WO2019148829A1

WO2019148829A1 - Device and system for launching projectile, and launcher robot

Info

Publication number: WO2019148829A1
Application number: PCT/CN2018/103265
Authority: WO
Inventors: 杨川; 潘子荣; 孙成芃
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-01-31
Filing date: 2018-08-30
Publication date: 2019-08-08
Also published as: CN111226102A; CN208043375U

Abstract

A device for launching a projectile, the device comprising a mounting base (10), a first drive mechanism (20), a second drive mechanism (30), and a launching mechanism (40). The first drive mechanism (20) is mounted on the mounting base (10), and drives the second drive mechanism (30) and the mounting base (40) as an integrated member to move in a first direction. The second drive mechanism (30) drives the launching mechanism (40) to move in a second direction. The launching device enables precise fixed-point testing in a region by means of the two drive mechanisms moving in two different drive directions, thereby realizing flexible dynamic impact tests of a product at different positions, and meeting different testing requirements. Further provided are a launching system adopting the launching device and a launcher robot. The launching system is capable of adjusting an operation parameter of the launching device according to different testing requirements. The launcher robot is capable of launching projectiles from different angles according to different launching scenarios.

Description

Projectile launching system and system, shooting robot

Technical field

The embodiment of the invention belongs to the technical field of a transmitting device, and particularly relates to a launching device of a projectile and a launching system and a shooting robot using the same.

Background technique

In the development, design or production process of some products, there is a need for impact testing of products, such as pressure sensors, dynamic characteristics testing of vibration sensors, development of speed measuring tools, and product development testing of RoboMaster (International Robotics Platform) series. Etc., the prior art generally launches projectiles (such as ball projectiles) through a launcher that assists in impact testing, causing the projectile to impact or impact the surface of the product to test product performance, or to test the impact of impact or impact on product performance. Therefore, in the process of implementing the present invention, the inventors have found that the adaptive test scenario or test type of the prior art launch device is single, and the low flexibility makes it impossible to quickly meet the requirements of different test environments. Test requirements.

Summary of the invention

In order to solve the above problem, an embodiment of the present invention provides a launching device for a projectile, which solves the test scenario or test type adapted to the device for launching a projectile in the prior art, and the low flexibility makes it unable to quickly meet the test under different test environments. The problem of demand; in addition, a launching system and a shooting robot using the launching device are also provided.

The technical solution adopted by the present invention is as follows.

In one aspect, an embodiment of the present invention provides a projectile launching device, including: a mount, a first drive mechanism, a second drive mechanism, and a launching mechanism;

The first driving mechanism is mounted on the mounting seat and drives the second driving mechanism and the transmitting mechanism as a whole to move in a first direction; the second driving mechanism drives the transmitting mechanism in a second direction On the movement.

According to the launching device of the projectile provided by the embodiment of the invention, the precise fixed point test in one area can be realized by the driving mechanism of two different driving directions, the flexibility is high, and the dynamic impact test on different positions of the product can be realized, and the different requirements can be met. Test scenario requirements.

In another aspect, an embodiment of the present invention provides a projectile launching system including a remote control device and the above-described launching device, wherein the remote control device controls the first drive mechanism in a process of projectile launch by a control module in the launch device. The adjustment of the working parameters corresponding to the second driving mechanism and the transmitting mechanism.

According to the launching system of the projectile provided by the embodiment of the invention, the preset working parameters and the real-time working parameters of the launching device can be adjusted according to different testing requirements by the remote control device, so that the launching has high flexibility and wide applicability, and can be different. Test scenario requirements.

In another aspect, an embodiment of the present invention provides a shooting robot including a chassis, a power system mounted to the chassis, and the above-described transmitting device.

According to the shooting robot provided by the embodiment of the invention, the projectile can be launched from different angles to adapt to different shooting scenes.

DRAWINGS

In order to more clearly illustrate the present invention or the prior art, a brief description of the drawings used in the embodiments or the description of the prior art will be briefly made. Obviously, the drawings in the following description are the present invention. For some embodiments, other drawings may be obtained from those of ordinary skill in the art without departing from the drawings.

