friction rollers (8-3) under the fluctuation of the bullet poking disc (8-2), the shot is ejected into the metal gun barrel (8-5) to be ejected through the pair rolling of the two friction rollers (8-3).

2. A projectile launching robot as defined in claim 1, wherein: the bullet poking disc (8-2) is a disc-shaped bullet poking disc, and a plurality of bullet poking limiting bulges (8-2-1) are arranged on the outer circumference of the bullet poking disc in an annular array mode.

3. A projectile launching robot as defined in claim 2, wherein: the bullet poking bin (8-1) is a bullet poking bin provided with a circular groove, and an anti-jamming boss (8-1-1) is arranged on the upper end surface of one side, close to the guide frame (8-4), of the bullet poking bin.

4. A projectile launching robot as defined in claim 3, wherein: the bullet poking device (8) further comprises an anti-blocking bullet poking rod (8-6), and the anti-blocking bullet poking rod (8-6) is installed on the left side of the anti-blocking bullet boss (8-1-1).

5. A projectile launching robot as defined in claim 4, wherein: the four-wheel drive vehicle further comprises an acrylic shell, and the acrylic shell is covered on the four-wheel drive vehicle body (1).

6. A projectile launching robot as claimed in claim 5, wherein: the four-wheel-drive vehicle body (1) comprises a body (1-1), a carbon fiber plate (1-2), four wheel bodies (1-3), four wheel body driving motors (1-4), four couplers (1-5) and a plurality of all-metal shock absorption components (1-6),

the carbon fiber plate (1-2) is arranged in the middle of the body (1-1) in the length direction, four wheel bodies (1-3) are respectively arranged on the outer sides of four corners of the body (1-1), four wheel body driving motors (1-4) are respectively arranged on the lower end faces of the four corners of the body (1-1), each wheel body driving motor (1-4) is connected with one wheel body (1-3) through a coupler (1-5), and each wheel body (1-3) is movably connected with the four corners of the body (1-1) through at least two all-metal shock absorption assemblies (1-6) through movable supports.

7. A projectile launching robot as claimed in claim 6, wherein: the wheel body (1-3) adopts a Mackelem wheel.

8. A projectile launching robot as defined in claim 7, wherein: the friction roller (8-3) comprises a high-speed motor (8-3-1) and a rubber layer (8-3-2), the high-speed motor (8-3-1) is fixedly arranged on the poking magazine (8-1), and the rubber layer (8-3-2) is wrapped on the output shaft of the high-speed motor (8-3-1).

9. A projectile launching robot as claimed in claim 1 or 8, wherein: the two friction rollers (8-3) face each other to form a pair of rollers.

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