CN215413407U - Automatic target lifting and falling machine - Google Patents
Automatic target lifting and falling machine Download PDFInfo
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- CN215413407U CN215413407U CN202121559385.7U CN202121559385U CN215413407U CN 215413407 U CN215413407 U CN 215413407U CN 202121559385 U CN202121559385 U CN 202121559385U CN 215413407 U CN215413407 U CN 215413407U
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Abstract
The utility model discloses an automatic target lifting and reversing machine, which comprises a target, a direct current motor, a battery pack, a first limit switch, a brake and a control circuit, wherein the target is connected with the direct current motor; the direct current motor is connected with the connecting rod mechanism through the speed reducer, is connected with the transmission shaft through the connecting rod mechanism, and is connected with the target through the transmission shaft so as to drive the target to lift and fall; the first limit switch is used for detecting whether the target reaches a target position when standing up; the brake is arranged on the transmission shaft and used for controlling the transmission shaft to stop rotating; the control circuit collects the output voltage of the battery pack and generates PWM signals with adjustable duty ratios, controls the direct current motor to run at full speed after starting, decelerates step by step when the target approaches the target position, stops the machine when the target position is reached and brakes the transmission shaft through the brake, so that the target can be controlled to be stable when standing up to reach the target position, shaking cannot occur, mechanical abrasion of the target lifting machine is reduced, and training efficiency of shooting personnel is improved.
Description
Technical Field
The utility model belongs to the technical field of training devices, and particularly relates to a target drone for shooting training.
Background
The target drone is a common device in shooting training, the traditional target drone needs manual target-reporting, and has low target-reporting efficiency, high human error rate and high danger. With the rapid development of electronic technology, many automatic target scoring devices are currently on the market, and an automatic target starting and reversing machine is the most common training target machine.
As shown in fig. 1, a conventional automatic target lifting and reversing machine generally includes a base 1, a target rod 2, a target plate 3, a battery box 4, a control box 5, and other main components. Wherein, the target rod 2 and the target plate 3 form a target; a lead battery pack or a lithium battery pack is generally disposed in the battery box 4 for supplying power to the dc motor and the control circuit in the control box 5. The direct current motor drives the target to stand or fall down through the speed reducer and the connecting rod mechanism.
In the process of standing or falling down the target, when the target reaches a designated position, the direct current motor is turned off by adopting a mode that the contact piece triggers the limit switch so as to stop the movement of the target. When the target is erected or fallen down, the linear speed of the tail end of the connecting rod mechanism can reach 6m/s, so that when the target is inverted to the upright position, the target can swing back and forth 5-6 times after reaching a specified position under the influence of inertia, and the target can be stabilized only after 3-4 seconds. In order to guarantee the accuracy of shooting, shooting personnel need wait for the target and can shoot after stable, and waiting time makes shooting personnel's training time prolong, has seriously influenced training efficiency. Meanwhile, the target swings back and forth to cause mechanical abrasion, which affects the service life of the target drone.
Disclosure of Invention
The utility model aims to provide an automatic target lifting and falling machine capable of controlling a target to stably lift and fall so as to improve the training efficiency of shooting personnel and reduce the mechanical wear of the target machine.
