WO2017219314A1 - Turret, and remote control robot carrying same - Google Patents

Abstract

A turret (10), and remote control robot (1) carrying the turret (10). The remote control robot (1) includes a carrier base (20) and a turret (10) provided on the carrier base (20). The turret (10) comprises a main body (11), a shooting mechanism (12), and a drive device (14). The turret (10) further comprises a support device (16) provided at a center of the shooting mechanism (12). The shooting mechanism (12) can perform a tilting motion about the support device (16), and the drive device (14) is disposed at a position away from the center of the shooting mechanism (12) to drive the tilting motion of the shooting mechanism (12). The turret, and remote control robot carrying same of the present invention can reduce the load of a drive device of the turret.

Description

Turret and remote control robot equipped with the turret Technical field

The present invention relates to a turret, and more particularly to a turret capable of pitching operation and a remote control robot carrying the turret.

Background technique

The turret is an ejection device that can be mounted on a carrier such as a remote control robot that can emit BB bombs, golf balls, light beams, and the like. The turret can be driven up and down by the drive to change the ejection direction. The turret drive is usually placed at the center of gravity of the turret. When the turret's magazine is fully loaded, the turret may be in equilibrium, but as the bullets in the magazine are ejected, the bullets in the magazine are getting less and less. The turret balance is broken, and the driving device disposed at the center of gravity is required to maintain a balance, and the required torque is increased, and the load of the driving device is also increased.

Summary of the invention

In view of this, it is necessary to provide a turret capable of reducing the load on the turret drive and a remote control robot equipped with the turret.

A turret includes a turret body, a shooting mechanism and a driving device, the turret further comprising a supporting device disposed at a center of gravity of the turret, the shooting mechanism is capable of pitching motion about the supporting device, and the driving device is disposed at the shooting mechanism The center of gravity is used to drive the shooting mechanism to perform a pitching motion. The invention also provides a carrying device for carrying the turret.

A remote control robot equipped with a turret, including a turret as described above.

DRAWINGS

1 is a top plan view of a turret according to an embodiment of the present invention.

2 is a bottom view of a turret according to an embodiment of the present invention.

3 is a cross-sectional view of a turret according to an embodiment of the present invention.

4 is a partial perspective view of a turret according to an embodiment of the present invention.

Fig. 5 is a perspective view of a driving device of a turret according to an embodiment of the present invention.

Fig. 6 is an exploded view of the driving device of the turret according to the embodiment of the present invention.

Fig. 7 is an exploded perspective view showing the driving device of the turret according to another embodiment of the present invention.

Fig. 8 is an exploded perspective view showing the driving device of the turret according to still another embodiment of the present invention.

Fig. 9 is a perspective view of a carrier device according to an embodiment of the present invention.

Fig. 10 is a perspective view of a shock absorbing structure of the carrier device shown in Fig. 9.

Fig. 11 is a perspective view of a shock absorbing structure of the carrier device shown in Fig. 9.

Main component symbol description

Carrying device	1
turret	10
Turret body	11
Mounting shaft	110
Shooting mechanism	12
magazine	120
Ejection device	122
barrel	124
Slider	126
Drive unit	14
First link	140
Rotating shaft	1400
Sleeve	1421
Chute	1422
Connecting rod mount	1424
Second link	1426
Slider fixing part	14260
Slider	1428
Eccentric wheel	143
Eccentric shaft	1430
Cam	145
Camshaft	1450
Support device	16
Support rod	160
Support shaft	162
Carrier	20
Chassis	200
Side panel	2001
Bottom plate	2002
Guide wheel	202
Bearing wheel	204
Drive wheel	206
track	208
Shock absorption structure	210
Torsion bar	2100
Fixed seat	2102
Fixed bottom plate	21020
First fixed side panel	21022
Second fixed side panel	21024
Fixed hole	21021
Pivot hole	21023
Rotating shaft	2104
Spring	2106
Limiter	212

The invention will be further illustrated by the following detailed description in conjunction with the accompanying drawings.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component. When a component is considered to be "set to" another component, it can be placed directly on another component or possibly with a centered component. The terms "vertical," "horizontal," "left," "right," and the like, as used herein, are for illustrative purposes only.

