WO2018205381A1 - 供弹机构、供弹装置及机器人比赛场地 - Google Patents

供弹机构、供弹装置及机器人比赛场地 Download PDF

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Publication number
WO2018205381A1
WO2018205381A1 PCT/CN2017/090982 CN2017090982W WO2018205381A1 WO 2018205381 A1 WO2018205381 A1 WO 2018205381A1 CN 2017090982 W CN2017090982 W CN 2017090982W WO 2018205381 A1 WO2018205381 A1 WO 2018205381A1
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WIPO (PCT)
Prior art keywords
magazine
bullet
projectile
tube
mechanism according
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
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PCT/CN2017/090982
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English (en)
French (fr)
Inventor
何东流
包玉奇
任冠男
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201780065021.3A priority Critical patent/CN109843398A/zh
Publication of WO2018205381A1 publication Critical patent/WO2018205381A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F9/00—Games not otherwise provided for
    • A63F9/02—Shooting or hurling games
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the invention relates to the field of robot technology, in particular to a supply mechanism, a supply device and a robot competition venue.
  • the robots are equipped with launching devices.
  • the robot's launching device is supplied by a specially equipped feeding mechanism. Whether the robot's launching device can obtain sufficient ammunition supply during the game is to win the game. An important factor.
  • the projectile usually falls into the launching device of the robot automatically by the action of its own gravity, but due to the large number of projectiles, the projectile will appear overhead (that is, the void between the projectile and the projectile will not form normally. In the case of falling or card bombs (that is, the motor is blocked and cannot be rotated), the robot's launching device cannot be normally supplied, which affects the robot's performance.
  • the invention provides a supply mechanism, a supply device and a robot competition venue.
  • a supply mechanism comprising:
  • a bounce structure connected to the magazine, the bounce structure comprising a pivotable axis Rotating dial;
  • the bounce structure connected to the bounce structure, the bounce structure comprising a projectile passage through which the projectile is dialed into the projectile passage;
  • a leak-proof structure is disposed in the magazine, and the position of the projectile in the magazine is changed by the bullet structure to cause the projectile to fall into the play structure.
  • the dial includes a plurality of toggle shafts, and the toggle sleeve is provided with a bearing member.
  • a motor module connected to the plucking structure is further included, and the motor module drives the dial to rotate about the rotating shaft.
  • the shot-out passage includes a first shot-out passage and a second shot-out passage, wherein the first shot-out passage is disposed corresponding to the pull-out structure, and the length of the first shot-out passage is greater than that of the projectile diameter.
  • the shot structure further includes a bullet pipe, and the shot passage includes a shot port, and the bullet tube is in communication with the shot port.
  • a first detecting module is configured to detect the number of shots, and the first detecting module is disposed on the shot path.
  • the leakage structure includes a toggle shaft tube disposed in the magazine, and the toggle shaft is rotatable about the rotation shaft.
  • the outer peripheral surface of the toggle shaft tube is provided with a plurality of dial members along the longitudinal direction of the toggle shaft tube.
  • the rotating shaft is provided with a connecting portion, and the connecting portion is provided with a quick release interface, and the toggle shaft tube is provided with a quick release connecting member adapted to the quick release interface.
  • the magazine includes a magazine storage rack for storing projectiles and a leak magazine connected to the bottom of the magazine, the magazine is separated from the magazine, and the bullet structure is set In the leakage magazine;
  • the leakage structure comprises a leakage tube disposed in the magazine, and a driving device for driving the leakage tube to move in a vertical direction, the leakage tube A leak port is provided at the top, and a bottom of the leak tube is in communication with the leak magazine.
  • the drive device includes a motor and a lead screw assembly, and the motor drives the leak tube through the lead screw assembly.
  • a second detecting module for detecting the projectile is further included; when the second detecting module detects that the projectile is falling, the sensing signal is sent to the driving device, and the driving device stops driving the leakage tube downward. mobile.
  • a supply device comprising at least two sets of supply mechanisms as described above.
  • the at least two sets of supply mechanisms include a set of main supply mechanisms, and the remaining supply mechanisms are auxiliary supply mechanisms;
  • the supply device further includes a control module and a third detection module; The module detects that the main feeding mechanism is faulty, and sends a sensing signal to the control module; the control module drives and controls the auxiliary feeding mechanism to start.
  • a robot playing field comprising a racing robot and a feeding mechanism as described above, by which the playing robot is supplied with a bomb.
  • the projectile is changed in the magazine by the leakage structure
  • the feeding device of the invention comprises a plurality of sets of feeding mechanisms, which can provide more projectiles for the racing robot in a shorter time and improve the supply efficiency of the racing robot.
  • the robot game field of the present invention supplies the game robot with the bombing mechanism, and does not affect the supply of the game robot due to the overhead phenomenon of the projectile, and can ensure the continuity of the supply of the game robot.
  • FIG. 1 is a perspective view of a supply mechanism according to an embodiment of the present invention.
  • FIG. 2 is a perspective view of the cartridge mechanism after removing the magazine according to an embodiment of the invention.
  • FIG 3 is a schematic plan view of a supply mechanism according to an embodiment of the present invention.
  • FIG. 4 is a plan view showing a state in which the elastic supply mechanism removes the magazine after the embodiment of the present invention.