In order to solve the technical problems, the utility model adopts the following technical scheme:
a target drone comprises a target, a direct current motor, a battery pack, a first limit switch, a brake and a control circuit; the target is used for recording the area where the shooting point is located and the number of rings; the direct current motor is connected with the speed reducer and is connected with the transmission mechanism through the speed reducer, the transmission mechanism is connected with the transmission shaft and drives the transmission shaft to rotate, and the target is connected to the transmission shaft; the battery pack is used for supplying power to the direct current motor; the first limit switch is used for detecting whether the target reaches a target position when standing up; the brake is arranged on the transmission shaft and used for controlling the transmission shaft to stop rotating; the control circuit comprises a battery sampling circuit, a controller and a half-bridge driving chip; the battery sampling circuit is connected with the battery pack and used for collecting the output voltage of the battery pack; the controller is connected with the battery sampling circuit and generates a PWM signal according to the output voltage of the battery pack; the duty ratio of the PWM signal is 100% in the previous T time period, the subsequent duty ratio is gradually reduced, and the T is smaller than the time length T of the direct current motor for driving the target to be inverted to the standing position under the power supply of the output voltage; the controller receives the detection signal output by the first limit switch, stops transmitting the PWM signal when the target reaches the target position when standing up, and controls the brake to brake; the input end of the half-bridge driving chip receives the PWM signal, the output end of an upper bridge control signal is connected with the grid electrode of the upper bridge MOS tube, and the output end of a lower bridge control signal is connected with the grid electrode of the lower bridge MOS tube; the drain electrode of the upper bridge MOS tube is connected to the output voltage of the battery pack, and the source electrode of the upper bridge MOS tube is connected with the anode of the direct current motor; the drain electrode of the lower bridge MOS tube is connected with the positive electrode of the direct current motor, and the source electrode of the lower bridge MOS tube is connected with the system ground; and the negative pole of the direct current motor is connected with the system ground.
In some embodiments of the present application, in order to enable the PWM signal generated by the controller to be connected to the half-bridge driving chip only when the target needs to be lifted, and then to realize accurate driving of the dc motor, the control circuit of the present application is further provided with a photocoupler, a triode, and an intermediate relay; the controller outputs a tilting signal when the target is required to be controlled to stand or fall, the triode is controlled to act through the photoelectric coupler, a power supply loop of the intermediate relay is connected, a signal transmission line between the PWM signal and the half-bridge driving chip is connected through the intermediate relay, and the PWM signal is transmitted to the half-bridge driving chip.
In some embodiments of the present application, the photocoupler includes a light emitting diode and a light receiving transistor, an anode of the light emitting diode is connected to a dc power supply, and a cathode of the light emitting diode is connected to an interface of the controller for outputting the up-down signal; the collector of the light receiving triode is connected with the direct-current power supply, and the emitter of the light receiving triode is connected with the base of the triode; the triode is preferably an NPN type triode, an emitting electrode of the triode is connected with the system ground, and a collecting electrode of the triode is connected with the direct-current power supply through a coil of the intermediate relay; connecting a normally open contact of the intermediate relay in series between an interface of the controller for outputting the PWM signal and an input end of the half-bridge driving chip, and switching on a signal transmission line between the PWM signal and the half-bridge driving chip when a coil of the intermediate relay is electrified; the direct current power supply can directly adopt the output voltage of the battery pack, and can also be generated by converting the output voltage of the battery pack through a voltage stabilizing circuit.
In some embodiments of the present application, the target drone further includes a plurality of projectile sensors disposed on the target for sensing the position of a firing point and generating a sensing signal to send to the controller; and when the controller receives the induction signal, the controller outputs the lifting signal to control the target to fall down, so that the automatic control of the target rod to lift down is realized.
In some embodiments of the present application, the target drone further comprises a second limit switch disposed at a target position when the target is falling down, and generating a detection signal to send to the controller; when the target reaches the target position when falling down, the controller stops outputting the PWM signal and controls the direct current motor to stop; or when the target reaches the target position when falling down, the controller stops outputting the falling signal, controls the intermediate relay to cut off a signal transmission line between the PWM signal and the half-bridge driving chip, and controls the direct current motor to stop.
In some embodiments of the present application, the battery sampling circuit includes two voltage dividing resistors, and the two voltage dividing resistors are connected in series and then connected between the positive electrode and the negative electrode of the battery pack; the middle node of the two divider resistors is connected with the analog-to-digital conversion interface of the controller and is connected with the system ground through a voltage stabilizing diode. The voltage stabilizing diode is configured to play a role in instant voltage protection, and an analog-to-digital conversion interface of the controller is protected from being damaged.
In some embodiments of the present application, the brake is preferably an electromagnetic brake; the transmission mechanism preferably adopts a four-bar linkage mechanism.
