CN216954208U - Casting device - Google Patents
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- CN216954208U CN216954208U CN202122779539.XU CN202122779539U CN216954208U CN 216954208 U CN216954208 U CN 216954208U CN 202122779539 U CN202122779539 U CN 202122779539U CN 216954208 U CN216954208 U CN 216954208U
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Abstract
The utility model discloses a casting device, which belongs to the field of machinery and comprises a clamping unit, a conveying unit, an emission unit, an air source and a control system; the clamping unit comprises a first base, a first supporting plate, a first motor, a first support, a first clamping component, the first clamping component is at least one group, the first supporting plate is arranged on the first base, the first base can support the first supporting plate, the first motor is connected with the first supporting plate, and the first supporting plate can support the first motor. This application adopts modular structure design, can realize treating the clamp of projectile to get, carry, angle modulation, throw the operation. The device can realize waiting high efficiency, accurate throwing of throwing thing, and the range is far away, and the placement is concentrated, and hit the percentage of events height. The application has the advantages of ingenious design, reasonable design and stable and reliable structure, can be applied to actual casting operation, effectively solves the problems of traction rope guiding, cable casting and the like, and has higher application value.
Description
Technical Field
The utility model relates to the field of machinery, in particular to a casting device. The projecting device is stable and reliable in structure, can realize accurate projection of arrow branches, and has good application value.
Background
In some cases, projectile is a simple, efficient way of operation. For example, when a large bridge across canyons is constructed, the guide cable is usually pulled first and then the subsequent operation is carried out, and the guide cable is guided by adopting a throwing mode; or when the construction of the power overhead line encounters cross-over, the rope is often required to be thrown to bring a new wire through the power line.
Aiming at the requirement of throwing, people carry out a great deal of research and development. For example, chinese patent application CN201320040830.8 discloses a portable strong crossbow, which includes a crossbow bracket, a crossbow frame, a handle, a trigger mechanism and an ejection mechanism, wherein the crossbow bracket is fixedly connected with the rear end of the crossbow frame, a chute is arranged on the crossbow frame along the ejection direction, the handle is fixed on the lower portion of the crossbow frame, and the trigger mechanism is arranged on the crossbow frame in front of the handle; the ejection mechanism comprises a left elastic plate, a right elastic plate and a shear type telescopic mechanism which are symmetrically arranged; the shear type telescopic mechanism comprises shear arms, a rear pin shaft hole, a front pin shaft hole, a left wing hole and a right wing hole, wherein the shear arms are mutually crossed and movably connected to form a parallelogram structure, and a left elastic plate socket and a right elastic plate socket are respectively arranged on the left wing hole and the right wing hole; the shear type telescopic mechanism is connected to the crossbow frame through a rear pin shaft hole and a rear pin shaft, a front pin shaft is arranged in the front pin shaft hole and is installed in the sliding groove through the front pin shaft, the upper end of the front pin shaft is connected with an arrow pushing stop block, and when the shear type telescopic mechanism retracts, the lower end of the front pin shaft is connected with the trigger mechanism in a locking mode; the rear ends of the left elastic plate and the right elastic plate are fixed at the rear part of the crossbow frame through frame type clamps, and the front ends of the left elastic plate and the right elastic plate are respectively inserted into the left movable insertion opening and the right movable insertion opening.
Chinese patent application CN201821027230.7 discloses a throwing line ware for electric power construction, when carrying out electric power construction, the user mentions the launch canister through the handle, through suitable throwing line position is selected to the telescope, presses the switch provides power for the telescopic link through the air pump, and the telescopic link promotes ejection plate and launches away the throwing line arrow, and the throwing line arrow takes the cotton rope to arrive the throwing line position.
Chinese patent application CN201520965714.6 discloses an electric power line overline rope throwing device, which comprises a throwing tube and a throwing mechanism; the ejection mechanism comprises an ejector arranged at one end of the ejection tube and a trigger piece for triggering the ejector, and one end of the trigger piece is positioned at the outer side of the ejection tube; the diameter of the throwing rod is smaller than the inner diameter of the throwing pipe, one end of the throwing rod is in an arrow shape, and the other end of the throwing rod is provided with a rope hanging hole; the handle and the ejection tube are arranged on two opposite sides of the ejection mechanism; the rope guiding hole is formed in one side, close to the ejection mechanism, of the ejection pipe and is opposite to the trigger piece.
Chinese patent application CN202110657724.3 discloses an arrow casting robot and casting method, which includes a movable frame, an arrow catching and transferring mechanism, an arrow casting mechanism and an arrow angle adjusting mechanism; the movable frame comprises a frame, a front wheel driving mechanism, a rear wheel and a rear wheel driving mechanism; the frame is a square frame, and two corners at the front end and two corners at the rear end of the frame are respectively provided with a wheel mounting area; the two front wheels are respectively arranged in the wheel mounting areas at two corners of the front end of the frame; the two groups of front wheel driving mechanisms are respectively associated with the two front wheels so as to drive the two front wheels to rotate independently; the two rear wheels are respectively arranged in the wheel mounting areas at two corners of the rear end of the frame; the two groups of rear wheel driving mechanisms are respectively associated with the two rear wheels so as to drive the two rear wheels to rotate independently; the arrow capturing and transferring mechanism comprises a bearing frame, a lifting plate, a rotary driving assembly, a lifting driving assembly, a multi-degree-of-freedom mechanical arm and a clamping jaw; the bearing frame comprises an upper plate, a middle plate, a lower plate and guide rods, wherein the upper plate, the middle plate and the lower plate are arranged at intervals from top to bottom, the number of the guide rods is multiple, all the guide rods are arranged in parallel and vertically, the guide rods are fixedly connected with the upper plate, the middle plate and the lower plate from top to bottom respectively so as to be connected into an integral bearing frame, and an action area for the lifting plate to move is arranged between the upper plate and the middle plate; the lifting plate is provided with a plurality of guide holes, is installed with all guide rods in a sliding fit manner through the guide holes on the lifting plate, and is positioned in the action area of the bearing frame; the rotary driving assembly is positioned at the lower end of the bearing frame, is associated with the bearing frame and is used for driving the bearing frame to rotate; the lifting driving component is arranged on the bearing frame and is associated with the lifting plate so as to drive the lifting plate to do lifting movement along the guide rod; the rear end of the multi-degree-of-freedom mechanical arm is fixedly connected with the lifting plate, and the front end of the multi-degree-of-freedom mechanical arm is connected with the clamping jaw; a clamping station for clamping arrow is arranged in the clamping jaw; the arrow casting mechanism is arranged on the rack, and is provided with an arrow hanging position for hanging an arrow, and the arrow hanging position is used for casting the arrow hung on the arrow hanging position; the arrow angle adjusting mechanism is arranged on the rack, is positioned at the lower end of the arrow ejecting mechanism and is used for adjusting the angle of the arrow hung on the arrow hanging position.