1 is a structural diagram of a launching device of a projectile according to an embodiment of the present invention;

2 is a side view of a launching device of a projectile according to an embodiment of the present invention;

3 is a structural diagram of a first driving mechanism according to an embodiment of the present invention;

4 is a structural diagram of a second driving mechanism according to an embodiment of the present invention;

FIG. 5 is a structural diagram of a transmitting mechanism according to an embodiment of the present invention; FIG.

6 is a top plan view of a transmitting mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic structural block diagram of a transmitting system according to an embodiment of the present invention.

Description of the reference signs:

10 mount

11 base

12 bracket

13 reinforcements

20 first drive mechanism

21 first drive

211 drive shaft of the first drive

22 first support

221 first support plate

222 second support plate

23 first guide

24 connectors

30 second drive mechanism

31 second drive

311 drive shaft of the second drive

32 second support

321 middle board

322 first side panel

323 second side panel

33 second guide

34 first guide

40 launching agency

41 seat

411 substrate

412 carrier board

413 activity board

42 plucking department

421 shot tube

422 cartridge

423 dial

43 Launch Department

431 Acceleration tube

432 launch tube

433 acceleration component

4331 friction wheel

50 angle adjustment mechanism

60 sports matrix

Detailed ways

Unless defined otherwise, all technical and scientific terms used herein have the same meaning meaning meaning meaning meaning meaning The purpose of the present invention is not intended to limit the invention; the terms "first", "second", etc. in the description and claims of the present invention and the above description of the drawings are used to distinguish different objects, rather than to describe a particular order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover a non-exclusive inclusion.

References to "an embodiment" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the invention. The appearances of the phrases in various places in the specification are not necessarily referring to the same embodiments, and are not exclusive or alternative embodiments that are mutually exclusive. Those skilled in the art will understand and implicitly understand that the embodiments described herein can be combined with other embodiments.

Embodiments of the present invention provide a projectile launching device including a mount, a first drive mechanism, a second drive mechanism, and a launching mechanism; the first drive mechanism is mounted on the mount and drives the second drive The mechanism and the launching mechanism as a whole move in a first direction; the second drive mechanism drives the launching mechanism to move in a second direction. The projectiles may be ball-type projectiles or projectiles of a specific shape for convenience of description. Unless otherwise specified, the projectiles described in the following embodiments are exemplified by ball-type projectiles to cooperate with the description of the structure and function of the launching device.

Based on the above-mentioned transmitting device, an embodiment of the present invention further provides a projectile launching system, comprising: a remote control device and the transmitting device, wherein the remote control device controls the projectile launching process by a control module in the transmitting device Adjustment of operating parameters corresponding to a drive mechanism, a second drive mechanism, and a launch mechanism.

Based on the above-mentioned transmitting device, an embodiment of the present invention further provides a shooting robot, including a chassis, a power system mounted on the chassis, and the above-mentioned transmitting device.

The transmitting device provided by the embodiment of the invention can realize accurate fixed-point testing in one area through two driving mechanisms with different driving directions, has high flexibility, can realize dynamic impact testing on different positions of products, and meets different test scenario requirements. The launching system of the launching device can adjust the preset working parameters and real-time working parameters of the transmitting device according to different testing requirements through the remote control device, so that the transmitting has high flexibility and wide applicability, and can meet different test scenario requirements. The shooting robot using the launcher can launch projectiles from different angles to suit different shooting scenes.

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.

Referring to Figure 1, a launching device for a projectile according to an embodiment of the present invention includes a mount 10, a first drive mechanism 20, a second drive mechanism 30, and a launching mechanism 40;

The first driving mechanism 20 is mounted on the mounting base 10 and drives the second driving mechanism 30 and the transmitting mechanism 40 as a whole to move in a first direction; the second driving mechanism 30 drives the emission Mechanism 40 moves in the second direction. In this embodiment, the first direction and the second direction may be a vertical direction and a horizontal direction, respectively, or may be a combination of other different directions. Optionally, the mount 10 may include a base 11 and a bracket 12 fixed to the base 11, the first drive mechanism 20 being fixed on the bracket 12; in some embodiments, to prevent the launching mechanism 40 from being fired The rearing force generated during the projectile has an influence on the structure of the mounting base 10. A reinforcing member 13 is further disposed between the base 11 and the bracket 12 to ensure the stability of the overall structure of the mounting base 10, which is advantageous for ensuring the firing accuracy of the projectile.