In some embodiments of the present application, the drone further includes a wireless communication module and a tablet control display; the wireless communication module is connected with the controller and is used for wirelessly transmitting the area and the number of rings where the shooting point is located; the panel control display is communicated with the wireless communication module, receives the area and the number of rings where the shooting points are located, and displays the area and the number of rings so that shooting staff or coaches can check shooting scores conveniently.
Compared with the prior art, the utility model has the advantages and positive effects that: the automatic start and reverse target machine generates the PWM signal with adjustable duty ratio by collecting the output voltage of the battery pack, controls the direct current motor to run at full speed after being started by adjusting the duty ratio of the PWM signal, decelerates gradually when the target approaches the target position, stops the machine when the target reaches the target position, and brakes the transmission shaft through the brake to control the target to fall to the stand position and keep stable within a specified time limit, thereby solving the problem of shaking when the target stands, reducing the mechanical wear of the start and reverse target machine, prolonging the service life of the target machine, and being beneficial to improving the training efficiency of shooting personnel.
Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a mechanical schematic diagram of an embodiment of an automatic target lifting and backing machine;
FIG. 2 is a schematic structural diagram of an embodiment of a transmission part of the automatic target lifting and reversing machine provided by the utility model;
FIG. 3 is a schematic block diagram of an electrical circuit of an embodiment of an electrical control portion of the automatic target lifting and reversing machine according to the present invention;
FIG. 4 is a schematic diagram of a portion of the electrical circuitry corresponding to the electrical control portion of FIG. 3;
fig. 5 is a circuit schematic of one embodiment of the motor drive circuit of fig. 3.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Referring to fig. 1 and 2, the automatic target lifting and reversing device of the present embodiment mainly includes a base 1, a target rod 2, a target plate 3, a battery box 4, a control box 5, a flat panel control display 6, and the like. Wherein, the battery box 4 and the control box 5 are arranged on the base 1; a battery pack is arranged in the battery box 4, and an electric quantity display module 13 can be arranged on the battery box 4 to display the residual electric quantity of the battery pack; the control box 5 is provided with a control circuit, a direct current motor 9, a speed reducer 10, a transmission mechanism 11, a transmission shaft 7, a brake 12 and other main components. Wherein, the output shaft of the dc motor 9 is connected to a speed reducer 10, and the speed reducer 10 is used for reducing the rotation speed of the dc motor 9 and simultaneously driving the transmission mechanism 11 to rotate. In the present embodiment, the transmission mechanism 11 preferably adopts a four-bar linkage mechanism, and is connected to the transmission shaft 7 to drive the transmission shaft 7 to rotate forward or backward. The transmission shaft 7 is connected with the target rod 2, the target plate 3 is arranged on the target rod 2, and the target plate 3 and the target rod 2 form a target together. The four-bar mechanism 11 is used as a transmission bridge between the direct current motor 9 and the transmission shaft 7, so that the bidirectional rotation effect of the forward rotation and the reverse rotation of the transmission shaft 7 can be driven in the process that the direct current motor 9 keeps rotating in the same direction (forward rotation or reverse rotation), and therefore the target rod 2 can be controlled to rotate from a vertical position to a reverse position and then rotate from the reverse position to the vertical position. Therefore, the target can be driven to finish the lifting process without controlling the forward and reverse rotation of the direct current motor 9.
When the target moves from the inverted position to the upright position, if the rotating speed of the direct current motor 9 is high, the target will shake violently when the target is erected to the target position (vertical position). Because the target is connected to the transmission shaft 7, the shaking of the target can directly drive the transmission shaft 7 to shake; the shaft 7 rattles, which in turn affects the steady state of the target, thus creating a vicious circle. The shaking of the transmission shaft 7 can drive the whole transmission mechanism 11 to shake, so that connecting pieces in the transmission mechanism 11 can be abraded, and mechanical damage is caused.