An arrow for projection is shown in fig. 1 and comprises an arrow head, an arrow rod and arrow feathers, wherein the arrow head, the arrow rod and the arrow feathers are sequentially connected into a whole. Although different projectile devices exist in the prior art, the aim of research by people is to further improve the projectile accuracy and simplify the structure of the device.
Therefore, the application provides a throw device, and it can promote the accurate nature of throwing the operation, has better application effect.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a projecting device.
In order to achieve the purpose, the following technical scheme is adopted in the application:
a throwing device comprises a clamping unit, a conveying unit, an emission unit, an air source and a control system;
the clamping unit comprises a first base, a first supporting plate, a first motor, a first support and a first clamping assembly, the first clamping assembly is at least one group, the first supporting plate is arranged on the first base and can provide support for the first supporting plate, the first motor is connected with the first supporting plate, and the first supporting plate can provide support for the first motor;
the first clamping assembly comprises a first clamping cylinder, a first reverse stroke clamp, a first air circuit and a first electromagnetic valve, the first clamping cylinder and the first reverse stroke clamp are respectively arranged on the first support, the first reverse stroke clamp can move relative to the first support to clamp the projectile to be shot, a rotating shaft of the first motor is connected with the first support, and the first motor can drive the first clamping cylinder and the first reverse stroke clamp on the first support to synchronously rotate;
the telescopic rod of the first clamping cylinder is connected with the first reverse stroke clamp, the first clamping cylinder can drive the first reverse stroke clamp to move relative to the first support so as to clamp the object to be projected, the air source is connected with the first clamping cylinder through a first air path, and the first electromagnetic valve is arranged on the first air path;
the conveying unit comprises a third support, a second telescopic cylinder, a third air path, a third electromagnetic valve and a second clamping assembly; the second telescopic cylinders are a group and are arranged on the third support in parallel, telescopic rods of the second telescopic cylinders are connected with the second clamping assembly and can drive the second clamping assembly to move synchronously, the air source is connected with the second telescopic cylinders through a third air path, and the third electromagnetic valve is arranged on the third air path;
the second clamping assembly comprises a second support, a second reverse stroke clamp, a second clamping cylinder, a second air circuit and a second electromagnetic valve, the second clamping assembly is connected with a telescopic rod of a second telescopic cylinder through the second support, the second reverse stroke clamp and the second clamping cylinder are respectively arranged on the second support, and the second support can respectively provide support for the second reverse stroke clamp and the second clamping cylinder;
the telescopic rod of the second clamping cylinder is connected with the second reverse stroke clamp, the second clamping cylinder can drive the second reverse stroke clamp to move relative to the second support so as to clamp the object to be projected, the air source is connected with the second clamping cylinder through a second air path, and the second electromagnetic valve is arranged on the second air path;
the launching unit comprises a fourth supporting plate, a fourth motor, a throwing rod, a throwing chuck matched with a to-be-thrown object and an angle adjusting assembly;
the fourth supporting plate is connected with the third supporting seat, the third supporting seat can provide support for the fourth supporting plate, the fourth motor is connected with the fourth supporting plate, the fourth supporting plate can provide support for the fourth motor, a rotating shaft of the fourth motor is connected with one end of the throwing rod, the fourth motor can drive the throwing rod to rotate, the other end of the throwing rod is connected with the throwing chuck, and when the fourth motor rotates, the throwing rod and the throwing chuck can be sequentially driven to synchronously move so as to realize throwing operation of an object to be thrown on the throwing chuck;
the angle adjusting assembly comprises a fifth bearing, a fifth motor and a driving gear, the fifth bearing comprises a fifth inner ring and a fifth outer ring, the fifth inner ring can rotate relative to the fifth outer ring, the first base is connected with the third support through the fifth bearing, the third support can rotate relative to the first base through the fifth bearing, the driving gear is arranged on a rotating shaft of the fifth motor, the fifth motor can drive the driving gear to rotate, and teeth on the driving gear are outer teeth;
the fifth motor is connected with the first base, and the first base can provide support for the fifth motor; the fifth outer ring is fixedly connected with the first base, the fifth inner ring is connected with the third support, internal teeth are arranged on the fifth inner ring, the driving gear is meshed with the internal teeth on the fifth inner ring, and the fifth motor can drive the fifth inner ring and the third support connected with the fifth inner ring to synchronously rotate through the driving gear; or the fifth inner ring is fixedly connected with the first base, the fifth outer ring is connected with the third support, external teeth are arranged on the fifth outer ring, the driving gear is meshed with the external teeth on the fifth outer ring, and the fifth motor can drive the fifth outer ring and the third support connected with the fifth outer ring to synchronously rotate through the driving gear;
or the fifth motor is connected with the third support and the third support can provide support for the fifth motor; the fifth outer ring is fixedly connected with a third support, the fifth inner ring is connected with the first base, internal teeth are arranged on the fifth inner ring, the driving gear is meshed with the internal teeth on the fifth inner ring, and the fifth motor can drive the fifth outer ring and the third support connected with the fifth outer ring to synchronously rotate through the driving gear; or the fifth inner ring is fixedly connected with the third support, the fifth outer ring is connected with the first base, external teeth are arranged on the fifth outer ring, the driving gear is meshed with the external teeth on the fifth outer ring, and the fifth motor can drive the fifth inner ring and the third support connected with the fifth inner ring to synchronously rotate through the driving gear;
the first motor, the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve, the fourth motor and the fifth motor are respectively connected with the control system.