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, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

The present invention provides a turret that includes a firing mechanism that can be mounted on a carrier. The carrying device includes a remote control robot, a pan/tilt head, and the like. The pan/tilt can be applied to a drone, which can be used in any suitable environment, such as in the air (eg, a rotorcraft, a fixed-wing aircraft, or a fixed-wing and rotor-mixed aircraft), in water (eg, a ship) Or submarine), on the ground (eg, motorcycle, car, truck, bus, train, etc.), in space (eg, space shuttle, satellite or detector), or underground (eg subway), or the above environment Any combination.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

Referring to FIGS. 1 to 3, the turret 10 includes a turret body 11, a shooting mechanism 12, and a driving device 14. The firing mechanism 12 is mounted within the turret body 11 and the drive unit 14 is used to adjust the pitch angle of the firing mechanism 12.

The shooting mechanism 12 is supported and fixed inside the turret body 11 by a support device 16. Preferably, the support device 16 is supported at the center of the firing mechanism 12. It can be understood that the center may be the center of gravity of the shooting mechanism 12 when the magazine is fully loaded, or may be the geometric center of the shooting mechanism 12, and may also be any suitable position set as needed. For example, the center of gravity of the shooting mechanism at the time of half a warehouse, and the like.

In particular, in the illustrated embodiment, the firing mechanism 12 can include a magazine 120, an ejection device 122, and a barrel 124. The magazine 120 is used to mount a bullet, and the ejection device 122 is used to eject the bullet in the magazine 120 through the barrel 124. The barrel 124 extends from an end of the turret body 11 to the outside of the turret body 11.

It should be noted that in other embodiments, the shooting mechanism 12 may also adopt other structures. For example, the shooting mechanism 12 may also be a laser emitter that emits a collimated laser beam.

The support device 16 includes a support shaft 162 for pivotally connecting the firing mechanism 12, and a support rod 160 for supporting the support shaft 162. Specifically in the illustrated embodiment, the support rod 160 is fixedly disposed inside the turret body 11. The support shaft 162 is disposed on the support rod 160 and is connected substantially perpendicularly to the support rod 160. The shooting mechanism 12 is rotatable about the support shaft 162 to perform a pitching motion, thereby changing the pitch angle of the shooting mechanism 12, that is, the end of the shooting mechanism 12 is movable up and down.

The driving device 14 is disposed at one end of the shooting mechanism 12 for driving the shooting mechanism 12 to perform a pitching motion to change an ejection direction of the shooting mechanism 12.

In particular, in the illustrated embodiment, the drive unit 14 includes a power unit 140 and a transmission unit 142. The power unit 140 is fixedly disposed inside the turret body 11 , and the transmission device 142 is connected between the power unit 140 and the shooting mechanism 12 for transmitting kinetic energy generated by the power unit 140 to the The shooting mechanism 12 drives the shooting mechanism 12 to perform a pitching motion. The power unit 140 may include at least one of a rotating electric machine, a linear motor, a rotating cylinder, a telescopic cylinder, and the like. The transmission mechanism 142 may include at least one of the following: an eccentric wheel, a two-link, a crank, a belt, and the like.

Referring to Figures 3-6, a two-link transmission mechanism 142 is shown. The power unit 140 is provided with a rotating shaft 1400, and the rotating shaft 1400 is driven to rotate under the driving of the power unit 140. Specifically, in the illustrated embodiment, the power unit 140 is a rotating electrical machine, and the rotating shaft 1400 is a driving shaft of the rotating electrical machine.

The transmission mechanism 142 includes a first link 1420 coupled to the rotating shaft 1400 and a second link 1426 coupled to the shooting mechanism 12. The first link 1420 is movably coupled to the second link 1426.

The connection of the first link 1420 and the rotating shaft 1400 can be designed according to different requirements. For example, the first connecting rod 1420 and the rotating shaft 1400 can be connected by socketing, snapping, welding, bonding, screwing, and the like. Specifically, in the illustrated embodiment, the first link 1420 includes a mating portion 1421 that is coupled to the rotating shaft 1400. The engaging portion 1421 can be a sleeve, and the sleeve is sleeved on the rotating shaft 1400. It rotates with the rotation of the rotating shaft 1400.

The connection manner of the second link 1426 and the shooting mechanism 12 can be designed according to different requirements. For example, the second link 1426 and the shooting mechanism 12 can be sleeved, snapped, welded, bonded, and screwed. Connect by other means. Specifically in the illustrated embodiment, the second link 1426 is coupled to the firing mechanism 12 by a link mount 1424.