In order to solve the shaking problem of the target rod when the target rod is erected, firstly, the control circuit in the target lifting and falling machine is improved and designed, by collecting the output voltage of the battery pack in the battery box 4, the maximum rotating speed of the direct current motor 9 under the condition of direct power supply of the battery pack can be determined, determining the time length T required by the target from the inverted position to the standing position according to the maximum rotating speed, further generating a PWM signal with adjustable duty ratio according to the time length T, that is, the duty ratio of the PWM signal is adjusted to 100% within a period of time T (T < T) after the dc motor 9 is started, the subsequent duty ratio is gradually decreased, therefore, the target can be controlled to quickly rise from the inverted position, and the target can be controlled to decelerate when approaching the target position, and the target position can still have the shaking problem, but the wobble amplitude and duration will be significantly improved compared to conventional automatic drone.
It is well known in the art that the rotational speed of a dc motor is proportional to the supply voltage to which it is connected. That is, the higher the supply voltage provided to the dc motor, the faster the motor speed; conversely, the smaller the supply voltage, the slower the motor speed. The automatic target lifting and falling machine of the embodiment utilizes the direct current motor 9 to drive the target to lift and fall, and utilizes the battery pack to supply power for the direct current motor, so that the highest rotating speed of the direct current motor 9 under the condition of direct power supply of the battery pack can be determined by collecting the output voltage of the battery pack. Since the distance that the target needs to be rotated from the inverted position to the standing position is known, the time length T required for the direct current motor 9 to drive the target from the inverted position to the standing position at the highest rotation speed can be calculated. The duration T here is the shortest duration required for the target to fall from the inverted position to the upright position. In order to avoid shaking of the target during the standing process, the embodiment adopts a strategy of controlling the direct current motor 9 to rotate at full speed first and then rotate at reduced speed, so as to drive the target to stand stably. As a preferred embodiment, a reasonable time period t may be predetermined for the full-speed operation process of the dc motor 9, and during the time period t after the dc motor is started, the output voltage of the battery pack is used to directly supply power to the dc motor 9, so as to control the full-speed operation of the dc motor 9. At a later time, the direct current motor 9 is configured to operate in a stepwise speed reduction mode at the same speed reduction ratio. The embodiment preferably designs the direct current motor to run in a five-stage speed reduction mode until the standing target position is reached. Because the rotating speed of the tail end of the target when the target approaches the target position is already low, the shaking problem when the target stands up can be obviously improved.
In order to completely solve the shaking problem when the target is standing up, the brake 12 is further installed on the transmission shaft 7 in the embodiment, preferably an electromagnetic brake is adopted, and the control circuit is electrically connected. Meanwhile, a first limit switch is arranged on the control box 5 and is arranged at a target position when the target stands. When the target reaches the standing target position, the first limit switch is triggered, and a detection signal is generated and sent to the control circuit. At this time, on one hand, the control circuit stops outputting the PWM signal or cuts off a transmission path of the PWM signal, and controls the direct current motor 9 to stop; on the other hand, the electromagnetic brake 12 is controlled to enter a brake state to control the transmission shaft 7 to stop rotating and not to shake, so that the target can be ensured to stably stop at the target position when standing, and the shaking phenomenon is avoided. Because the target has a low rotating speed when approaching the target position, the heat generated by the electromagnetic brake 12 is very limited, and the normal operation of the control circuit in the control box 5 cannot be influenced due to the temperature rise problem.
In order to automatically control the rotation speed of the dc motor 9, the present embodiment provides a battery sampling circuit, a controller IC4 and a motor driving circuit in the control circuit of the drone, as shown in fig. 3-5. The battery sampling circuit is connected with the battery pack and used for collecting the output voltage of the battery pack and transmitting the output voltage to the controller IC 4. The controller IC4 may be an integrated chip with digital processing capability such as a single chip microcomputer, and generates a PWM signal according to the output voltage of the battery pack, and sends the PWM signal to the motor driving circuit to adjust the power supply to the dc motor 9, thereby controlling the dc motor 9 to run at full speed first and then run at reduced speed until shutdown.