The object to be projected is rod-shaped.
The object to be projected is an arrow support, the arrow support comprises an arrow head, an arrow rod and arrow feathers, and the arrow head, the arrow rod and the arrow feathers are sequentially connected into a whole.
The launching unit further comprises a guide groove matched with the object to be thrown.
The guide groove is matched with the tail feather of the arrow.
Still including setting up the first bearing in first backup pad, the pivot of first motor passes first bearing in the first backup pad and the pivot of first motor can drive first support synchronous rotation.
The first clamping assemblies are two to five groups and are uniformly distributed on the first support.
The first travel switch is arranged on the first base and can send a signal to the control system when the first support is in contact with the first travel switch so as to stop the first motor.
The first reverse stroke clamp comprises a first clamping piece, a first fixed rod, a first transmission rod, a first movable rod and a first connecting piece, and the number of the first clamping piece and the number of the first transmission rod are at least two respectively;
the first clamping piece comprises a first transmission part, a first connecting part and a first meshing part, the first transmission part, the first connecting part and the first meshing part are sequentially connected into a whole, the first transmission part is connected with the first connecting part to form a V shape, the first connecting part is connected with the first meshing part to form a V shape and form a first meshing structure, and an opening of the first meshing structure is matched with the object to be projected;
the first fixing rod is connected with the first support, the joint of the first transmission part and the first occlusion part penetrates through the first fixing rod, and the first clamping piece can rotate around the first fixing rod; along the axial direction of the first fixed rod, the openings of two adjacent first occlusion structures are oppositely arranged;
one end of the first transmission rod is hinged with the first transmission part of the first clamping piece, the other end of the first transmission rod is hinged with the first movable rod, and the first movable rod can drive the first clamping piece to rotate around the first fixed rod through the first transmission rod so as to realize the closing and opening of the first occlusion structure;
the telescopic rod of the first clamping cylinder is connected with the first movable rod through a first connecting piece.
The second telescopic cylinders are at least two and are arranged on the third support in parallel.
The second reverse stroke clamp comprises a second clamping piece, a second fixed rod, a second transmission rod, a second movable rod and a second connecting piece, and the number of the second clamping piece and the number of the second transmission rod are at least two respectively;
the second clamping piece comprises a second transmission part, a second connecting part and a second meshing part, the second transmission part is linear, the second connecting part is L-shaped, the second meshing part is V-shaped or C-shaped, and the second transmission part, the second connecting part and the second meshing part are sequentially connected into a whole; the second meshing part is arranged at one end of the second connecting part, and the other end of the second connecting part is connected with the second transmission part;
the second fixed rod is connected with the second support, one end of the second transmission rod is hinged with the second transmission part of the second clamping piece, and the other end of the second transmission rod is hinged with the second movable rod;
marking the hinged position of the second transmission rod and the second transmission part as a first marking point, and marking the connecting position of the second transmission part and the second connecting part as a second marking point; the second fixing rod penetrates through the second transmission part, the joint of the second fixing rod and the second transmission part is positioned between the first marking point and the second marking point, and the second clamping piece can rotate around the second fixing rod;
along the axis direction of the second fixing rod, the openings of two adjacent second connecting parts are arranged in opposite directions, an avoidance space is formed between the openings of the two adjacent second connecting parts, the openings of the two adjacent second meshing parts are arranged in opposite directions and form a second meshing structure matched with the object to be projected, and the openings of the second meshing structure are matched with the object to be projected;
the telescopic rod of the second clamping cylinder is connected with the second movable rod through the second connecting piece, and the second telescopic cylinder can drive the second clamping piece to rotate around the second fixed rod through the second connecting piece, the second movable rod and the second transmission rod in sequence so as to close and open the second occlusion structure.
The projectile chuck is provided with a V-shaped opening matched with the projectile to be thrown.
The number of the fourth supporting plates and the number of the fourth motors are two respectively, the fourth supporting plates are symmetrically arranged on two sides of the projecting rod, the fourth motors are symmetrically arranged on two sides of the projecting rod, and the two fourth motors can provide power for projecting movement of the projecting rod at the same time.
Still include absolute encoder, with absolute encoder matched with radial magnet that magnetizes, absolute encoder and first base fixed connection and absolute encoder and first base keep static, radial magnet that magnetizes links to each other with the third support and radial magnet that magnetizes can absolute encoder relative rotation relatively, absolute encoder links to each other with control system and absolute encoder can give control system with the angle information transfer of survey.
The number of the conveying units and the number of the transmitting units are N respectively, N is a natural number and is more than or equal to 2.
