CN215491308U

CN215491308U - Launching device for arrow throwing robot

Info

Publication number: CN215491308U
Application number: CN202120269972.6U
Authority: CN
Inventors: 肖桂英; 刘泽森; 林云峰; 王乙强; 陈丹彤; 杨志勇; 甄溢洋; 谢广浩; 宋露曦
Original assignee: Guangzhou Institute of Technology
Current assignee: Guangzhou Institute of Technology
Priority date: 2021-01-29
Filing date: 2021-01-29
Publication date: 2022-01-11
Anticipated expiration: 2031-01-29

Abstract

The utility model provides a launching device for a rocket throwing robot, which comprises a string pulling mechanism, wherein the string pulling mechanism comprises a force application device, the force application device comprises a string clamping device, the string clamping device comprises a first driving plate, a second driving plate, a first driving cylinder, a second driving cylinder, a first connecting rod and a second connecting rod, one end of the first connecting rod is fixedly connected with the first driving cylinder, the other end of the first connecting rod is fixedly connected with the first driving plate, one end of the second connecting rod is fixedly connected with the second driving cylinder, the other end of the second connecting rod is fixedly connected with the second driving plate, a first groove and a third groove are formed in the first driving plate, a second groove and a fourth groove are formed in the second driving plate, the first groove and the second groove form a second arc groove, and the third groove and the fourth groove form a third arc groove. The projection device is reasonable in structure, the projection process of the projection arrow is fast, the time consumption is short, the stability of the projection arrow is not affected, and the emission accuracy is improved.

Description

Launching device for arrow throwing robot

Technical Field

The utility model relates to the field of machinery, in particular to a launching device for an arrow throwing robot.

Background

With the advancement of technology, a variety of robots have appeared in modern society, including robots that play games with humans. The game robot is presented in various technological venues, and various game robots attract vast tourists, particularly young people, and bring endless joys and useful knowledge to the tourists. Therefore, an archery robot has been developed that can satisfy some people's preference for archery sports and gain knowledge and pleasure in games that are more archery than archery robots.

The arrow shooting process of the existing arrow shooting robot generally comprises arrow taking, shooting and target centering, the target centering probability and the target centering accuracy in the shooting process have important influence, and the stability of the arrow for shooting in the shooting process is an important factor for determining whether the target can be centered or not. The existing launching device for the arrow throwing robot has the problem that an arrow for projection can deviate in the arrow throwing process, so that the probability of a target in the process of target shooting can be influenced, and the pleasure experienced by people is further influenced.

SUMMERY OF THE UTILITY MODEL

Based on the technical scheme, the utility model provides a launching device for an arrow shooting robot, which aims to solve the problem that an arrow for shooting appears deviation in the launching process of the arrow shooting robot, and the specific technical scheme is as follows:

the utility model provides a throw emitter that arrow robot used, includes and holds bow mechanism and string mechanism draws, it includes bow clamping device to hold bow mechanism, bow clamping device includes grip block, centre gripping cylinder and two fixed plates, two bolt fixed connection is passed through to the one end of fixed plate, two be equipped with the draw-in groove on the position of fixed plate facies, the grip block with the piston rod fixed connection of centre gripping cylinder, the centre gripping cylinder with fixed plate fixed connection, the grip block is located the top of centre gripping cylinder, the grip block with be equipped with the semi-arc groove on the cylinder body of centre gripping cylinder respectively corresponding on the facies, semi-arc groove on the grip block with first circular arc groove constitution first circular arc groove on the centre gripping cylinder, string mechanism includes force application device, force application device includes string clamping device, string clamping device includes first drive plate, A second driving plate, a first driving cylinder, a second driving cylinder, a first connecting rod and a second connecting rod, one end of the first connecting rod is fixedly connected with the first driving cylinder, the other end of the first connecting rod is fixedly connected with the first driving plate, one end of the second connecting rod is fixedly connected with the second driving cylinder, the other end of the second connecting rod is fixedly connected with the second driving plate, the first driving plate is provided with a first groove and a third groove, the second driving plate is provided with a second groove and a fourth groove, the first grooves and the second grooves are distributed correspondingly, the first grooves and the second grooves form second arc grooves, the third groove and the fourth groove are distributed correspondingly, the third groove and the fourth groove form a third arc groove, and the length direction of the second arc groove is perpendicular to that of the third arc groove.