As a preferred embodiment, as shown in fig. 4, the battery sampling circuit includes at least two voltage dividing resistors R50 and R51, a filter capacitor C9, and a zener diode D8. The voltage dividing resistors R50 and R51 are preferably precision resistors with a precision of 1%, are connected in series and then are connected between the positive electrode and the negative electrode of the battery pack BAT, and are used for dividing the output voltage of the battery pack BAT, generating a sampling voltage Vc, and transmitting the sampling voltage Vc to the analog-to-digital conversion interface ADC of the controller IC4 through the intermediate node a, so as to convert the analog signal into a digital signal and then convert the digital signal into the output voltage value of the battery pack BAT. The filter capacitor C9 is connected between the intermediate node A of the divider resistors R50 and R51 and the system ground GND, and is used for filtering the sampling voltage Vc. The cathode of the voltage stabilizing diode D8 is connected with the middle node A of the voltage dividing resistors R50 and R51, and the anode is connected with the system ground GND. The zener diode D8 with reverse breakdown voltage drop of 3.3V is selected to be connected between the ADC interface of the controller IC4 and the ground, so that the instantaneous high voltage higher than 3.3V can be released to the ground, and the protection effect on the ADC interface of the controller IC4 is achieved. The negative pole of the battery pack is connected with the system ground, and the common ground of the whole control circuit is realized.
The controller IC4 calculates the maximum rotation speed of the dc motor 9 according to the output voltage of the battery pack BAT, and further determines the time length T for the target to move from the inverted position to the standing position when the dc motor 9 operates at the maximum rotation speed. And determining time T according to the duration T, wherein T < T, and generating the PWM signal with the duty ratio of 100% in the previous T time period and the duty ratio of gradually reduced in the subsequent time period. The number of stages can be five or more, so that the deceleration motion process of the target is more stable. The process from the output voltage of the battery pack BAT to the determination of the duty ratio of the PWM signal is not creative for those skilled in the art, and belongs to the conventional technical means.
The controller IC4 outputs the PWM signal through its PB1 interface, and controls the motor drive circuit through the intermediate relay K1. In order to transmit the PWM signal to the motor driving circuit only when the target is required to be controlled to fall, the present embodiment further provides a photo-coupler OC1 and a transistor T1 in the control circuit, as shown in fig. 4. When the target is required to be controlled to fall, the controller IC4 outputs a fall signal IN2 through one IO interface PB15, and drives the triode T1 to act through the photoelectric coupler OC1, so that the power-on and power-off state of the intermediate relay K1 is changed, and the transmission of the PWM signal to the motor driving circuit is realized.
As a preferred embodiment, the anode of the light emitting diode in the photocoupler OC1 may be connected to the dc power supply VCC5 through a current limiting resistor R52. In this embodiment, the dc power VCC5 may directly use the output voltage of the battery pack BAT, or may be generated by converting the output voltage of the battery pack BAT through a voltage stabilizing circuit. The cathode of the light emitting diode is connected to the PB15 interface of the controller IC 4. The collector of a light receiving triode in the photoelectric coupler OC1 is connected to a direct current power supply VCC5, and the emitter is connected to the base of a triode T1 through a current limiting resistor R53. In this embodiment, the transistor T1 is preferably an NPN transistor, an emitter of the NPN transistor is connected to the system ground GND, and a collector of the NPN transistor is connected to the dc power source VCC5 through the coil of the intermediate relay K1. The normally open contact of the intermediate relay K1 is connected in series between the PB1 interface of the controller IC4 and the motor drive circuit, and when the normally open contact of the intermediate relay K1 is closed, the PWM signal output by the controller IC4 is transmitted to the motor drive circuit.
When the target needs to be controlled to fall, the controller IC4 sets the PB15 interface to be at a low level, that is, generates the fall signal IN2 with a low level being effective, and controls the light emitting diode IN the photocoupler OC1 to emit light, so that the light receiving triode is IN saturated conduction. At this time, the dc power VCC5 acts on the base of the NPN transistor T1 through the light receiving transistor and the current limiting resistor R53 to control the NPN transistor T1 to be in saturation conduction, so that the coil of the intermediate relay K1 is energized to control the normally open contact to pull in, so that the PWM signal output by the controller IC4 is transmitted to the motor driving circuit, and the motor driving circuit controls the current motor to operate.