  • FIG. 5 is an enlarged schematic view showing a bounce structure and a projectile structure of a supply mechanism according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural view of a projectile passage of a supply mechanism according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural view of a toggle shaft tube of a supply mechanism according to an embodiment of the invention.
  • FIG. 8 is a schematic plan view showing another type of supply mechanism according to an embodiment of the present invention.
  • FIG. 9 is a perspective view of a supply device according to an embodiment of the invention.
  • an embodiment of the present invention provides a supply mechanism 1 that can be applied to a robot for shooting in a robot shooting competition.
  • the supply mechanism 1 includes a magazine 10, a bounce structure 20, a projectile structure 30, and a bullet structure 50.
  • the magazine 10 includes a receiving cavity 100.
  • the receiving cavity 100 is configured to store a projectile 90.
  • the bottom of the receiving cavity 100 is provided with a funnel portion 101.
  • the funnel portion 101 is provided with an opening for the projectile. 90 falls out of the magazine 10.
  • the plucking structure 20 is connected to the opening of the receiving cavity 100 of the magazine 10, and the plucking structure 20 includes a dial 210 rotatable about a rotating shaft 200, through which the projectile 90 is dialed To the shot structure 30.
  • the projecting structure 30 is connected to the plucking structure 20, and the ejector structure 30 includes a blasting channel 300.
  • One end of the blasting channel 300 is connected to the plucking structure 20, and the blasting channel 300 is connected.
  • the other end is connected to the game robot, and the projectile 90 is dialed into the shot passage 300 through the dial 210 to supply the game robot.
  • the bullet structure 50 is disposed in the magazine 10, and the position of the projectile 90 in the magazine 10 is changed by the bullet structure 50, so that the projectile 90 falls into the bullet structure. Within 20, avoid the formation of voids between the projectiles 90 and the inability to fall.
  • the magazine 10 has a rectangular parallelepiped structure, and the lower portion of the magazine 10 is supported by four support legs 102.
  • the bullet-feeding mechanism 1 of the present invention changes the position of the projectile 90 in the magazine 10 through the bullet-proof structure 50, so that the projectile 90 in the magazine 10 is in a moving state, so that The projectile 90 can smoothly fall into the plucking structure 20 from the opening of the accommodating cavity 100 of the magazine 10, thereby preventing voids from being formed between each other due to the excessive number of the projectiles 90, thereby preventing the projectiles 90 from being caught in the magazine 10.
  • the opening of the receiving cavity 100 does not fall.
  • the plucking structure 20 further includes a receiving portion 213 that communicates with the receiving cavity 100 of the magazine 10 .
  • the bottom of the receiving portion 213 is provided with the shooting channel 300 .
  • the dial 210 of the plucking structure 20 is disposed in the accommodating portion 213, and the dial 210 includes a plurality of plucking shafts 211, and between the two adjacent plucking shafts 211 is formed for accommodating the projectiles
  • the accommodation space of 90 is 214.
  • the projectile 90 first falls into the accommodating portion 213 of the plucking structure 20 from the opening of the accommodating cavity 100 of the magazine 10, and then falls into the respective accommodating spaces 214 of the accommodating portion 214, respectively, and with the rotation of the dial 210,
  • the dial shaft 211 pulls the projectile 90 in the receiving space 214 into the ballistic opening, thereby causing the projectile 90 to enter the projectile structure 30.
  • the plurality of dial shafts 211 are evenly arranged on the dial 210 along the circumference.
  • the toggle shaft 211 is sleeved with a bearing member 212, which can reduce the frictional force of the dial shaft 211 and the projectile 90, so that the dial shaft 211 can smoothly slide the projectile 90, thereby effectively preventing the jam.
  • the bearing member 212 is sleeved at an end of the toggle shaft 211, so that the toggle shaft 211 can contact the projectile 90 through the bearing member 212, and the contact between the toggle shaft 211 and the projectile 90 is reduced. Friction.
  • the feeding mechanism 1 further includes The motor module 40 is connected to the dial 210 of the bouncing structure 20, and the motor module 40 drives the dial 210 to rotate about the rotating shaft 200.
  • the motor module 40 is detachably connected to the plucking structure 20 for convenient maintenance and replacement.
  • the ejection channel 300 of the projectile structure 30 includes a first ejection channel 310 and a second ejection channel 320 , and the first ejection channel 310 corresponds to The falling port of the receiving portion 213 of the playing structure 20 is disposed, and the length of the first projecting channel 310 is greater than the diameter of the projectile 90, that is, the first projecting channel 310 of the projectile channel 300 is Lengthening the treatment can increase the time the projectile 90 falls and prevent the projectile 90 card.
  • the first shot channel 310 and the second shot channel 320 are obliquely connected, and the tilt angle ranges from 90° to 120°, preferably 100°.
  • the supply mechanism 1 includes a magazine 10 , a plucking structure 20 , a projecting structure 30 , and a bullet structure 50 .
  • the projectile structure 30 further includes The bullet tube 330 is connected to the game robot.
  • the shot channel 300 includes a shot port 301, and the bullet tube 330 is in communication with the shot port 301.
  • the projectile 90 is transported to the game robot through the bullet tube 330 to supply the game robot.