With further reference to FIG. 2, in the embodiment of the present invention, the transmitting device may further include an angle adjusting mechanism 50 for adjusting an emission angle when the launching mechanism 40 emits a projectile; the angle adjusting mechanism 50 may include a horizontal angle adjusting component ( The figure is not identified) and the vertical angle adjustment component (not shown) to respectively adjust the launch angle of the projectile when the projectile 40 is launched, so as to adjust the trajectory of the projectile movement, as an option, or as needed Set the angle adjustment components in other directions to increase the flexibility of the launcher to launch the projectile. Specifically, the angle adjustment mechanism 50 may be an active adjustment mode, such as a pan-tilt-like structure, which can accept control commands and is controlled to adjust to a corresponding direction or angle to assist in adjusting the launch angle of the launch mechanism 40. The angle adjustment mechanism 50 can be a passive adjustment mode, such as an elastic support. When the launching mechanism 40 generates an action, the vibration of the launching mechanism 40 can be passively absorbed to make the firing of the launching mechanism 40 more precise. Further, the elasticity of the elastic support is adjustable so that the required elasticity can be selected as needed to accommodate different firing speeds.

As an alternative, in some embodiments of the present invention, the angle adjustment mechanism 50 is installed in combination with the launching mechanism 40. Specifically, the angle adjustment mechanism 50 is located below or on one side of the launching mechanism 40. The second driving mechanism 30 drives the angle adjusting mechanism 50 to move integrally with the transmitting mechanism 40. In other embodiments of the present invention, the angle adjusting mechanism 50 is combined with the second driving mechanism 30, specifically, The angle adjustment mechanism 50 is located below or on one side of the second drive mechanism 30, and the angle adjustment mechanism 50 drives the second drive mechanism 30 and the launch mechanism 40 to move integrally.

Further, as shown in FIG. 2, the transmitting device may further include a moving base 60. The moving base 60 can conveniently move the transmitting device to quickly adjust the transmitting device to the working position, and the locking member can also be disposed on the moving base 60. (not shown) to lock the moving base 60 after the launching device is moved to the working position to keep the launching device fixed relative to the working position, ensuring that the launching device maintains its own stability during operation, without launching the projectile. The displacement occurs to affect the emission effect.

Referring to FIG. 3, in the embodiment of the present invention, the first driving mechanism 20 includes a first driving member 21 and a first supporting member 22 supporting the first driving member 21. The driving shaft 211 of the first driving member The second drive mechanism 30 is coupled to the second drive mechanism 30. Further, the first driving mechanism 20 further includes a first guiding member 23, the first guiding member 23 is fixed on the first supporting member 22, and the second driving mechanism 30 is provided with the first guiding member A first guide portion 34 to which a guide member 23 is fitted (see Fig. 4, explained below). In the present embodiment, the first support member 22 and the first guide member 23 collectively define a range of motion of the second drive mechanism 30 and the launching mechanism 40 as a whole in the first direction of motion.

In some embodiments, the first support member 22 may include a first support plate 221 and a second support plate 222. The first drive member 21 is fixed to the first support plate 221, and the drive shaft 211 of the first drive member is sequentially Passing through the first support plate 221 and the second support plate 222 while the first guide member 23 is fixed between the first support plate 221 and the second support plate 222, the first guide member 23 and the first drive member The driving shaft 211 is disposed in parallel, and the first guiding member 23 and the first guiding portion on the second driving mechanism 30 when the driving shaft 211 of the first driving member is coupled with the second driving mechanism 30 34 cooperate with each other such that the second drive mechanism 30 can move linearly along the first guide member 23.

In this embodiment, the first guiding member 23 may include one or more guiding rods.