On the contrary, when the target does not need to be controlled to fall, the controller IC4 sets the PB15 interface thereof to be at a high level, and controls the light emitting diode in the photocoupler OC1 to be extinguished, so that the light receiving triode enters a cut-off state. At this time, the NPN transistor T1 is turned to an off state due to its base voltage being low, and the coil of the intermediate relay K1 is deenergized, and its normally open contact is opened, thereby cutting off the PWM signal transmission line between the controller IC4 and the motor drive circuit, controlling the motor drive circuit to stop operating, and stopping the current motor 9. Alternatively, the controller IC4 may stop outputting the PWM signal to stop the current motor 9.
As a preferred embodiment, as shown in fig. 5, the motor driving circuit is mainly formed by connecting a half-bridge driving chip U5, an upper bridge MOS transistor Q5 and a lower bridge MOS transistor Q6. Specifically, the half-bridge driving chip U5 may be an integrated chip of type IR2104S, and its input terminal IN is connected to the normally open contact of the intermediate relay K1 to receive the PWM signal transmitted through the normally open contact of the intermediate relay K1. An upper bridge control signal output end HO of the half-bridge driving chip U5 is connected to the gate of an upper bridge MOS tube Q5 through a current-limiting resistor R13, and a lower bridge control signal output end LO of the half-bridge driving chip U5 is connected to the gate of a lower bridge MOS tube Q6 through a current-limiting resistor R14. The output voltage Vbat of the battery pack is connected through the drain of the upper bridge MOS transistor Q5, and the source of the upper bridge MOS transistor Q5 is connected to the positive electrode + of the dc motor 9. The drain of the lower bridge MOS transistor Q6 is connected to the positive electrode of the dc motor 9, and the source of the lower bridge MOS transistor Q6 is connected to the system ground GND. The negative pole of the direct current motor 9 is connected to the system ground GND. Diodes D12 and D13 can be further connected in parallel between the drain and source electrodes of the upper bridge MOS transistor Q5 and the lower bridge MOS transistor Q6.
The working principle of the motor driving circuit is as follows: when the PWM signal is at a high level, the half-bridge driver chip U5 outputs a high level through its upper bridge control signal output terminal HO, and puts its lower bridge control signal output terminal LO at a low level. At this time, the upper bridge MOS transistor Q5 is in saturation conduction, the lower bridge MOS transistor Q6 is cut off, and when the duty ratio of the PWM signal is 100%, the output voltage Vbat of the battery pack directly supplies power to the dc motor 9, so as to control the dc motor 9 to operate at the highest rotation speed, and further drive the target to rapidly lift up and down through the speed reducer 10, the four-bar mechanism 11, and the transmission shaft 7. When the duty ratio of the PWM signal is decreased, if the PWM signal is at a low level, the half-bridge driver chip U5 outputs a high level through its lower bridge control signal output terminal LO, and its upper bridge control signal output terminal HO is at a low level. At this time, the upper bridge MOS transistor Q5 is turned off, and the lower bridge MOS transistor Q6 is turned on in a saturated state. By adjusting the duty cycle of the PWM signal, the supply voltage Vout transmitted to the dc motor 9 can be reduced, i.e. Vout < Vbat, thereby reducing the rotational speed of the dc motor 9. The smaller the duty cycle of the PWM signal, the smaller the supply voltage Vout transmitted to the dc motor 9, the slower the rotational speed of the dc motor 9, and the slower the movement of the target. The final control result is: when the target is lifted up from the inverted position, the target starts to move at the fastest speed; when the target position approaches the standing position, the speed of the target gradually becomes slow; when the target position is reached, the first limit switch is triggered to generate a detection signal OUT1 to be sent to another IO interface PA1 of the controller IC4, and when the controller IC4 receives the detection signal OUT1, the controller IC4 sets the fall signal IN2 to be IN a high-level invalid state and/or stops outputting a PWM signal, and simultaneously outputs a control signal to the electromagnetic brake through the IO interface PB2 to control the electromagnetic brake to brake so that the target stably stops at the target position IN a standing position.