  • the bullet tube 330 is inclined downward with respect to the horizontal surface and the curve is smooth, and the inclination angle is the same as the inclination angle between the first shot passage 310 and the second shot passage 320, which is favorable for the drop of the projectile 90.
  • the feeding mechanism 1 further includes a first detecting module 60 for detecting the number of shots.
  • the first detecting module 60 is disposed on the shooting channel 300, and the first detecting module 60 can detect the feeding.
  • the number of shots of the organization 1 ensures that the number of shots added by each of the game robots through the supply mechanism 1 is the same, ensuring the fairness of the game.
  • the first detecting module 60 can also be disposed on the bullet tube 330, as shown in FIG.
  • the first detecting module 60 can adopt a photoelectric sensor. Whenever one projectile passes through the bullet tube 330, the photoelectric sensor counts once to ensure the accuracy of counting.
  • the leakage structure 50 includes a toggle shaft tube 510 disposed in the receiving cavity 100 of the magazine 10, and the toggle shaft tube 510 is wound around
  • the rotating shaft 200 is rotatable so that the projectile 90 in the magazine 10 is in a moving state, so that the projectile 90 can smoothly fall from the opening of the receiving cavity 100 of the magazine 10 into the playing structure 20, thereby preventing the projectile 90 from being
  • the number is too large to form a void between each other, and it is prevented that the projectile 90 is stuck in the opening of the housing chamber 100 of the magazine 10 and cannot fall.
  • the toggle shaft tube 510 is rotated, a part of the projectile 90 can also be rotated together.
  • the toggle shaft tube 510 can repeatedly agitate the projectile 90 to prevent the projectile 90 from being overhead and unable to fall.
  • the toggle shaft tube 510 has a cylindrical structure, and the surface of the toggle shaft tube 510 is a smooth surface, which can reduce the friction between the toggle shaft tube 510 and the projectile 90.
  • the rotating shaft 200 is provided with a connecting portion 201.
  • the connecting portion 201 is provided with a quick release interface 202, and the toggle shaft tube 510 is provided with the quick release interface 202.
  • quick release connector With quick release connector.
  • the toggle shaft tube 510 is inserted into the quick release interface 202 through the quick release connector, thereby being detachably coupled to the rotating shaft 200 and rotatable together with the rotating shaft 200.
  • the outer peripheral surface of the toggle shaft tube 510 is provided with a plurality of dial members 511 along the length direction of the toggle shaft tube 510, and the dial member 511 can increase the toggle shaft tube 510 and the projectile.
  • the contact area of 90 can effectively reduce the probability of forming voids between the shots 90.
  • the projectile 90 in the receiving cavity 100 of the magazine 10 is continuously stirred by the toggle shaft tube 510, and the projectile 90 is rotated about the axial direction of the rotating shaft 200, so that the projectile in the magazine 10 is caused.
  • the 90 is in a moving state, so that the projectile 90 can smoothly fall into the plucking structure 20 from the opening of the accommodating cavity 100 of the magazine 10, thereby preventing voids from being formed between each other due to the excessive number of the projectiles 90, and avoiding the projectile 90. It is caught in the opening of the housing chamber 100 of the magazine 10 and cannot fall.
  • the projectile 90 falls from the opening of the receiving cavity 100 of the magazine 10 into the receiving portion 213 of the latching structure 20, and then falls into the respective receiving spaces 214 of the receiving portion 214, respectively, and with the rotation of the dial 210,
  • the dial shaft 211 pulls the projectile 90 in the receiving space 214 into the ballistic opening, thereby causing the projectile 90 to enter the projectile structure 30.
  • the projectile 90 then enters the bullet tube 330 through the exit passage 300 of the projectile structure 30, and the projectile 90 is transported to the racing robot by the bullet tube 330, while the first detecting module 60 pairs the projectile 90 passing through the bullet tube 330.
  • the quantity is counted to form a complete supply system.
  • the supply mechanism 1 includes a magazine 10, a bounce structure 20, a projectile structure 30, and a bullet structure 50.
  • the magazine 10 includes a magazine 110 for storing the projectile 90 and a magazine 12 connected to the magazine 110, the magazine 102 is spaced apart from the magazine 110, The bounce structure 20 is disposed in the leak magazine 120.
  • the leakage structure 50 includes a bullet tube 520 disposed in the magazine 110 and a driving device 530 for driving the barrel 520 to move in a vertical direction. The top of the barrel 520 is provided. There is a leakage port, and the bottom of the leakage tube 520 is in communication with the leakage magazine 120.
  • the projectile 90 located above the leakage port of the bullet tube 520 can leak into the leak tube 520 from the leak port and then fall into the bounce structure 20 disposed in the leak box 120 through the bullet tube 520.
  • the bullet tube 520 moves downward in the vertical direction, so that the projectile 90 located above the leakage port of the leak tube 520 can be in a moving state, so that the part of the projectile located above the leak port of the leak tube 520
  • the 90 can fall into the bullet tube 520 to fall into the plucking structure 20, thereby preventing the occurrence of voids between the two due to the excessive number of the shots 90.
  • the position of the projectile 90 in the magazine 102 that is in contact with the lost barrel 520 changes correspondingly due to the movement of the leak tube 520, and can also be changed.
  • the position of the projectile 90 prevents the projectile 90 from being overhead and cannot fall.