The clamping device comprises a first clamping cylinder, a first reverse stroke clamp, a first gas circuit, a first solenoid valve, a first support, a second telescopic cylinder, a first gas circuit, a first solenoid valve, a second support, a second telescopic cylinder, a second gas circuit, a second solenoid valve, a second support, a third telescopic cylinder, a fourth gas circuit, a fourth solenoid valve, a fourth support, a fourth telescopic cylinder, a fourth gas circuit, a sixth gas circuit, a fourth gas circuit, a sixth solenoid valve, a sixth support, a fourth telescopic cylinder, a fourth gas circuit, a sixth solenoid valve, a sixth support, a sixth telescopic cylinder, a sixth gas circuit, a sixth support, a sixth telescopic cylinder, a first gas circuit, a sixth support, a sixth telescopic cylinder, a sixth gas circuit, a sixth support, a sixth gas circuit, a sixth support, a sixth telescopic cylinder, a sixth support, a sixth gas circuit, a sixth support, a sixth telescopic cylinder, a sixth support, a sixth telescopic cylinder, a sixth support, a first clamping cylinder, a sixth support, a sixth;
the sixth telescopic cylinder is provided with a sixth air path connected with an air source, the sixth electromagnetic valve is arranged on the sixth air path, and the sixth electromagnetic valve is connected with the control system.
The storage device further comprises a storage unit for placing the objects to be thrown, and the objects to be thrown can be arranged on the storage unit along the vertical direction.
The device also comprises a driving unit which is connected with the first base and can drive the first base to move, the driving unit is connected with the control system, the number of the driving units is M, M is a natural number, and M is more than or equal to 3.
The drive unit comprises a seventh drive motor and a seventh drive wheel, the seventh drive motor is connected with the first base, the seventh drive wheel is arranged on an output shaft of the seventh drive motor, and the seventh drive motor is connected with the control system.
In view of the foregoing, the present application provides a projectile device. The device adopts the modular structure design, can realize treating the operation of pressing from both sides of getting, carrying, angle modulation, throwing of projectile. The device can realize waiting high efficiency, accurate throwing of throwing thing, and the range is far away, and the placement is concentrated, and hit the percentage of events height. The application has the advantages of ingenious design, reasonable design and stable and reliable structure, can be applied to actual casting operation, effectively solves the problems of traction rope guiding, cable casting and the like, and has higher application value and application prospect.
Drawings
FIG. 1 is a schematic view of the structure of an arrow in embodiment 1.
Fig. 2 is a schematic view of the overall structure of the projectile device of embodiment 1.
Fig. 3 is a front view of fig. 2.
Fig. 4 is a side view of fig. 2.
Fig. 5 is a top view of fig. 2.
Fig. 6 is a schematic structural diagram of a conveying unit and a transmitting unit in embodiment 1.
Fig. 7 is a schematic structural view of a first reverse stroke clip in embodiment 1.
Fig. 8 is a schematic structural view of a second reverse stroke clip in embodiment 1.
The labels in the figure are: 1. arrow head, 2, arrow rod, 3, arrow feather, 4, clamping unit, 5, conveying unit, 6, launching unit, 11, first base, 12, first motor, 13, first support, 14, first clamping cylinder, 15, first reverse stroke clamp, 21, third support, 22, second telescopic cylinder, 23, second support, 24, second reverse stroke clamp, 25, second clamping cylinder, 31, fourth support plate, 32, fourth motor, 33, throwing rod, 34, throwing chuck, 35, guide slot, 51, fifth motor, 53, fifth inner ring, 54, fifth outer ring, 63, first transmission part, 64, first connecting part, 65, first meshing part, 66, first fixing rod, 67, first transmission rod, 68, first movable rod, 69, first connecting part, 72, second transmission part, 73, second connecting part, 74, second meshing part, 75, second fixing rod, 76. a second transmission rod 77, a second movable rod 78, a second connecting piece.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
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 the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
Example 1
As shown in fig. 2, the present embodiment provides a projectile apparatus, and fig. 3, 4 and 5 show a front view, a side view and a top view of fig. 2, respectively. For convenience of description, the material to be projected in this embodiment is an arrow. As shown in figure 1, the arrow support comprises an arrow head, an arrow rod and arrow feathers which are sequentially connected into a whole.
The device comprises a clamping unit, a conveying unit, an emission unit, an air source and a control system. The clamping unit, the conveying unit and the launching unit are respectively and correspondingly used for three operations of arrow taking, arrow sending and arrow shooting. The arrow holder is used for holding the arrow, and the arrow is vertically arranged on the storage unit; the conveying unit is used for transferring the arrow to a launching position and adjusting the posture of the arrow; the launching unit is used for realizing the projection operation of the arrow.
The clamping unit comprises a first base, a first supporting plate, a first motor, a first support, a first clamping assembly and a first travel switch, the first supporting plate and the first travel switch are respectively arranged on the first base, the first motor is connected with the first supporting plate, in the structure, the first base provides support for other parts, and the first supporting plate is used for providing support for the first motor. The first travel switch can send a signal to the control system when the first support is in contact with the first travel switch, so that the first motor stops working. As shown in fig. 2, the first clamping assemblies are five groups, and the first clamping assemblies are uniformly distributed on the first support.
The first clamping assembly comprises a first clamping cylinder, a first reverse stroke clamp, a first air circuit and a first electromagnetic valve, the first clamping cylinder and the first reverse stroke clamp are respectively arranged on the first support, a rotating shaft of a first motor is connected with the first support, and the first motor can drive the first clamping cylinder on the first support to synchronously rotate with the first reverse stroke clamp.
As shown in fig. 7, the first reverse stroke clamp of the present embodiment includes three first clamping members, three first fixing rods, three first transmission rods, three first movable rods, and three first connecting members. The first clamping piece comprises a first transmission part, a first connecting part and a first occlusion part, the first transmission part, the first connecting part and the first occlusion part are sequentially connected into a whole, the first transmission part is connected with the first connecting part to form a V shape, the first connecting part is connected with the first occlusion part to form a V shape and form a first occlusion structure, and an opening of the first occlusion structure is matched with the object to be projected.