The utility model has the following beneficial effects: the projection arrow passes through the first arc groove and the second arc groove is fixed, and the projection string passes through the third arc groove is fixed, during the transmission, through the centre gripping cylinder is opened the first arc groove, through the first cylinder and the second cylinder is opened the second arc groove and the third arc groove, the process is fast, consuming time is short, and whole process contactless projection arrow can not influence the stability of projection arrow, improves the transmission rate of accuracy.

Furthermore, the gripping mechanism further comprises a large gripping arm and a small gripping arm, the large gripping arm is rotatably connected with the small gripping arm, and the small gripping arm is fixedly connected with the gripping device.

Furthermore, the string pulling mechanism further comprises a large string pulling arm and a small string pulling arm, the large string pulling arm is rotatably connected with the small string pulling arm, and the small string pulling arm is fixedly connected with the force application device.

Further, the force application device further comprises a rotating device, the rotating device comprises a rotating plate, a motor and a gear, the motor is fixedly installed on the rotating plate, the rotating plate is fixedly connected with the string pulling small arm, and an output shaft of the motor is fixedly connected with the gear.

Further, rotating device still includes dwang and rack, rack fixed mounting be in on the dwang, the rack with gear engagement.

Further, string pulling mechanism still includes the movable plate, the one end of movable plate with the one end fixed connection of dwang, the other end of movable plate with first drive plate and second drive plate sliding connection, the other end of movable plate with first actuating cylinder and second actuating cylinder fixed connection drives.

Furthermore, a guide rail is arranged on the rotating plate, a sliding block is arranged on the rotating rod, and the sliding block is connected with the guide rail in a sliding mode.

Further, the width of the clamping groove is matched with the thickness of the arch back.

Further, the inner diameter of the first arc groove is matched with the outer diameter of the arrow shaft.

Further, the inner diameter of the second arc groove is matched with the outer diameter of the arrow shaft, and the inner diameter of the third arc groove is matched with the diameter of the projection string.

Drawings

The utility model will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.

Fig. 1 is a schematic overall structure diagram of a launching device for a projectile robot in an embodiment of the utility model;

FIG. 2 is a schematic structural view of a bow clamping device of a launching device for the archery robot in one embodiment of the utility model;

FIG. 3 is a schematic structural diagram of a string pulling mechanism of a launching device for the arrow-throwing robot in one embodiment of the utility model;

fig. 4 is a schematic structural view of a string holding device of a launching device for an archery robot in an embodiment of the present invention.

Description of reference numerals:

1. an arch holding device; 110. a fixing plate; 1101. a card slot; 120. a clamping plate; 130. a clamping cylinder; 140. a first arc groove; 2. a string holding device; 210. a first drive plate; 2101. a first groove; 2102. a third groove; 220. a second drive plate; 2201. a second groove; 2202. a fourth groove; 230. a first driving cylinder; 240. a second driving cylinder; 250. a first connecting rod; 260. A second connecting rod; 270. a second arc groove; 280. a third arc groove; 3. a rotating device; 310. A rotating plate; 320. a motor; 330. a gear; 340. rotating the rod; 4. a large arm of the bow; 5. a bow-holding small arm; 6. a string pulling big arm; 7. pulling the string small arm; 8. and (5) moving the plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to embodiments thereof. It should be understood that the detailed description and specific examples, while indicating the scope of the utility model, are intended for purposes of illustration only and are not intended to limit the scope of the utility model.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The terms "first" and "second" used herein do not denote any particular order or quantity, but rather are used to distinguish one element from another.