Of course, the same fast-slow control process can be used when the target is fallen down from the standing position. However, considering that the target may directly contact the ground when reaching the inverted target position, and the shaking problem does not occur even if the movement speed is too fast, the controller IC4 may be configured to always output a PWM signal with a duty ratio of 100% during the process of falling the target, and the output voltage Vbat of the battery pack is used to directly supply power to the dc motor 9, so as to drive the target to fall at the fastest speed, thereby saving training time.
In order to control the dc motor 9 to stop in time when the target reaches the target position when the target falls down, a second limit switch may be disposed on the control box 5, and arranged at the target position when the target falls down, and when the target rod 2 reaches the target position, a detection signal OUT2 is generated and sent to the controller IC4, for example, to the IO interface PA4 of the controller IC 4. After receiving the detection signal OUT2, the controller IC4 sets the PB15 interface to high level, that is, stops outputting the low level valid start-up/down signal IN2, controls the opto-coupler OC1 and the NPN transistor T1 to turn off, so that the intermediate relay K1 loses power, cuts off the signal transmission line between the PWM signal and the half-bridge driving chip U5, and controls the dc motor 9 to power off and stop. Alternatively, the controller IC4 may stop outputting the PWM signal to stop the current motor 9.
In addition, the present embodiment is further provided with a plurality of projectile sensors on the target board 3, as shown in fig. 4, for sensing the positions of the shooting points and generating sensing signals to be sent to the controller IC 4. The controller IC4 may be configured to set the PB15 interface to low level when receiving the sensing signal, that is, output the IN2 with low level being effective, so as to switch on the signal transmission line between the PWM signal and the half-bridge driving chip U5, control the dc motor 9 to operate, and then drive the target to fall down.
The controller IC4 determines the area and number of rings where the shot point is located and records it based on the position of the shot point as sensed by the middle ball sensor. After the target falls down, the controller IC4 can transmit the area and the number of rings where the shooting point is located to the wireless communication module connected with the controller IC, and the wireless communication module is used for wirelessly transmitting the score of the shooting person to the panel control display 6 for displaying so that the shooting person and the coach can conveniently check the score.
In order to improve the reliability of wireless signal transmission, as shown in fig. 1, external antennas 8 are uniformly arranged on the control box 5 and the flat panel control display 6 in the present embodiment, so as to improve the radiation intensity of the wireless signal.
After the shooting result is sent out, the controller IC4 can control the target to stand up to wait for the next shooting of the person, thereby completing the automatic starting and backing control process of the drone.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (8)
1. An automatic target lifting and falling machine, comprising:
the target is used for recording the area where the shooting point is located and the number of rings;
the direct current motor is connected with the speed reducer and is connected with the transmission mechanism through the speed reducer, the transmission mechanism is connected with the transmission shaft and drives the transmission shaft to rotate, and the target is connected to the transmission shaft;
the battery pack is used for supplying power to the direct current motor;
a first limit switch for detecting whether the target reaches a target position at the time of standing up;
it is characterized by also comprising:
the brake is arranged on the transmission shaft and used for controlling the transmission shaft to stop rotating;
a control circuit, comprising:
the battery sampling circuit is connected with the battery pack and is used for collecting the output voltage of the battery pack;
the controller is connected with the battery sampling circuit and generates a PWM signal according to the output voltage of the battery pack; the duty ratio of the PWM signal is 100% in the previous T time period, the subsequent duty ratio is gradually reduced, and the T is smaller than the time length T of the direct current motor for driving the target to be inverted to the standing position under the power supply of the output voltage; the controller receives the detection signal output by the first limit switch, stops transmitting the PWM signal when the target reaches the target position when standing up, and controls the brake to brake;
the input end of the half-bridge driving chip receives the PWM signal, the output end of the upper bridge control signal of the half-bridge driving chip is connected with the grid electrode of the upper bridge MOS tube, and the output end of the lower bridge control signal of the half-bridge driving chip is connected with the grid electrode of the lower bridge MOS tube; the drain electrode of the upper bridge MOS tube is connected to the output voltage of the battery pack, and the source electrode of the upper bridge MOS tube is connected with the anode of the direct current motor; the drain electrode of the lower bridge MOS tube is connected with the positive electrode of the direct current motor, and the source electrode of the lower bridge MOS tube is connected with the system ground; and the negative pole of the direct current motor is connected with the system ground.