The manner in which the first link 1420 and the second link 1426 are movably connected can be designed according to different requirements. For example, the first link 1420 and the second link 1426 can be connected by a shaft, a hinge, a chute, a sleeve, and the like. . Specifically, in the illustrated embodiment, the first link 1420 is provided with a sliding slot 1422 extending along a radial direction of the rotating surface of the rotating shaft 1400. The second link 1426 is provided with a slider fixing portion 14260 for fixing the slider 1428. The sliding bar 1428 can pass through the sliding slot 1422 and slide in the sliding slot 1422.

When the power device 140 drives the rotating shaft 1400 to rotate, the rotation of the first link 1420 and the sliding slot 1422 thereon are rotated, thereby driving the sliding bar 1428 to slide in the sliding slot 1422, thereby changing The pitch angle of the ejection device 12. It can be understood that the illustrated slide bar 1428 and the structure of the chute 1422 can be interchanged, that is, the slide bar 1428 can be disposed on the first link 1420, and the chute 1422 can be disposed on the second link 1426.

It can be understood that the sliding bar 1426 and the second link 1426 can be integrally formed, or can be fixedly connected to the second link 1426. The manner of the first link 1420 and the rotating shaft 1400 is not limited to the above structure, as long as the first link 1420 can be rotated according to the rotation of the rotating shaft 1400, for example, For the hook or the buckle or the interference fit, and the like, the fitting portion of the first link 1421 is not sleeved on the rotating shaft 1400, and the two can be interchanged, that is, the rotating shaft 1400 is sleeved in the The first link 1421.

It can be understood that the driving device 14 can adopt other structures as long as the shooting mechanism 12 can perform the pitching motion. In one embodiment, the driving device 14 may be a linear motor having a driving rod driven in a vertical direction. The end of the driving rod is provided with a structure similar to the sliding rod 126, and the end of the shooting mechanism 12 is similar to the chute. The slide bar is slidably disposed in the chute.

In some embodiments, the drive device 14 can also employ other configurations, such as an eccentric or cam. As shown in FIG. 7, the drive unit 14 includes an eccentric wheel 143, and the power unit of the drive unit 14 drives the eccentric wheel 143 to rotate by an eccentric shaft 1430. The shooting mechanism 12 abuts the edge of the eccentric wheel 143, so that when the eccentric wheel 143 rotates, the end of the shooting mechanism 12 can be moved up and down to change the pitch angle of the shooting mechanism 12. As shown in FIG. 8, the drive unit 14 includes a cam 145, and the power unit of the drive unit 14 drives the cam 145 to rotate by a cam shaft 1450. The shooting mechanism 12 abuts the edge of the cam 145, so that when the cam 145 rotates, the end of the shooting mechanism 12 can be moved up and down to change the pitch angle of the shooting mechanism 12. In the embodiment shown in FIG. 7 and FIG. 8 , the end of the shooting mechanism 12 abuts the edge of the eccentric wheel 143 or the edge of the cam 145. It can be understood that the shooting mechanism 12 can also Connecting the eccentric wheel 143 or the cam 145 through another portion (eg, near its end, at a particular location between the center point and the end, etc.) such that the eccentric 143 or When the cam 145 rotates, the end of the shooting mechanism 12 can be moved up and down.

When the bullets in the magazine 120 become less and less, the support device 16 loses balance to the support of the shooting mechanism 12, at this time, since the driving device is disposed at the shooting mechanism 12 away from the support At the center of the device 16, i.e., at a distance from the center, the driving force required to be driven by the drive unit 14 is greatly reduced in accordance with the principle of leverage, thereby reducing the load on the drive unit 14.

It will be appreciated that the drive means 14 may be disposed at any suitable location other than the center of the support means, i.e., any position deviating from the center of the shot mechanism 12. According to the principle of the lever, the farther the distance of the driving device 14 from the center is, the larger the arm length of the driving force of the driving device 14 is, and the smaller the required force is, the smaller the torque is. The optimal setting position of the driving device 14 is close to or near the tail end of the shooting mechanism.

As previously mentioned, the turret 10 can be mounted to a carrier such as a tank or a pan/tilt. Referring to Figure 2, the turret 10 can be provided at its bottom with a mounting shaft 110 for mounting the turret to the carrier. In some embodiments, the turret 10 is rotatably mounted on the carrier such that left and right swings relative to the carrier are enabled to adjust the field of view of the firing mechanism 12. It will be appreciated that the turret 10 can be secured to the carrier by any suitable means of attachment. For example, the carrying device is provided with a driving motor and a driving shaft, and the bottom of the turret 10 has a fitting hole that cooperates with the driving shaft, and the driving shaft is disposed in the fitting hole so that the turret 10 is rotatably It is fixed on the carrying device.