As shown in fig. 1 to 4, a launching device for an archery robot in an embodiment of the present invention includes a bow-holding mechanism and a string-pulling mechanism, the bow-holding mechanism includes a bow-holding device 1, the bow-holding device 1 includes a holding plate 120, a holding cylinder 130 and two fixing plates 110, one end of each of the two fixing plates 110 is fixedly connected by a bolt, a slot 1101 is provided on a facing surface of each of the two fixing plates 110, the slot 1101 is used for fixing a projecting bow, the holding plate 120 is fixedly connected with a piston rod of the holding cylinder 130, the holding cylinder 130 is fixedly connected with the fixing plate 110, the holding plate 120 is located above the holding cylinder 130, semi-arc grooves are respectively provided on facing surfaces of the holding plate 120 and a cylinder body of the holding cylinder 130, the semi-arc grooves on the holding plate 120 and the semi-arc grooves on the holding cylinder 130 form a first arc groove 140, the string pulling mechanism comprises a force application device, the force application device comprises a string clamping device 2, the string clamping device 2 comprises a first driving plate 210, a second driving plate 220, a first driving cylinder 230, a second driving cylinder 240, a first connecting rod 250 and a second connecting rod 260, one end of the first connecting rod 250 is fixedly connected with the first driving cylinder 230, the other end of the first connecting rod 250 is fixedly connected with the first driving plate 210, one end of the second connecting rod 260 is fixedly connected with the second driving cylinder 240, the other end of the second connecting rod 260 is fixedly connected with the second driving plate 220, the first driving plate 210 is provided with a first groove 2101 and a third groove 2102, the second driving plate 220 is provided with a second groove 2201 and a fourth groove 2202, the first groove 2101 and the second groove 2201 are distributed correspondingly, the first groove 2101 and the second groove 2201 form a second circular arc groove 270, the third grooves 2102 and the fourth grooves 2202 are distributed correspondingly, the third grooves 2102 and the fourth grooves 2202 form third arc grooves 280, and the length direction of the second arc grooves 270 is perpendicular to the length direction of the third arc grooves 280.

The projection arrow passes through the first arc groove 140 and the second arc groove 270 are fixed, the projection string passes through the third arc groove 280 is fixed, during the emission, the clamping cylinder 130 opens the first arc groove 140, the first driving cylinder 230 and the second driving cylinder 240 open the second arc groove 270 and the third arc groove 280, the process is fast, the consumed time is short, the whole process does not contact the projection arrow, the stability of the projection arrow is not affected, and the emission accuracy is improved.

In one embodiment, as shown in fig. 1, the bow mechanism further comprises a large bow arm 4 and a small bow arm 5, wherein the large bow arm 4 is rotatably connected with the small bow arm 5, and the small bow arm 5 is fixedly connected with the bow clamping device 1. The small holding bow arm 5 drives the bow clamping device 1 to rotate by taking the large holding bow arm 4 as a center, so that the angle of the bow can be adjusted according to actual conditions, and the experience feeling is enhanced.

In one embodiment, as shown in fig. 1, the string pulling mechanism further comprises a string pulling big arm 6 and a string pulling small arm 7, the string pulling big arm 6 is rotatably connected with the string pulling small arm 7, and the string pulling small arm 7 is fixedly connected with the rotating device 3. The small string pulling arm 7 drives the rotating device 3 to rotate by taking the large string pulling arm 6 as a center, so that the angles of the projection arrow and the projection string can be adjusted according to actual conditions, and the projection accuracy is improved.

In one embodiment, as shown in fig. 1 and 3, the force application device further includes a rotating device 3, the rotating device 3 includes a rotating plate 310, a motor 320 and a gear 330, the motor 320 is fixedly mounted on the rotating plate 310, the rotating plate 310 is fixedly connected with the string pulling small arm 7, and an output shaft of the motor 320 is fixedly connected with the gear 330; the rotating device 3 further comprises a rotating rod 340 and a rack, wherein the rack is fixedly installed on the rotating rod 340, and the rack is meshed with the gear 330. Through gear 330 with the meshing of rack, dwang 340 along rotating plate 310 round trip movement, and then drive string clamping device 2 along rotating plate 310 round trip movement, thereby string clamping device 2 can adjust and throw the distance of using the arrow according to actual conditions, is convenient for launch better and throws and uses the arrow.

In one embodiment, as shown in fig. 3, the string pulling mechanism further includes a moving plate 8, one end of the moving plate 8 is fixedly connected to one end of the rotating rod 340, the other end of the moving plate 8 is slidably connected to the first driving plate 210 and the second driving plate 220, and the other end of the moving plate 8 is fixedly connected to the first driving cylinder 230 and the second driving cylinder 240. Under the driving action of the first driving cylinder 230, the first driving plate 210 reciprocates along with the first connecting rod 250, and under the driving action of the second driving cylinder 240, the second driving plate 220 reciprocates along with the second connecting rod 260, and the moving plate 8 supports the first driving plate 210 and the second driving plate 220.

In one embodiment, as shown in fig. 3, a guide rail is disposed on the rotating plate 310, and a sliding block is disposed on the rotating rod 340 and is slidably connected to the guide rail. The string holding device 2 is driven by the gear 330 and the rack to move back and forth along the rotating plate 310, and the guide rail and the sliding block limit the string holding device 2, so that the string holding device 2 is prevented from shifting in the moving process.