2. The automatic target lifting and reversing machine according to claim 1, wherein a photoelectric coupler, a triode and an intermediate relay are further arranged in the control circuit; the controller outputs a falling signal when the target is required to be controlled to stand or fall, the triode is controlled to act through the photoelectric coupler, a power supply loop of the intermediate relay is connected, and a signal transmission line between the PWM signal and the half-bridge driving chip is connected through the intermediate relay.
3. The automatic target raising and reversing machine according to claim 2,
the photoelectric coupler comprises a light emitting diode and a light receiving triode, wherein the anode of the light emitting diode is connected with a direct current power supply, and the cathode of the light emitting diode is connected with an interface of the controller for outputting the rising and falling signals; the collector of the light receiving triode is connected with the direct-current power supply, and the emitter of the light receiving triode is connected with the base of the triode;
the triode is an NPN type triode, an emitting electrode of the triode is connected with the system ground, and a collector electrode of the triode is connected with the direct-current power supply through a coil of the intermediate relay;
the normally open contact of the intermediate relay is connected in series between the interface of the controller for outputting the PWM signal and the input end of the half-bridge driving chip;
the direct current power supply is generated by converting the output voltage of the battery pack or the output voltage of the battery pack through a voltage stabilizing circuit.
4. The automatic target lifting and reversing machine according to claim 2, further comprising:
the middle bullet sensors are arranged on the targets and used for sensing the positions of the shooting points, generating induction signals and sending the induction signals to the controller; and when the controller receives the induction signal, the controller outputs the tilting signal to control the target to tilt.
5. The automatic target lifting and reversing machine according to claim 4, further comprising:
the second limit switch is arranged at a target position of the target when the target falls down, generates a detection signal and sends the detection signal to the controller; when the target reaches a target position when falling down, the controller stops outputting PWM signals and controls the direct current motor to stop; or when the target reaches the target position when falling down, the controller stops outputting the falling signal so as to control the intermediate relay to cut off a signal transmission line between the PWM signal and the half-bridge driving chip and control the direct current motor to stop.
6. The automatic target lifting and falling machine according to claim 1, wherein the battery sampling circuit comprises two voltage dividing resistors, and the two voltage dividing resistors are connected in series and then connected between the positive electrode and the negative electrode of the battery pack; the middle node of the two divider resistors is connected with the analog-to-digital conversion interface of the controller and is connected with the system ground through a voltage stabilizing diode.
7. The automatic target raising and reversing machine according to claim 1,
the brake is an electromagnetic brake;
the transmission mechanism is a four-bar linkage.
8. The automatic target lifting and falling machine according to any one of claims 1 to 7, further comprising:
the wireless communication module is connected with the controller and is used for wirelessly transmitting the area and the number of rings where the shooting points are located;
and the panel control display is in wireless communication with the wireless communication module, receives the area where the shooting point is located and the number of rings and displays the area.
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| CN202121559385.7U CN215413407U (en) | 2021-07-09 | 2021-07-09 | Automatic target lifting and falling machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114935281A (en) * | 2022-05-24 | 2022-08-23 | 福建卓航科技有限公司 | Rotatable target frame for simulated shooting training |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114935281A (en) * | 2022-05-24 | 2022-08-23 | 福建卓航科技有限公司 | Rotatable target frame for simulated shooting training |
| CN114935281B (en) * | 2022-05-24 | 2023-11-24 | 福建卓航科技有限公司 | Rotatable target frame for simulated shooting training |
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