  • the driving device 530 includes a motor and a lead screw assembly, and the motor drives the bullet tube 520 to move in a vertical direction by the lead screw assembly.
  • the driving device 530 is not limited thereto.
  • the driving device 530 may also include a motor and a lifting and lowering rod structure. The lifting and lowering of the lifting and lowering rod by the motor drives the leakage tube 520 to move up and down in the vertical direction.
  • the feeding mechanism 1 further includes a second detecting module for detecting the projectile 90.
  • the sensing device sends a sensing to the driving device 530.
  • the driving device 530 stops driving the bullet tube 520 to move downward.
  • the signal of the second detecting module disappears, no shot is detected to fall from the bullet tube 520, the driving device 530 continues to drive the bullet tube 520 to move downward, and the projectile 90 continues to fall from the leak tube 520.
  • the cycle is reciprocated, thereby ensuring that the projectile 90 can continuously fall into the plucking structure 20, effectively solving the problem due to the excessive number of projectiles.
  • the resulting overhead problem ensures the stability of the bombing mechanism 1.
  • the second detecting module can adopt a photoelectric sensor.
  • the supply mechanism 1 includes a magazine 10, a bounce structure 20, a projectile structure 30, and a bullet structure 50.
  • the leakage structure 50 includes a vibrator disposed in the receiving cavity 100 of the magazine 10, and the vibrating action of the vibrator drives the projectile 90 to vibrate up and down, so that the projectile 90 in the magazine 10 is in motion, so that the projectile is made.
  • 90 can smoothly fall into the play structure 20 from the opening of the receiving cavity 100 of the magazine 10, thereby preventing voids from being formed between each other due to the excessive number of the projectiles 90, thereby preventing the projectile 90 from being caught in the magazine 10
  • the opening of the cavity 100 does not fall.
  • an embodiment of the present invention further provides a supply device 2 comprising at least two sets of supply mechanisms 1 as described above. It should be noted that the description of the supply mechanism 1 in the above embodiments and examples is equally applicable to the supply device 2 of the present invention.
  • the feeding device 2 of the present invention includes a plurality of sets of the feeding mechanism 1, which can provide more projectiles for the racing robot in a shorter time, and improves the feeding efficiency of the racing robot.