Please refer to FIG. 9, which is an exemplary carrying device 1 for mounting the turret 10. In this embodiment, the carrying device 1 is a remote control robot. The remote-controlled robot 1 includes a carrier 20 for carrying the turret 10.

The carrier 20 includes a chassis 200, a guide wheel 202, a load bearing wheel 204, a drive wheel 206, a track 208, and a shock absorbing structure 210. The guide wheel 202 is used to guide the track 208 to properly rotate, preventing its deviation and deviance. The load bearing wheel 204 is rotated by the crawler belt 208 for supporting the weight of the entire carrier device 1. The driving wheel 206 is used to drive the crawler belt 208 to move to drive the carrying device 1 to move. The track 208 can be made of metal or nylon. The guide wheel 202, the load bearing wheel 204 and the drive wheel 206 may be inflatable rubber wheels.

The load bearing wheel 204 is coupled to the chassis 200 by a shock absorbing structure 210. In the existing shock absorbing structure design, a torsion spring is usually connected between the load bearing wheel and the chassis for damping. This design is usually inconvenient to install and takes up a lot of space.

10 and 11 illustrate a shock absorbing structure 210 in accordance with an embodiment of the present invention. The shock absorbing structure 210 includes a torsion bar 2100, a fixing base 2102, a rotating shaft 2104, and an elastic member 2106. One end of the torsion bar 2100 is pivotally connected to a pivot (not shown) of the load bearing wheel 204, and the other end is connected to the fixing base 2102 via a rotating shaft 2104. The chassis 200 includes a side panel 2001 and a bottom panel 2002. The fixing base 2102 includes a fixed bottom plate 21020 and a first fixed side wall 21022 and a second fixed side wall 21024 which are oppositely disposed at opposite ends of the fixed bottom plate 21020. The fixing bottom plate 21020 is provided with a fixing hole 21021 for fixing on the bottom plate 2002 by a fixing device such as a screw. The torsion bar 2100 is disposed outside the side plate 2001, and the fixing base 2102 is fixed inside the side plate 2001. The first fixed side wall 21022 is provided with a pivot hole 21023. One end of the rotating shaft 2104 passes through the pivot hole 21023 in sequence, and the side plate 2001 is fixedly connected to one end of the torsion bar 2100, and the other end is The elastic members 2106 are rotatably connected. One end of the elastic member 2106 away from the rotating shaft 2104 is rotatably connected to the second side wall 21024.

In order to avoid damage to the torsion bar 2100 or damage to the car body, a limiter 212 is added within the range of motion of the torsion bar 2100 to avoid excessive rotation of the torsion bar 2100 or the vehicle body to sit on the ground. As shown in FIG. 8, the stopper 212 is disposed on one side of the torsion bar 2100 for limiting the stroke range of the torsion bar 2100.

When the load bearing wheel 204 is subjected to an upward force due to poor road conditions or other reasons, the torsion bar 2100 converts the upward force into a rotational force transmitted to the rotating shaft 2104 and the elastic member 2106, and the rotating shaft 2104 follows The rotation of the torsion bar 2100 is rotated, and the force of the rotational force reaching the bottom plate 2002 of the fixing seat 2012 and the chassis 200 is relieved by the elastic member 2106, thereby achieving the purpose of damping. Since the shock absorbing structure 210 achieves the shock absorbing purpose only by the torsion bar 2100 and the short-size elastic member 2106, the shock absorbing structure 210 is greatly simplified, the size of the shock absorbing structure 210 is reduced, and the installation is convenient.

In this embodiment, the elastic member 2106 is a stretchable elastic member, such as a tension spring, and the elastic member 2106 can relieve the impact force of the load bearing wheel by the elastic force accumulated by the torsional deformation, thereby achieving shock absorption. purpose. It can be understood that the elastic member 2106 can also be replaced by any other suitable elastic member as long as the vibration force reaching the fixing seat 2012 and the bottom plate 2002, such as a torsion spring, a leaf spring, etc., can be alleviated. It can be understood that, since the torsion bar 2100 converts the upward shock force into the rotational force transmitted to the rotating shaft 2104, the rotation of the rotating shaft dissolves part of the force, and therefore, the force required to be received by the elastic member is greatly weakened. The deformation force that the elastic member is required to bear is also greatly weakened, so that it can be designed to have a small size.