In one embodiment, as shown in FIG. 2, the width of the slot 1101 matches the thickness of the arch back. The clamping groove 1101 can fix the projecting bow more firmly, so that the projecting bow is prevented from deviating, and the projecting accuracy is reduced.

In one embodiment, as shown in fig. 2 and 4, the inner diameter of the first circular arc groove 140 matches the outer diameter of the arrow shaft; the inner diameter of the second arc groove 270 is matched with the outer diameter of the arrow shaft, and the inner diameter of the third arc groove 280 is matched with the diameter of the string for projection. The first arc groove 140 and the second arc groove 270 play a limiting role in the projection arrow, so that the projection arrow is prevented from being deviated and dislocated in the launching process, and the third arc groove 280 plays a stretching role in the projection string, so that the projection string has enough power to launch the projection arrow.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides a emitter that throws arrow robot and use, includes bow-holding mechanism and string pulling mechanism, its characterized in that: the bow-holding mechanism comprises a bow clamping device, the bow clamping device comprises a clamping plate, a clamping cylinder and two fixing plates, the clamping plate, the clamping cylinder and the two fixing plates are fixedly connected through bolts, the clamping plate is located above the clamping cylinder, the clamping plate and the opposite surfaces of the cylinder body of the clamping cylinder are respectively and correspondingly provided with a semi-arc groove, the semi-arc groove on the clamping plate and the semi-arc groove on the clamping cylinder form a first arc groove, the string-pulling mechanism comprises a force application device, the force application device comprises a string clamping device, and the string clamping device comprises a first driving plate, a second driving plate, a first driving cylinder, a second driving cylinder, One end of the first connecting rod is fixedly connected with the first driving cylinder, the other end of the first connecting rod is fixedly connected with the first driving plate, one end of the second connecting rod is fixedly connected with the second driving cylinder, the other end of the second connecting rod is fixedly connected with the second driving plate, the first driving plate is provided with a first groove and a third groove, the second driving plate is provided with a second groove and a fourth groove, the first groove and the second groove are distributed correspondingly, the first groove and the second groove form a second arc groove, the third groove and the fourth groove are distributed correspondingly, and the third groove and the fourth groove form a third arc groove, and the length direction of the second arc groove is perpendicular to that of the third arc groove.

2. A launching device for a slot-casting robot as recited in claim 1, characterized in that: the gripping mechanism further comprises a gripping big arm and a gripping small arm, the gripping big arm is rotatably connected with the gripping small arm, and the gripping small arm is fixedly connected with the bow clamping device.

3. A launching device for a slot-casting robot as recited in claim 1, characterized in that: the string pulling mechanism further comprises a string pulling big arm and a string pulling small arm, the string pulling big arm is rotatably connected with the string pulling small arm, and the string pulling small arm is fixedly connected with the force application device.

4. A launching device for a slot-casting robot as recited in claim 3, characterized in that: the string pulling mechanism further comprises a rotating device, the rotating device comprises a rotating plate, a motor and a gear, the motor is fixedly installed on the rotating plate, the rotating plate is fixedly connected with the string pulling small arm, and an output shaft of the motor is fixedly connected with the gear.

5. A launching device for a slot-casting robot as recited in claim 4, characterized in that: the rotating device further comprises a rotating rod and a rack, the rack is fixedly installed on the rotating rod, and the rack is meshed with the gear.

6. A launching device for a slot-casting robot as recited in claim 5, characterized in that: string pulling mechanism still includes the movable plate, the one end of movable plate with the one end fixed connection of dwang, the other end of movable plate with first drive plate and second drive plate sliding connection, the other end of movable plate with first actuating cylinder and second actuating cylinder fixed connection drives.

7. A launching device for a slot-casting robot as recited in claim 6, characterized in that: the rotating plate is provided with a guide rail, the rotating rod is provided with a sliding block, and the sliding block is connected with the guide rail in a sliding manner.

8. A launching device for a slot-casting robot as recited in claim 1, characterized in that: the width of the clamping groove is matched with the thickness of the arch back.

9. A launching device for a slot-casting robot as recited in claim 1, characterized in that: the inner diameter of the first arc groove is matched with the outer diameter of the arrow shaft.

10. A launching device for a slot-casting robot as recited in claim 1, characterized in that: the inner diameter of the second arc groove is matched with the outer diameter of the arrow shaft, and the inner diameter of the third arc groove is matched with the diameter of the projection string.