  • the at least two sets of supply mechanisms 1 include a set of main supply mechanisms, and the remaining supply mechanisms 1 are sub-supplied mechanisms.
  • the feeding device 2 further includes a control module and a third detecting module.
  • the auxiliary feeding mechanism can be in a non-working state.
  • the third detecting module detects that the main feeding mechanism is faulty, sending a sensing signal to the control module, and the control module drives the control sub-supply.
  • the bomb mechanism is activated. In this way, the supply of the game robot will not be interrupted due to the failure of the main supply mechanism, and the sustainability of the shot can be guaranteed.
  • An embodiment of the present invention further provides a robot playing field, including a playing robot and a feeding mechanism 1 as described above, through which the feeding robot 1 supplies the playing robot. It should be noted that the descriptions of the above-described elastic feeding mechanism 1 in the above embodiments and examples are equally applicable to the robot playing field of the present invention.
  • the robot game field of the present invention supplies the game robot with the bombing mechanism 1 without affecting the supply of the game robot due to the overhead phenomenon of the projectile, and can ensure the continuity of the supply to the game robot.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
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Abstract

一种供弹机构、供弹装置及机器人比赛场地。供弹机构（1）包括：弹仓（10），弹仓（10）内用于存储弹丸（90）；拨弹结构（20），与弹仓（10）连接，拨弹结构（20）包括可绕一转动轴（200）转动的拨盘（210）；出弹结构（30），与拨弹结构（20）连接，出弹结构（30）包括出弹通道（300），通过拨盘（210）将弹丸（90）拨入出弹通道（300），通过拨盘（210）将弹丸（90）拨入出弹通道（300）内；漏弹结构（50），设置于弹仓（10）内，通过漏弹结构（50）改变弹丸（90）在弹仓（10）内的位置，以使得弹丸（90）落入拨弹结构（20）内。具有该供弹机构的供弹装置以及通过该供弹机构向比赛机器人供弹的机器人比赛场地。通过该供弹机构向比赛机器人供弹，不会因为弹丸出现架空现象而影响对比赛机器人供弹，可以保证向比赛机器人供弹的持续性。

Description

供弹机构、供弹装置及机器人比赛场地 技术领域
本发明涉及机器人技术领域，特别涉及一种供弹机构、供弹装置及机器人比赛场地。
背景技术
在机器人射击比赛中，机器人都装备有发射装置，比赛中通过专门配备的供弹机构对机器人的发射装置进行供弹，在比赛过程中机器人的发射装置能否得到充足的弹药补给是赢得比赛的一个重要因素。
目前比赛中采用的供弹机构，弹丸通常是通过自身重力的作用自动落到机器人的发射装置内，但是由于弹丸的数量较大，弹丸会出现架空(即弹丸与弹丸之间形成空洞而无法正常掉落)或卡弹(即电机堵住而无法转动)等状况，不能正常对机器人的发射装置进行供弹，从而影响到机器人的比赛成绩。
发明内容
本发明提供一种供弹机构、供弹装置及机器人比赛场地。
根据本发明的第一方面，提供一种供弹机构，包括：
弹仓，所述弹仓内用于存储弹丸；
拨弹结构，与所述弹仓连接，所述拨弹结构包括可绕一转动轴 转动的拨盘；
出弹结构，与所述拨弹结构连接，所述出弹结构包括出弹通道，通过所述拨盘将所述弹丸拨入所述出弹通道内；
漏弹结构，设置于所述弹仓内，通过所述漏弹结构改变所述弹丸在所述弹仓内的位置，以使得所述弹丸落入所述拨弹结构内。
进一步地，所述拨盘包括多个拨动轴，所述拨动轴套设有轴承件。
进一步地，还包括与所述拨弹结构连接的电机模块，所述电机模块驱动所述拨盘绕所述转动轴转动。
进一步地，所述出弹通道包括第一出弹通道和第二出弹通道，所述第一出弹通道对应所述拨弹结构设置，所述第一出弹通道的长度大于所述弹丸的直径。
进一步地，所述出弹结构还包括输弹管，所述出弹通道包括出弹口，所述输弹管与所述出弹口连通。
进一步地，还包括用以检测出弹数量的第一检测模块，所述第一检测模块设置于所述出弹通道上。