The first fixing rod is connected with the first support, the joint of the first transmission part and the first occlusion part penetrates through the first fixing rod, and the first clamping piece can rotate around the first fixing rod. As shown in the figures, the openings of two adjacent first engagement structures are arranged opposite to each other along the axial direction of the first fixing rod. One end of the first transmission rod is hinged with the first transmission part of the first clamping piece, and the other end of the first transmission rod is hinged with the first movable rod; in the structure, the first movable rod can drive the first clamping piece to rotate around the first fixed rod through the first transmission rod so as to realize the closing and opening of the first meshing structure; through first interlock mechanism, realize snatching that the arrow was propped up.
In this embodiment, the telescopic link that the cylinder was pressed from both sides to first clamp links to each other through first connecting piece and the first movable rod that first reverse stroke pressed from both sides, and the air supply is pressed from both sides the cylinder through first gas circuit and first clamp and is linked to each other, and first solenoid valve setting is on first gas circuit.
The conveying unit comprises a third support, a second telescopic cylinder, a third air path, a third electromagnetic valve and a second clamping assembly. Wherein, the telescopic cylinder of second is two and the telescopic cylinder of second is parallel to each other and sets up on the third support.
The second clamping assembly comprises a second support, a second reverse stroke clamp, a second clamping cylinder, a second air path and a second electromagnetic valve, the second clamping assembly is connected with a telescopic rod of the second telescopic cylinder through the second support, and the second reverse stroke clamp and the second clamping cylinder are respectively arranged on the second support.
In this embodiment, the second reverse stroke clamp includes three second clamping members, three second fixed rods, three second transmission rods, three second movable rods, and one second connecting member.
The second clamping piece comprises a second transmission part, a second connecting part and a second meshing part, the second transmission part is linear, the second connecting part is L-shaped, the second meshing part is V-shaped, and the second transmission part, the second connecting part and the second meshing part are sequentially connected into a whole. The second meshing part is arranged at one end of the second connecting part, and the other end of the second connecting part is connected with the second transmission part. The second fixed rod is connected with the second support, one end of the second transmission rod is hinged with the second transmission part of the second clamping piece, and the other end of the second transmission rod is hinged with the second movable rod. Marking the hinged position of the second transmission rod and the second transmission part as a first marking point, and marking the connecting position of the second transmission part and the second connecting part as a second marking point; the second fixed rod penetrates through the second transmission part, the joint of the second fixed rod and the second transmission part is located between the first mark point and the second mark point, and the second clamping piece can rotate around the second fixed rod. Preferably, the second fixing rod passes through the middle of the second transmission part.
Along the axis direction of the second fixed rod, the openings of the two adjacent second connecting parts are oppositely arranged, and an avoiding space is formed between the openings of the two adjacent second connecting parts. The openings of the two adjacent second meshing parts are arranged in opposite directions to form a second meshing structure matched with the projectile to be ejected, and the openings of the second meshing structure are matched with the arrow. As shown in fig. 8, the avoidance space is beneficial to avoiding the contact between the second reverse stroke clamp and the tail feather of the arrow, so as to ensure the accurate and reliable flight of the arrow; and the second meshing structure can clamp and open the arrow.
In this embodiment, the telescopic link that the cylinder was got to the second clamp gets the second movable rod in the subassembly through second connecting piece and second clamp and links to each other, and the flexible cylinder of second loops through second connecting piece, second movable rod, second transfer line and can drive the second holder and rotate around the second dead lever to realize closing and opening of second interlock structure. In the structure, the second clamping cylinder can drive the second reverse stroke clamp to move relative to the second support so as to realize the clamping operation of the object to be projected. The air source is connected with the second clamping cylinder through a second air path, and the second electromagnetic valve is arranged on the second air path. The air source is connected with the second telescopic cylinder through a third air path, and the third electromagnetic valve is arranged on the third air path.
Fig. 6 shows a schematic structural diagram of the combination of the conveying unit and the transmitting unit. The launching unit comprises a fourth supporting plate, a fourth motor, a throwing rod, a throwing chuck matched with a to-be-thrown object and an angle adjusting assembly. The fourth supporting plate is connected with the third support, the fourth motor is connected with the fourth supporting plate, a rotating shaft of the fourth motor is connected with one end of the throwing rod, the fourth motor can drive the throwing rod to rotate, and the other end of the throwing rod is connected with the throwing chuck. By adopting the structure, the fourth motor can sequentially drive the throwing rod and the throwing chuck to synchronously move when rotating so as to realize the throwing operation of the object to be thrown on the throwing chuck.
As shown in the figure, the number of the fourth supporting plates and the number of the fourth motors are two respectively, the fourth supporting plates are symmetrically arranged on two sides of the projecting rod, the fourth motors are symmetrically arranged on two sides of the projecting rod, and the two fourth motors can provide power for the projecting motion of the projecting rod simultaneously. Furthermore, a V-shaped opening matched with the object to be projected is arranged on the projection chuck, and a notch of the projection chuck is basically matched with the arrow shaft.
The angle adjusting assembly comprises a fifth bearing, a fifth motor and a driving gear, the fifth bearing comprises a fifth inner ring and a fifth outer ring, and the fifth inner ring can rotate relative to the fifth outer ring; the first base is connected with the third support through a fifth bearing, and the third support can rotate relative to the first base through the fifth bearing. The driving gear is arranged on a rotating shaft of the fifth motor, the fifth motor can drive the driving gear to rotate, and teeth on the driving gear are external teeth.