In some embodiments, the first driving member 21 can be a motor, and the driving shaft 211 of the first driving member can be a threaded rod, and the first driving member 21 and the second driving mechanism 30 are Threaded transmission; in other embodiments, the first driving member 21 may be a cylinder, and the driving shaft 211 of the first driving member may correspondingly be a piston rod, the first driving member 21 and the second driving The mechanism is a piston type transmission between the mechanisms 30. Of course, in the other embodiments of the present application, the first driving member 21 can also adopt other driving devices that can drive the second driving mechanism 30 to realize linear motion, which is not limited herein.

Further, the first driving mechanism 20 further includes a connecting member 24 for connecting the first driving mechanism 20 and the mounting seat 10. In some embodiments, the first support member 22 and the connector member 24 may be an integrated structure, or the first guide member 23 and the connector member 24 may be an integrated structure, or the first support member 22 and the first guide member 23 may be And the connector 24 is an integrated structure.

Referring to FIG. 4, in the embodiment of the present invention, the second driving mechanism 30 includes a second driving member 31 and a second supporting member 32 supporting the second driving member 31. The driving shaft of the second driving member 311 is coupled to the launching mechanism 40. Further, the second driving mechanism 30 further includes a second guiding member 33, the second guiding member 33 is fixed on the second supporting member 32, and the transmitting mechanism 40 is provided with the second guiding The second guide portion of the fitting member 33 (explained below). In the present embodiment, the second support member 32 and the second guide member 33 collectively define a range of motion of the launching mechanism 40 in the second direction of motion.

In some embodiments, the second support member 32 may include an intermediate plate 321, a first side plate 322, and a second side plate 323, and the first side plate 322 and the second side plate 323 are oppositely fixed at both ends of the intermediate plate 321 The second driving member 31 is fixed to the first side plate 322, and the driving shaft 311 of the first driving member sequentially passes through the first side plate 322 and the second side plate 323, while the second guiding member 33 is fixed to the first side. Between the side plate 322 and the second side plate 323, the second guiding member 33 is disposed in parallel with the driving shaft 311 of the second driving member, and the driving shaft 311 of the second driving member is matched with the transmitting mechanism 40. When connected, the second guiding member 33 and the second guiding portion on the transmitting mechanism 40 cooperate with each other such that the transmitting mechanism 40 can perform linear motion along the second guiding member 33.

Further, the first guiding portion 34 is disposed on the intermediate plate 321 , and the first guiding portion 34 may be disposed on one or more grooves on the intermediate plate 321 or fixed on the guiding plate One or more grooved sliders on the portion may also be one or more through holes through the intermediate plate 321, or one or more attached to the intermediate plate 321 The slider of the through hole, where the recess and the through hole will cooperate with the first guide 23 to achieve the guiding function.

Further, the intermediate plate 321 is provided with a connecting portion (not shown) for connecting the transmission shaft 211 of the first driving mechanism. In some embodiments, the intermediate plate 321, the first side plate 322, and the second side plate 323 may be an integrated structure.

In some embodiments, the second driving member 31 can be a motor, and the driving shaft 311 of the second driving member can be a threaded rod correspondingly, and the second driving member 31 and the transmitting mechanism 40 are threaded. In other embodiments, the second driving member 31 may be a cylinder, and the driving shaft 311 of the second driving member may correspondingly be a piston rod, and between the second driving member 31 and the transmitting mechanism 40 It is a piston type transmission; of course, in the other embodiments of the present application, the second driving member 31 can also adopt other driving devices that can drive the transmitting mechanism 40 to realize linear motion, which is not limited herein.

With further reference to FIG. 5, in some embodiments of the present invention, the launching mechanism 40 includes a seat portion 41, and a bounce portion 42 and a launching portion 43 that are juxtaposedly fixed to the seat portion 41, the bounce portion 42 and the launching portion The portion 43 is combined to form a ballistic motion trajectory, the plucking portion 42 is used for the undulating supply of the projectile, and the illuminating portion 43 is for providing power to realize the acceleration and emission of the projectile; wherein the plucking portion 42 plucks the projectile In order to cause the projectile to enter the launching portion 43 along the trajectory, the launching portion 43 accelerates the projectile in the trajectory to cause the projectile to be emitted at an angle.