进一步地，所述漏弹结构包括设置于所述弹仓内的拨动轴管，所述拨动轴管绕所述转动轴可转动。
进一步地，所述拨动轴管的外周面沿所述拨动轴管的长度方向设有多个拨动件。
进一步地，所述转动轴上设有连接部，所述连接部上设有快拆接口，所述拨动轴管上设有与所述快拆接口相适配的快拆连接件。
进一步地，所述弹仓包括用于存储弹丸的储弹仓和连接于所述储弹仓下方的漏弹仓，所述漏弹仓与所述储弹仓分隔设置，所述拨弹结构设置于所述漏弹仓内；所述漏弹结构包括设置于所述储弹仓内的漏弹管以及用于驱动所述漏弹管沿竖直方向移动的驱动装置，所述漏弹管的顶部设有漏弹口，所述漏弹管的底部与所述漏弹仓连通。
进一步地，所述驱动装置包括电机以及丝杠组件，所述电机通过所述丝杠组件驱动所述漏弹管。
进一步地，还包括用于检测弹丸的第二检测模块；所述第二检测模块检测到有弹丸落下时，向所述驱动装置发送感应信号，所述驱动装置停止驱动所述漏弹管向下移动。
根据本发明的第二方面，提供一种供弹装置，包括至少两套如上所述的供弹机构。
进一步地，所述至少两套供弹机构中包括一套主供弹机构，其余供弹机构为副供弹机构；所述供弹装置还包括控制模块和第三检测模块；所述第三检测模块检测到所述主供弹机构出现故障，向所述控制模块发送感应信号；所述控制模块驱动控制所述副供弹机构启动。
根据本发明的第三方面，提供一种机器人比赛场地，包括比赛机器人和如上所述的供弹机构，通过所述供弹机构向所述比赛机器人供弹。
本发明的供弹机构，通过所述漏弹结构改变所述弹丸在所述弹仓 内的位置，以使得弹仓内的弹丸处于运动状态，使弹丸能够顺利从弹仓落入所述拨弹结构内，从而防止由于弹丸的数量过多而在相互之间形成空洞，避免弹丸卡弹而无法下落的情况发生。
本发明的供弹装置，包括多套供弹机构，可以在更短的时间内为比赛机器人提供更多的弹丸，提高了对比赛机器人的供弹效率。
本发明的机器人比赛场地，通过所述供弹机构向比赛机器人供弹，不会因为弹丸出现架空现象而影响对比赛机器人供弹，可以保证向比赛机器人供弹的持续性。
附图说明
图1是本发明实施例示出的一种供弹机构的立体示意图。
图2是本发明实施例示出的一种供弹机构去除弹仓后的立体示意图。
图3是本发明实施例示出的一种供弹机构的平面示意图。
图4是本发明实施例示出的一种供弹机构去除弹仓后的平面示意图。
图5是本发明实施例示出的一种供弹机构的拨弹结构与出弹结构的放大示意图。
图6是本发明实施例示出的一种供弹机构的出弹通道的结构示意图。
图7是本发明实施例示出的一种供弹机构的拨动轴管的结构示意图。
图8是本发明实施例示出的另一种供弹机构的平面示意图。
图9是本发明实施例示出的一种供弹装置的立体示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
在本发明使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
本申请说明书以及权利要求书中使用的“第一”“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。同样，“一个”或者“一”等类似词语也不表示数量限制，而是表示存在至少一个。除非另行指出，“前部”、“后部”、“下部”和/或“上部”等类似词语只是为了便于说明，而并非限于一个位置或者一种空间定向。“包括”或者“包含”等类似词语意指出现在“包括”或者“包含”前面的元件或者物件涵盖出现在“包括”或者“包含”后面列举的元件或者物件及其等同，并不排除其他元件 或者物件。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而且可以包括电性的连接，不管是直接的还是间接的。
下面结合附图，对本发明的供弹机构、供弹装置及机器人比赛场地进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
参见图1至图4所示，本发明实施例提供一种供弹机构1，可以应用在机器人射击比赛中为比赛机器人进行供弹。所述供弹机构1包括弹仓10、拨弹结构20、出弹结构30以及漏弹结构50。其中，所述弹仓10包括收容腔100，所述收容腔100内用于存储弹丸90，所述收容腔100的底部设有漏斗部101，所述漏斗部101内设有开口，以供弹丸90落出所述弹仓10。所述拨弹结构20与所述弹仓10的收容腔100的开口连接，并且所述拨弹结构20包括可绕一转动轴200转动的拨盘210，通过所述拨盘210将弹丸90拨向所述出弹结构30。所述出弹结构30与所述拨弹结构20连接，所述出弹结构30包括出弹通道300，所述出弹通道300的一端与所述拨弹结构20连接，所述出弹通道300的另一端与比赛机器人连接，通过所述拨盘210将所述弹丸90拨入所述出弹通道300内，进而为比赛机器人进行供弹。所述漏弹结构50设置于所述弹仓10内，通过所述漏弹结构50改变所述弹丸90在所述弹仓10内的位置，以使得所述弹丸90落入所述拨弹结构20内，避免弹丸90之间形成空洞而无法下落的情况。在本实施例中，所述弹仓10为长方体结构，所述弹仓10的下方通过四个支持腿102支撑。
由上述实施例可知，本发明的供弹机构1，通过所述漏弹结构50改变所述弹丸90在所述弹仓10内的位置，以使得弹仓10内的弹丸90处于运动状态，使弹丸90能够顺利从弹仓10的收容腔100的开口落入所述拨弹结构20内，从而防止由于弹丸90的数量过多而在相互之间形成空洞，避免弹丸90卡在弹仓10的收容腔100的开口处而无法下落的情况发生。
参见图5所示，在一实施方式中，所述拨弹结构20还包括与所述弹仓10的收容腔100连通的收容部213，收容部213的底部设有与所述出弹通道300连通的落弹口。所述拨弹结构20的拨盘210设置于所述收容部213内，并且所述拨盘210包括多个拨动轴211，相邻两个拨动轴211之间形成有用于容纳所述弹丸90的容纳空间214。弹丸90先从弹仓10的收容腔100的开口落入拨弹结构20的收容部213内，然后再分别落入收容部214的各个容纳空间214内，随着拨盘210的转动，再由拨动轴211将容纳空间214内的弹丸90拨入落弹口，从而使弹丸90进入出弹结构30内。可选地，多个拨动轴211沿圆周均匀布置在拨盘210上。