In this embodiment, the fifth motor is fixedly connected to the first base. The fifth outer ring is fixedly connected with the first base, the fifth inner ring is connected with the third support, inner teeth are arranged on the fifth inner ring, the driving gear is meshed with the inner teeth on the fifth inner ring, and the fifth motor can drive the fifth inner ring and the third support connected with the fifth inner ring to synchronously rotate through the driving gear. By adopting the structure, the fifth motor can drive the third support to rotate through the fifth bearing, and further the adjustment of the steering of the transmitting unit on the fifth motor is realized.
Furthermore, the launching unit also comprises a guide groove matched with the object to be projected, the guide groove is connected with a third support, and the third support can provide support for the guide groove; the guide groove is matched with tail feathers of the arrow support.
Further, as shown, the transmitting unit further comprises an absolute encoder and a radial magnetizing magnet matched with the absolute encoder. The absolute encoder is fixedly connected with the first base, and the absolute encoder and the first base are kept static. The radial magnetizing magnet is connected with the third support, and the radial magnetizing magnet can rotate relative to the absolute encoder. The absolute encoder is connected with the control system and can transmit the measured angle information to the control system.
The first motor, the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve, the fourth motor and the fifth motor are respectively connected with the control system.
The device further comprises a driving unit connected with the first base, the driving unit is used for driving the first base to move, the driving unit is connected with the control system, the number of the driving units is M, M is a natural number, and M is more than or equal to 3. In this embodiment, the driving unit includes a seventh driving motor and a seventh driving wheel, the seventh driving motor is connected to the first base, the seventh driving wheel is disposed on an output shaft of the seventh driving motor, and the seventh driving motor is connected to the control system.
As shown in the figure, the number of the conveying unit and the transmitting unit in this embodiment is two. By adopting the device, the clamping of the five arches can be realized, and the simultaneous launching of the arches can be realized through the conveying unit and the launching unit. The application throw the device and can effectively avoid the arrow to prop up and rock at the conveying unit, adjust arrow through angle adjusting part and prop up the transmission direction, it can throw the orbit to the arrow and carry out effective control, realizes throwing of arrow accurately.
In this example, the operation of the projectile device to throw an arrow is as follows:
(1) arrow taking operation
A first reverse stroke clamp on the clamping unit is opened, and the arrow to be thrown is clamped; then, the first motor drives the first support to rotate, and when the first support touches a first travel switch on the first base, the first motor stops working;
(2) conveying operation
When the clamping unit moves the arrow to a set position, the conveying unit starts to work; at the moment, the second telescopic cylinder drives the third support to reach a set position, and then the second clamping cylinder drives the second reverse stroke clamp to open and clamp the arrow; after the arrow is clamped by the second reverse stroke clamp, the first reverse stroke clamp is opened; then, the arrow support is placed on the ejection chuck and the guide groove by the conveying unit; finally, the second reverse stroke clamp is loosened;
(3) launch operation
The control system adjusts the angle of the arrow through the angle adjusting component; then, the fourth motor rotates to further drive the throwing rod and the throwing chuck on the throwing rod to synchronously rotate; at the moment, the projectile chuck drives the arrow to be thrown out along a set track, and the arrow is ejected due to inertia to complete the projectile operation.
In the device that casts of this embodiment, press from both sides and be provided with five first clamps on the unit and get the subassembly to press from both sides the cylinder through the first clamp above that and drive, realize that the clamp of first reverse stroke clamp gets and unclamps. When the first reverse stroke clamp takes the arrow, the first support is driven by the first motor and rotates to a target position to prepare for sending the subsequent arrow.
Preferably, the clamping device further comprises a sixth telescopic cylinder, a sixth air path, a sixth electromagnetic valve and a sixth support, wherein the sixth telescopic cylinder is arranged on the first support, a telescopic rod of the sixth telescopic cylinder is connected with the sixth support, and the first clamping cylinder and the first reverse stroke clamp are respectively arranged on the sixth support. The sixth telescopic cylinder provides a sixth air path to be connected with the air source, the sixth electromagnetic valve is arranged on the sixth air path, and the sixth electromagnetic valve is connected with the control system. By adopting the structure, the sixth telescopic cylinder can drive the sixth support and the first clamping cylinder and the first reverse stroke clamp on the sixth support to synchronously move. By adopting the mode, the working range of the first reverse stroke clamp can be effectively improved, and the adaptability is enhanced.