In the present embodiment, the seat portion 41 includes a substrate 411 and a carrier plate 412 spaced apart by a distance. As shown in FIG. 6, the bounce portion 42 includes a bounce tube 421, a bullet case 422, a plucking disk 423, and a rattle. a motor (not shown), the ejector tube 421 is in abutment with the emitting portion 43, the plucking disk 423 is located at the bottom of the elastic box 422, and is fixed on the carrier 412, and the plucking motor is fixed Between the substrate 411 and the carrier 412, and the rotating shaft of the plucking motor is connected to the plucking disk 423, the plucking disk 423 includes a plurality of elastic chambers for receiving projectiles, and the plucking motor drives the plucking disk At 423 pm, the projectiles in the plurality of bomb chambers enter the launching portion 43 through the exit tube 421, and the projectiles 43 are acceleratedly emitted by the launching portion 43. wherein, by adjusting the rotational speed of the plucking motor, it is possible to adjust the unit time to enter the transmitting portion 43. The number of projectiles can be adjusted to achieve the firing frequency of the projectile.

Further, referring back to FIG. 5, the transmitting portion 43 includes an accelerating tube 431, a transmitting tube 432, and an acceleration assembly 433. The accelerating tube 431 is docked with the transmitting tube 432, and the accelerating tube 431 is also The flare tube 421 is docked, and the acceleration assembly 433 accelerates the projectile in the acceleration tube 431 to cause the projectile to be emitted through the launch tube 432.

In some embodiments, the acceleration assembly 433 includes a friction wheel 4331 disposed opposite the acceleration tube 431 and a friction wheel motor (not labeled) that drives the friction wheel 4331 to rotate. The friction wheel motor Fixed to the seat portion 41, such as the substrate 411 shown in FIG. 5, the rotating shaft of the friction wheel motor is connected to the friction wheel 4331 through the carrier plate 412; wherein the acceleration tube 431 is opposite to the friction wheel The portion of 4331 is a hollow structure. When the acceleration component 433 accelerates the projectile, the friction wheel 4331 is in direct contact with the projectile, and the kinetic energy of the projectile is imparted by friction. By adjusting the rotation speed of the friction wheel motor to drive the friction wheel 4331, The initial kinetic energy of the projectile is given to achieve the adjustment of the launching speed of the projectile.

In some embodiments, the relative distance between the friction wheels 4331 disposed on either side of the accelerating tube 431 is adjustable to accommodate the firing of shots of different sizes and sizes.

In some embodiments, a positioning portion (not shown) is disposed in the acceleration tube 431 near the entrance of the projectile, and the positioning portion can position the projectile before the acceleration assembly 433 accelerates the projectile.

In some embodiments, it is not limited to the above-mentioned dialing method disclosed in the embodiment, and may also be a driving method such as pneumatic or hydraulic.

Optionally, the seat portion 41 further includes a movable plate 413 between the substrate 411 and the carrier 412, and the movable plate 413 has a certain distance from the substrate 411 and the carrier 412. The angle adjusting mechanism 50 may be disposed between the movable plate 413 and the substrate 411, and the playing motor and the friction wheel motor are disposed between the carrier 412 and the movable plate 413, and the angle adjusting mechanism is adopted. The angle of the movable panel 413 can be adjusted to adjust the angle of the carrier 412 and the emitting portion 43 above the movable panel 413.

Further, the second guiding portion is disposed at the bottom of the substrate 411, and the second guiding portion may be disposed at one or more grooves at the bottom of the substrate 411, or one fixed at the bottom of the substrate 411. Or a plurality of grooved sliders, which may also be one or more through holes through the substrate 411, or one or more sliders with through holes fixed at the bottom of the substrate 411. The grooves and through holes here will cooperate with the second guide 33 to achieve the guiding function.