进一步地，所述拨动轴211套设有轴承件212，能够减小拨动轴211和弹丸90的摩擦力，使拨动轴211能够顺滑地将弹丸90拨出，有效防止卡弹。可选地，所述轴承件212套设在所述拨动轴211的端部，使拨动轴211可以通过轴承件212与弹丸90相接触，减小拨动轴211和弹丸90接触时的摩擦力。
参见图5所示，在一实施方式中，所述供弹机构1还包括与所述 拨弹结构20的拨盘210连接的电机模块40，所述电机模块40驱动所述拨盘210绕所述转动轴200转动。可选地，电机模块40与拨弹结构20可拆卸连接，方便维修更换。
参见图5和图6所示，在一实施方式中，所述出弹结构30的出弹通道300包括第一出弹通道310和第二出弹通道320，所述第一出弹通道310对应所述拨弹结构20的收容部213的落弹口设置，并且所述第一出弹通道310的长度大于所述弹丸90的直径，即对出弹通道300的第一出弹通道310做了加长处理，可以增加弹丸90下落的时间，防止弹丸90卡壳。可选地，第一出弹通道310和第二出弹通道320之间倾斜连接，倾斜角的范围在90°～120°之间，优选为100°。
配合参见图1至图6所示，在一实施方式中，所述供弹机构1包括弹仓10、拨弹结构20、出弹结构30以及漏弹结构50，所述出弹结构30还包括输弹管330，输弹管330与比赛机器人连接，所述出弹通道300包括出弹口301，所述输弹管330与所述出弹口301连通。通过输弹管330将弹丸90输送给比赛机器人进而对比赛机器人进行供弹。可选地，输弹管330相对水平面向下倾斜设置并且曲线顺滑，倾斜角度与第一出弹通道310和第二出弹通道320之间的倾斜角度相同，有利于弹丸90下落。
进一步地，所述供弹机构1还包括用以检测出弹数量的第一检测模块60，所述第一检测模块60设置于所述出弹通道300上，第一检测模块60可以检测供弹机构1的出弹数量，保证比赛中每个比赛机器人通过供弹机构1所补充的弹丸数量相同，保证比赛的公正性。可 选地，第一检测模块60也可以设在输弹管330上，如图1所示。第一检测模块60可以采用光电传感器，每当有一个弹丸通过输弹管330，光电传感器则计数一次，保证计数的准确性。
参见图2和图4所示，在一实施方式中，所述漏弹结构50包括设置于所述弹仓10的收容腔100内的拨动轴管510，所述拨动轴管510绕所述转动轴200可转动，以使得弹仓10内的弹丸90处于运动状态，使弹丸90能够顺利从弹仓10的收容腔100的开口落入所述拨弹结构20内，从而防止由于弹丸90的数量过多而在相互之间形成空洞，避免弹丸90卡在弹仓10的收容腔100的开口处而无法下落的情况发生。另外，拨动轴管510转动时也可以带动一部分弹丸90一同转动，所述拨动轴管510可以起到重复搅动弹丸90的作用，防止弹丸90架空而无法下落。在本实施例中，所述拨动轴管510为圆柱体结构，并且所述拨动轴管510的表面为光滑表面，可以减小拨动轴管510与弹丸90之间的摩擦力。
参见图5所示，所述转动轴200上设有连接部201，所述连接部201上设有快拆接口202，所述拨动轴管510上设有与所述快拆接口202相适配的快拆连接件。拨动轴管510通过所述快拆连接件插设于所述快拆接口202内，从而与转动轴200可拆卸连接，并能够随转动轴200一同转动。
参见图7所示，所述拨动轴管510的外周面沿所述拨动轴管510的长度方向设有多个拨动件511，拨动件511可以增大拨动轴管510与弹丸90的接触面积，能有效降低弹丸90之间形成空洞的概率。
在本实施例中，通过拨动轴管510不断搅动弹仓10的收容腔100内的弹丸90，带动所述弹丸90绕所述转动轴200的轴向转动，以使得弹仓10内的弹丸90处于运动状态，使弹丸90能够顺利从弹仓10的收容腔100的开口落入所述拨弹结构20内，从而防止由于弹丸90的数量过多而在相互之间形成空洞，避免弹丸90卡在弹仓10的收容腔100的开口处而无法下落的情况发生。弹丸90从弹仓10的收容腔100的开口落入拨弹结构20的收容部213内之后，然后再分别落入收容部214的各个容纳空间214内，随着拨盘210的转动，再由拨动轴211将容纳空间214内的弹丸90拨入落弹口，从而使弹丸90进入出弹结构30内。弹丸90再通过出弹结构30的出弹通道300进入输弹管330，由输弹管330将弹丸90输送给比赛机器人，同时第一检测模块60对通过所述输弹管330的弹丸90的数量进行计数，从而形成一套完整的供弹体系。
参见图8所示，在一实施方式中，所述供弹机构1包括弹仓10、拨弹结构20、出弹结构30以及漏弹结构50。所述弹仓10包括用于存储弹丸90的储弹仓110和连接于所述储弹仓110下方的漏弹仓120，所述漏弹仓120与所述储弹仓110分隔设置，所述拨弹结构20设置于所述漏弹仓120内。所述漏弹结构50包括设置于所述储弹仓110内的漏弹管520以及用于驱动所述漏弹管520沿竖直方向移动的驱动装置530，所述漏弹管520的顶部设有漏弹口，所述漏弹管520的底部与所述漏弹仓120连通。
当所述驱动装置530驱动所述漏弹管520沿竖直方向向下移动， 位于所述漏弹管520的漏弹口上方的弹丸90就能够从漏弹口漏进漏弹管520，再通过漏弹管520落入到设在漏弹仓120内的拨弹结构20。漏弹管520沿竖直方向向下移动，可以使位于所述漏弹管520的漏弹口上方的弹丸90处于运动状态，使位于所述漏弹管520的漏弹口上方的这部分弹丸90能够落入漏弹管520从而落入到拨弹结构20，从而防止由于弹丸90的数量过多而在相互之间形成空洞无法下落的情况发生。另外，漏弹管520沿竖直方向向下移动时，储弹仓110内与漏弹管520接触的弹丸90由于漏弹管520的移动，位置也会相应地发生变化，也能够起到改变弹丸90位置的作用，防止弹丸90架空而无法下落。
进一步地，所述驱动装置530包括电机以及丝杠组件，所述电机通过所述丝杠组件驱动所述漏弹管520沿竖直方向移动。但是，所述驱动装置530并不仅限于此，所述驱动装置530也可以包括电机和升降传杆结构，通过电机控制升降传杆的升降带动漏弹管520沿竖直方向进行升降移动。