It can be understood that the fixing base 2102 can be omitted, and the elastic member 2106 is directly fixed on the bottom plate 2002 of the chassis 200.

In addition, those skilled in the art can make various other changes and modifications in accordance with the technical concept of the present invention, and all such changes and modifications are within the scope of the claims of the present invention.

Claims (21)

1.  a turret comprising a turret body, a shooting mechanism and a driving device, wherein the turret further comprises a support shaft disposed at a center of the shooting mechanism, and the end of the shooting mechanism is capable of pitching movement around the support shaft, The driving device is disposed at a position away from the center of gravity of the shooting mechanism for driving the shooting mechanism to perform a pitching motion.
2.  The turret according to claim 1, wherein said shooting mechanism comprises a magazine, an ejection device and a barrel, said magazine being used for mounting a bullet, said ejection device being for use in said magazine The bullet is ejected through the barrel.
3.  The turret of claim 2 wherein said barrel extends from said turret body to the outside of said turret body.
4.  The turret according to claim 1, wherein said support shaft is fixed inside said turret body.
5.  A turret according to claim 1, wherein said driving means comprises a power unit and a transmission mechanism, said power unit driving said shooting mechanism to perform a pitching motion by said transmission mechanism.
6.  The turret according to claim 5, wherein said transmission mechanism comprises at least one of the following: an eccentric wheel, a two-link, a crank, and a transmission belt.
7.  A turret according to claim 5, wherein said power unit comprises at least one of: a rotating electrical machine, a linear motor, a rotary cylinder, and a telescopic cylinder.
8.  The turret according to claim 5, wherein said transmission mechanism comprises two links, wherein one of the links is provided with a sliding groove extending radially thereof, and the other of the links is provided with a sliding bar, said sliding bar It is possible to slide in the chute to adjust the pitch angle of the shooting mechanism.
9.  The turret according to claim 5, wherein said transmission device adopts an eccentric wheel structure, said power device drives said eccentric wheel to rotate by an eccentric shaft, and said shooting mechanism is coupled to a periphery of said eccentric wheel. The rotation of the eccentric can drive the end of the shooting mechanism to move up and down.
10.  The turret according to claim 5, wherein said transmission means employs an edge-graded cam, said shooting mechanism being coupled to a periphery of said cam, said height of said cam being capable of driving an end of said shooting mechanism move up and down.
11.  A turret according to claim 1 wherein said drive means is disposed at or near the end of said ejection device.
12.  The turret according to claim 1, wherein the bottom of the turret body is provided with a yaw rotation shaft, so that the turret is rotatably assembled to a carrying device for movement in the heading direction.
13.  A remote control robot comprising a carrier and a turret disposed on the carrier, the turret being the turret according to any one of claims 1 to 12.
14.  The remote control robot of claim 13 wherein said carrier is a tracked chassis or a wheeled chassis.
15.  The remote control robot according to claim 13, wherein said carrier is provided with a drive motor capable of driving said turret to rotate relative to said carrier to change a viewing angle of said shooting mechanism.
16.  A remote control robot according to claim 13, wherein said carrier includes a chassis, a crawler belt, a load bearing wheel and a shock absorbing structure, and said load bearing wheel is coupled to said chassis through said shock absorbing structure.
17.  The remote control robot according to claim 16, wherein the shock absorbing structure comprises a torsion bar, a fixing base, a rotating shaft and an elastic member, and one end of the torsion bar is rotatably connected to the bearing wheel, and the other end of the torsion bar One end of the rotating shaft is fixedly connected, and the other end of the rotating shaft is connected to one end of the elastic member, and the other end of the elastic member is fixed on the fixing base.
18.  A remote control robot according to claim 17, wherein said chassis includes a bottom plate and a side plate, said fixing seat being fixed to said bottom plate, said rotating shaft passing through said side plate and being movable relative to said side plate Turn.
19.  The remote control robot according to claim 18, wherein the torsion bar and the fixing base are respectively disposed on two sides of the side plate.
20.  A remote control robot according to claim 17, wherein said chassis is provided with a stopper for restricting the stroke of said torsion bar.
21. The remote control robot according to claim 17, wherein said elastic member is a tensile elastic member.

Images