Based on the above embodiment, the transmitting device further includes a detecting module (not shown) and a control module (not identified in the figure) installed on the mounting base 10; the detecting module detecting the transmitting mechanism a motion parameter of the projectile 40 is transmitted, and the motion parameter is transmitted to the control module; the control module pairs the first drive mechanism 20, the second drive mechanism 30, and the motion parameter according to the preset motion parameter and the motion parameter The operating parameters of the launching mechanism 40 are dynamically controlled. In some embodiments, the detecting module is further configured to detect an operating state of the first driving mechanism 20, the second driving mechanism 30, and the transmitting mechanism 40 to the first driving mechanism 20 and the second driving mechanism 30. The working state of the launching mechanism 40 is precisely controlled. In this embodiment, the motion parameters of the projectile include an emission angle, a transmission trajectory, a transmission speed, a transmission frequency, and the like; the operating parameters of the first driving mechanism 20 and the second driving mechanism 30 include a driving distance, a driving speed, and the like, and the transmitting mechanism The operating parameters of 40 include the rotational speed of the plucking motor, the rotational speed of the friction wheel motor, the distance between the friction wheels 4331, and the like. By presetting the relevant parameters in the control module, the automatic operation of the transmitting device can be realized, the emission efficiency and the transmission precision can be effectively improved, the test time can be greatly saved when the product is subjected to the impact test, and the test accuracy can be effectively improved.

The related components and functions of the control module and the detection module of this embodiment will be further described in the related embodiments in the transmission system below.

According to the transmitting device provided by the embodiment of the present invention, at least the following beneficial effects are compared with the prior art:

(1) Accurate fixed-point test in one area can be realized by two different driving directions of the driving direction, that is, the test from single-point test to flat test has high flexibility, and can realize dynamic impact test on different positions of products. Meet different test scenario needs;

(2) The angle adjustment mechanism 50 can adjust the launch angle of the launching mechanism 40 when the projectile is fired, thereby adjusting the trajectory of the projectile movement and improving the flexibility of the launching device to launch the projectile;

(3) The transmitting mechanism 40 provided by the embodiment of the present invention can adjust the launching frequency and the transmitting speed of the projectile;

(4) The automatic operation of the transmitting device can be realized by the detecting module and the control module, and the transmitting efficiency and the transmitting precision can be effectively improved;

(5) In addition, the launching device provided by the present invention can also be used as a teaching aid to demonstrate the parabolic trajectory of an object at different angles and speeds.

An embodiment of the present invention provides a projectile launching system including a remote control device and the transmitting device described in any of the above embodiments (see FIGS. 1 to 6), the transmitting device including a detecting module and a control module, The remote control device controls the adjustment of the operating parameters of the first drive mechanism 20, the second drive mechanism 30, and the launching mechanism 40 during the projectile launch by the control module in the launch device.

Specifically, in the present embodiment, FIG. 7 is a schematic functional block diagram of the transmitting system. On the one hand, the control module is used to drive the driving in the first driving mechanism 20 and the second driving mechanism 30, respectively. And controlling the movement of the driving member to adjust the firing position of the projectile. For example, when the driving member is a motor, the control module drives the motor in the first driving mechanism 20 and the second driving mechanism 30 and controls the movement of the motor; The control module is further configured to control the movement of the plucking motor in the plucking portion 42 of the transmitting mechanism 40, adjust the firing frequency of the projectile, and control the acceleration component 433 in the transmitting portion 43 of the transmitting mechanism 40 to adjust the firing speed of the projectile. In still another aspect, the control module is further configured to drive the movement of the angle adjustment mechanism 50 and the control angle adjustment mechanism 50 to adjust the launch angle of the projectile.

The detecting module is configured to acquire a motion parameter of the projectile, and acquire an operating state of the first driving mechanism 20, the second driving mechanism 30, and the transmitting mechanism 40; the control module is configured according to a preset motion parameter of the projectile and the Detecting the motion parameters of the projectile acquired by the module, and combining the working states of the first driving mechanism 20, the second driving mechanism 30, and the transmitting mechanism 40 with respect to the first driving mechanism 20, the second driving mechanism 30, and the transmitting mechanism 40 The working parameters are dynamically controlled.