在一实施方式中，所述供弹机构1还包括用以检测弹丸90的第二检测模块，第二检测模块检测到有弹丸从漏弹管520中落下时，向所述驱动装置530发送感应信号，所述驱动装置530停止驱动所述漏弹管520向下移动。当第二检测模块的信号消失，检测不到有弹丸从漏弹管520中落下，所述驱动装置530再继续驱动所述漏弹管520向下移动，弹丸90继续从漏弹管520中落下，如此循环往复，从而保证弹丸90能够不断落入拨弹结构20内，有效解决由于弹丸数量过多 导致的架空问题，保证供弹机构1的稳定性。在本实施例中，第二检测模块可以采用光电传感器。
在一实施方式中，所述供弹机构1包括弹仓10、拨弹结构20、出弹结构30以及漏弹结构50。所述漏弹结构50包括设置于所述弹仓10的收容腔100内的振动器，通过振动器的振动作用带动弹丸90上下振动，以使得弹仓10内的弹丸90处于运动状态，使弹丸90能够顺利从弹仓10的收容腔100的开口落入所述拨弹结构20内，从而防止由于弹丸90的数量过多而在相互之间形成空洞，避免弹丸90卡在弹仓10的收容腔100的开口处而无法下落的情况发生。
参见图9所示，本发明实施例还提供一种供弹装置2，所述供弹装置2包括至少两套如上所述的供弹机构1。需要说明的是，上述实施方式及实施例中关于所述供弹机构1的描述，同样适用于本发明的供弹装置2。
本发明的供弹装置2包括多套供弹机构1，可以在更短的时间内为比赛机器人提供更多的弹丸，提高了对比赛机器人的供弹效率。
在一实施方式中，所述至少两套供弹机构1中包括一套主供弹机构，其余供弹机构1为副供弹机构。所述供弹装置2还包括控制模块和第三检测模块。通常情况下副供弹机构可以处在非工作状态，当所述第三检测模块检测到所述主供弹机构出现故障时，向所述控制模块发送感应信号，所述控制模块驱动控制副供弹机构启动。这样，不会因为主供弹机构发生故障而导致对比赛机器人的供弹中断，可以保证出弹的持续性。
本发明实施例还提供一种机器人比赛场地，包括比赛机器人和如上所述的供弹机构1，通过所述供弹机构1向所述比赛机器人供弹。需要说明的是，上述实施方式及实施例中关于所述供弹机构1的描述，同样适用于本发明的机器人比赛场地。
本发明的机器人比赛场地，通过所述供弹机构1向比赛机器人供弹，不会因为弹丸出现架空现象而影响对比赛机器人供弹，可以保证向比赛机器人供弹的持续性。
以上所述仅是本发明的较佳实施例而已，并非对本发明做任何形式上的限制，虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明，任何熟悉本专业的技术人员，在不脱离本发明技术方案的范围内，当可利用上述揭示的技术内容做出些许更动或修饰为等同变化的等效实施例，但凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明技术方案的范围内。
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Claims (15)

  1. 一种供弹机构，其特征在于，包括：
    弹仓，所述弹仓内用于存储弹丸；
    拨弹结构，与所述弹仓连接，所述拨弹结构包括可绕一转动轴转动的拨盘；
    出弹结构，与所述拨弹结构连接，所述出弹结构包括出弹通道，通过所述拨盘将所述弹丸拨入所述出弹通道内；
    漏弹结构，设置于所述弹仓内，通过所述漏弹结构改变所述弹丸在所述弹仓内的位置，以使得所述弹丸落入所述拨弹结构内。
  2. 根据权利要求1所述的供弹机构，其特征在于，所述拨盘包括多个拨动轴，所述拨动轴套设有轴承件。
  3. 根据权利要求1所述的供弹机构，其特征在于，还包括与所述拨弹结构连接的电机模块，所述电机模块驱动所述拨盘绕所述转动轴转动。
  4. 根据权利要求1所述的供弹机构，其特征在于，所述出弹通道包括第一出弹通道和第二出弹通道，所述第一出弹通道对应所述拨弹结构设置，所述第一出弹通道的长度大于所述弹丸的直径。
  5. 根据权利要求1所述的供弹机构，其特征在于，所述出弹结构还包括输弹管，所述出弹通道包括出弹口，所述输弹管与所述出弹口连通。
  6. 根据权利要求1所述的供弹机构，其特征在于，还包括用以检测出弹数量的第一检测模块，所述第一检测模块设置于所述出弹通道上。
  7. 根据权利要求1所述的供弹机构，其特征在于，所述漏弹结构包括设置于所述弹仓内的拨动轴管，所述拨动轴管绕所述转动轴可转动。
  8. 根据权利要求7所述的供弹机构，其特征在于，所述拨动轴管的外周面沿所述拨动轴管的长度方向设有多个拨动件。
  9. 根据权利要求7所述的供弹机构，其特征在于，所述转动轴上设有连接部，所述连接部上设有快拆接口，所述拨动轴管上设有与所述快拆接口相适配的快拆连接件。
  10. 根据权利要求1所述的供弹机构，其特征在于，所述弹仓包括用于存储弹丸的储弹仓和连接于所述储弹仓下方的漏弹仓，所述漏弹仓与所述储弹仓分隔设置，所述拨弹结构设置于所述漏弹仓内；所述漏弹结构包括设置于所述储弹仓内的漏弹管以及用于驱动所述漏弹管沿竖直方向移动的驱动装置，所述漏弹管的顶部设有漏弹口，所述漏弹管的底部与所述漏弹仓连通。
  11. 根据权利要求10所述的供弹机构，其特征在于，所述驱动装置包括电机以及丝杠组件，所述电机通过所述丝杠组件驱动所述漏弹管。
  12. 根据权利要求10所述的供弹机构，其特征在于，还包括用于检测弹丸的第二检测模块；所述第二检测模块检测到有弹丸 落下时，向所述驱动装置发送感应信号，所述驱动装置停止驱动所述漏弹管向下移动。
  13. 一种供弹装置，其特征在于，包括至少两套如权利要求1至12中任意一项所述的供弹机构。
  14. 根据权利要求13所述的供弹装置，其特征在于，所述至少两套供弹机构中包括一套主供弹机构，其余供弹机构为副供弹机构；所述供弹装置还包括控制模块和第三检测模块；所述第三检测模块检测到所述主供弹机构出现故障，向所述控制模块发送感应信号；所述控制模块驱动控制所述副供弹机构启动。
  15. 一种机器人比赛场地，其特征在于，包括比赛机器人和权利要求1至12中任意一项所述的供弹机构，通过所述供弹机构向所述比赛机器人供弹。
PCT/CN2017/090982 2017-05-08 2017-06-30 供弹机构、供弹装置及机器人比赛场地 Ceased WO2018205381A1 (zh)

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