Preferably, still include the first bearing of setting in first backup pad, the first bearing in the first backup pad is passed in the pivot of first motor, and the pivot of first motor can drive the synchronous rotation of first support, and the first bearing plays corresponding supporting role.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A throwing device is characterized by comprising a clamping unit (4), a conveying unit (5), a launching unit (6), an air source and a control system;
the clamping unit (4) comprises a first base (11), a first supporting plate, a first motor (12), a first support (13) and a first clamping assembly, the first clamping assembly is at least one group, the first supporting plate is arranged on the first base (11), the first base (11) can provide support for the first supporting plate, the first motor (12) is connected with the first supporting plate, and the first supporting plate can provide support for the first motor (12);
the first clamping assembly comprises a first clamping cylinder (14), a first reverse stroke clamp (15), a first air circuit and a first electromagnetic valve, the first clamping cylinder (14) and the first reverse stroke clamp (15) are respectively arranged on the first support (13), the first reverse stroke clamp (15) can move relative to the first support (13) to clamp the projectile to be shot, a rotating shaft of the first motor (12) is connected with the first support (13), and the first motor (12) can drive the first clamping cylinder (14) and the first reverse stroke clamp (15) on the first support (13) to synchronously rotate;
the telescopic rod of the first clamping cylinder (14) is connected with the first reverse stroke clamp (15), the first clamping cylinder (14) can drive the first reverse stroke clamp (15) to move relative to the first support (13) so as to clamp the object to be thrown, the air source is connected with the first clamping cylinder (14) through a first air path, and the first electromagnetic valve is arranged on the first air path;
the conveying unit (5) comprises a third support (21), a second telescopic cylinder (22), a third air path, a third electromagnetic valve and a second clamping assembly; the second telescopic cylinders (22) are in a group, the second telescopic cylinders (22) are arranged on the third support (21) in parallel, telescopic rods of the second telescopic cylinders (22) are connected with the second clamping assembly, the second telescopic cylinders (22) can drive the second clamping assembly to move synchronously, the air source is connected with the second telescopic cylinders (22) through a third air path, and the third electromagnetic valve is arranged on the third air path;
the second clamping assembly comprises a second support (23), a second reverse stroke clamp (24), a second clamping cylinder (25), a second air circuit and a second electromagnetic valve, the second clamping assembly is connected with a telescopic rod of the second telescopic cylinder (22) through the second support (23), the second reverse stroke clamp (24) and the second clamping cylinder (25) are respectively arranged on the second support (23), and the second support (23) can respectively support the second reverse stroke clamp (24) and the second clamping cylinder (25);
the telescopic rod of the second clamping cylinder (25) is connected with the second reverse stroke clamp (24), the second clamping cylinder (25) can drive the second reverse stroke clamp (24) to move relative to the second support (23) so as to clamp the object to be projected, the air source is connected with the second clamping cylinder (25) through a second air path, and the second electromagnetic valve is arranged on the second air path;
the launching unit (6) comprises a fourth supporting plate (31), a fourth motor (32), a throwing rod (33), a throwing chuck (34) matched with a to-be-thrown object and an angle adjusting assembly;
the fourth supporting plate (31) is connected with the third supporting seat (21), the third supporting seat (21) can provide support for the fourth supporting plate (31), the fourth motor (32) is connected with the fourth supporting plate (31), the fourth supporting plate (31) can provide support for the fourth motor (32), a rotating shaft of the fourth motor (32) is connected with one end of the throwing rod (33), the fourth motor (32) can drive the throwing rod (33) to rotate, the other end of the throwing rod (33) is connected with the throwing chuck (34), and the fourth motor (32) can sequentially drive the throwing rod (33) and the throwing chuck (34) to synchronously move when rotating so as to achieve throwing operation of an object to be thrown on the throwing chuck (34);
the angle adjusting assembly comprises a fifth bearing, a fifth motor (51) and a driving gear, the fifth bearing comprises a fifth inner ring (53) and a fifth outer ring (54), the fifth inner ring (53) can rotate relative to the fifth outer ring (54), the first base (11) is connected with the third support (21) through the fifth bearing, the third support (21) can rotate relative to the first base (11) through the fifth bearing, the driving gear is arranged on a rotating shaft of the fifth motor (51), the fifth motor (51) can drive the driving gear to rotate, and teeth on the driving gear are outer teeth;
the fifth motor (51) is connected with the first base (11), and the first base (11) can provide support for the fifth motor (51); the fifth outer ring (54) is fixedly connected with the first base (11), the fifth inner ring (53) is connected with the third support (21), internal teeth are arranged on the fifth inner ring (53), the driving gear is meshed with the internal teeth on the fifth inner ring (53), and the fifth motor (51) can drive the fifth inner ring (53) and the third support (21) connected with the fifth inner ring (53) to synchronously rotate through the driving gear; or the fifth inner ring (53) is fixedly connected with the first base (11), the fifth outer ring (54) is connected with the third support (21), external teeth are arranged on the fifth outer ring (54), the driving gear is meshed with the external teeth on the fifth outer ring (54), and the fifth motor (51) can drive the fifth outer ring (54) and the third support (21) connected with the fifth outer ring (54) to synchronously rotate through the driving gear;
or the fifth motor (51) is connected with the third support (21), and the third support (21) can provide support for the fifth motor (51); the fifth outer ring (54) is fixedly connected with the third support (21), the fifth inner ring (53) is connected with the first base (11), internal teeth are arranged on the fifth inner ring (53), the driving gear is meshed with the internal teeth on the fifth inner ring (53), and the fifth motor (51) can drive the fifth outer ring (54) and the third support (21) connected with the fifth outer ring (54) to synchronously rotate through the driving gear; or the fifth inner ring (53) is fixedly connected with the third support (21), the fifth outer ring (54) is connected with the first base (11), external teeth are arranged on the fifth outer ring (54), the driving gear is meshed with the external teeth on the fifth outer ring (54), and the fifth motor (51) can drive the fifth inner ring (53) and the third support (21) connected with the fifth inner ring (53) to synchronously rotate through the driving gear;
the first motor (12), the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve, the fourth motor (32) and the fifth motor (51) are respectively connected with a control system;
the first reverse stroke clamp (15) comprises a first clamping piece, a first fixed rod (66), a first transmission rod (67), a first movable rod and a first connecting piece (69), wherein the number of the first clamping piece and the number of the first transmission rod (67) are at least two respectively;
the first clamping piece comprises a first transmission part (63), a first connection part (64) and a first meshing part (65), the first transmission part (63), the first connection part (64) and the first meshing part (65) are sequentially connected into a whole, the first transmission part (63) is connected with the first connection part (64) to form a V shape, the first connection part (64) is connected with the first meshing part (65) to form a V shape, a first meshing structure is formed, and an opening of the first meshing structure is matched with an object to be projected;
the first fixing rod (66) is connected with the first support (13), the joint of the first transmission part (63) and the first occlusion part (65) penetrates through the first fixing rod (66), and the first clamping piece can rotate around the first fixing rod (66); along the axial direction of the first fixing rod (66), the openings of two adjacent first meshing structures are oppositely arranged;
one end of the first transmission rod (67) is hinged with the first transmission part (63) of the first clamping piece, the other end of the first transmission rod (67) is hinged with the first movable rod, and the first movable rod can drive the first clamping piece to rotate around the first fixed rod (66) through the first transmission rod (67) so as to realize the closing and opening of the first occlusion structure;
the telescopic rod of the first clamping cylinder (14) is connected with the first movable rod through a first connecting piece (69);
the second reverse stroke clamp (24) comprises at least two second clamping pieces, a second fixed rod (75), a second transmission rod (76), a second movable rod (77) and a second connecting piece (78), wherein the number of the second clamping pieces and the number of the second transmission rods (76) are at least two;
the second clamping piece comprises a second transmission part (72), a second connecting part (73) and a second meshing part (74), the second transmission part (72) is linear, the second connecting part (73) is L-shaped, the second meshing part (74) is V-shaped or C-shaped, and the second transmission part (72), the second connecting part (73) and the second meshing part (74) are sequentially connected into a whole; the second meshing part (74) is arranged at one end of the second connecting part (73), and the other end of the second connecting part (73) is connected with the second transmission part (72);
the second fixed rod (75) is connected with the second support (23), one end of the second transmission rod (76) is hinged with the second transmission part (72) of the second clamping piece, and the other end of the second transmission rod (76) is hinged with the second movable rod (77);
marking the hinged position of the second transmission rod (76) and the second transmission part (72) as a first marking point, and marking the connecting position of the second transmission part (72) and the second connecting part (73) as a second marking point; the second fixing rod (75) penetrates through the second transmission part (72), the joint of the second fixing rod (75) and the second transmission part (72) is positioned between the first marking point and the second marking point, and the second clamping piece can rotate around the second fixing rod (75);
along the axial direction of the second fixing rod (75), the openings of two adjacent second connecting parts (73) are oppositely arranged, an avoidance space is formed between the openings of the two adjacent second connecting parts (73), the openings of two adjacent second meshing parts (74) are oppositely arranged to form a second meshing structure matched with the object to be projected, and the openings of the second meshing structures are matched with the object to be projected;
the telescopic rod of the second clamping cylinder (25) is connected with the second movable rod (77) through the second connecting piece (78), and the second telescopic cylinder (22) can drive the second clamping piece to rotate around the second fixed rod (75) through the second connecting piece (78), the second movable rod (77) and the second transmission rod (76) in sequence so as to close and open the second meshing structure;
the ejection chuck (34) is provided with a V-shaped opening matched with the object to be ejected.
2. The projectile device according to claim 1, wherein the launching unit (6) further comprises a guide slot (35) cooperating with the object to be projected.
3. The projection device according to claim 1, characterized by further comprising a first travel switch connected to the control system, said first travel switch being arranged on the first base (11) and being able to signal the control system to stop the first motor (12) when the first support (13) comes into contact with the first travel switch.
4. The projectile device as claimed in any of the claims 1 to 3, further comprising an absolute encoder and a radial magnetizing magnet cooperating with the absolute encoder, wherein the absolute encoder is fixedly connected to the first base (11) and remains stationary with the first base (11), the radial magnetizing magnet is connected to the third support (21) and can rotate relatively to the absolute encoder, and the absolute encoder is connected to the control system and can transmit the measured angle information to the control system.
5. The ejection device according to claim 1, further comprising a sixth telescopic cylinder, a sixth air passage, a sixth electromagnetic valve and a sixth support, wherein the sixth telescopic cylinder is arranged on the first support (13), a telescopic rod of the sixth telescopic cylinder is connected with the sixth support, the first clamping cylinder (14) and the first reverse stroke clamp (15) are respectively arranged on the sixth support, and the sixth telescopic cylinder can drive the sixth support and the first clamping cylinder (14) and the first reverse stroke clamp (15) on the sixth support to synchronously move;
the sixth telescopic cylinder is provided with a sixth air path connected with an air source, the sixth electromagnetic valve is arranged on the sixth air path, and the sixth electromagnetic valve is connected with the control system.
6. The projectile device as claimed in claim 1, further comprising a drive unit connected to the first base (11) and capable of driving the first base (11) to move, wherein the number of the drive units is M, M is a natural number and M is greater than or equal to 3, and the number of the drive units is M.
7. The projectile device as claimed in claim 6, wherein said drive unit comprises a seventh drive motor, a seventh drive wheel, said seventh drive motor being connected to the first base (11), said seventh drive wheel being provided on an output shaft of the seventh drive motor, said seventh drive motor being connected to the control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122779539.XU CN216954208U (en) | 2021-11-15 | 2021-11-15 | Casting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122779539.XU CN216954208U (en) | 2021-11-15 | 2021-11-15 | Casting device |
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| Publication Number | Publication Date |
|---|---|
| CN216954208U true CN216954208U (en) | 2022-07-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115096131A (en) * | 2022-07-14 | 2022-09-23 | 广州城市理工学院 | Projection device |
| CN116558763A (en) * | 2023-07-12 | 2023-08-08 | 新乡职业技术学院 | Anti-falling performance test equipment for computer parts |
-
2021
- 2021-11-15 CN CN202122779539.XU patent/CN216954208U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115096131A (en) * | 2022-07-14 | 2022-09-23 | 广州城市理工学院 | Projection device |
| CN115096131B (en) * | 2022-07-14 | 2024-01-30 | 广州城市理工学院 | Projection device |
| CN116558763A (en) * | 2023-07-12 | 2023-08-08 | 新乡职业技术学院 | Anti-falling performance test equipment for computer parts |
| CN116558763B (en) * | 2023-07-12 | 2023-09-05 | 新乡职业技术学院 | Anti-falling performance test equipment for computer parts |
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