An embodiment of the present invention provides a shooting robot, including a chassis, a power system mounted on the chassis, and a transmitting device according to any of the above embodiments. Specifically, in conjunction with FIG. 1 to FIG. 6, the transmitting device includes a mounting base 10. a first driving mechanism 20, a second driving mechanism 30, and a transmitting mechanism 40; the first driving mechanism 20 is mounted on the mounting base 10, and drives the second driving mechanism 30 and the transmitting mechanism 40 as a whole Moving in a first direction; the second drive mechanism 30 drives the firing mechanism 40 to move in a second direction. In some embodiments, the mount 10 can include a base 11 and a bracket 12 secured to the base 11, wherein the base 11 can be part of the chassis.

In some embodiments, the shooting robot is also equipped with a protective casing that can detect the impact of projectiles fired from other projectile launchers or shooting robots.

In other embodiments, the structure of the transmitting device may refer to related technical content in the foregoing embodiments, and details are not described herein again. The shooting robot employing the launching device described in the previous embodiments has all the functions and benefits of the launching device, whereby the shooting robot can launch the projectile from different angles to accommodate different shooting scenes.

It is apparent that the above-described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments, and the preferred embodiments of the present invention are shown in the drawings, but do not limit the scope of the invention. The present invention may be embodied in many different forms and, <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or equivalently replace some of the technical features. . The equivalent structures made by using the description of the present invention and the contents of the drawings are directly or indirectly applied to other related technical fields, and are equally within the scope of the patent protection of the present invention.

Claims

A launching device for a projectile, comprising: a mounting seat, a first driving mechanism, a second driving mechanism and a transmitting mechanism;

The first driving mechanism is mounted on the mounting seat and drives the second driving mechanism and the transmitting mechanism as a whole to move in a first direction; the second driving mechanism drives the transmitting mechanism in a second direction On the movement.
The transmitting device according to claim 1, wherein said transmitting device further comprises an angle adjusting mechanism for adjusting an emission angle of the launching mechanism when the projectile is fired.
The launching device of claim 2 wherein said angle adjustment mechanism comprises a horizontal angle adjustment assembly and a vertical angle adjustment assembly.
The transmitting device according to claim 2, wherein said angle adjusting mechanism is mounted in combination with said transmitting mechanism, said second driving mechanism driving said angle adjusting mechanism to move integrally with said transmitting mechanism; or

The angle adjustment mechanism is mounted in combination with the second drive mechanism, and the angle adjustment mechanism drives the second drive mechanism and the launch mechanism to move integrally.
The transmitting device according to claim 1 or 2, wherein the transmitting mechanism comprises a seat portion, and a bounce portion and a launching portion that are juxtaposedly fixed to the seat portion, and the bounce portion and the radiating portion are combined to form A trajectory of the projectile movement, wherein the plucking portion moves the projectile to cause the projectile to enter the launching portion along the trajectory, and the launching portion accelerates the projectile in the trajectory to cause the projectile to be emitted at an angle.
The transmitting device according to claim 5, wherein the emitting portion comprises an accelerating tube, a transmitting tube and an accelerating assembly, the accelerating tube is docked with the transmitting tube, and the accelerating assembly is opposite to the projectile in the accelerating tube Acceleration is performed to cause the projectile to be launched through the launch tube.
The launching device according to claim 6, wherein a positioning portion is provided in the accelerating tube near the entrance of the projectile, and the positioning portion can position the projectile before the accelerating assembly accelerates the projectile.
The transmitting device according to claim 6, wherein the acceleration assembly includes a friction wheel disposed opposite to both sides of the acceleration tube and a friction wheel motor that drives rotation of the friction wheel, the friction wheel motor being fixed to The seat portion, wherein the portion of the acceleration tube facing the friction wheel is a hollow structure, and the friction wheel is in direct contact with the projectile when the acceleration assembly accelerates the projectile.
The launching device according to claim 8, wherein the relative distance between the friction wheels disposed on both sides of the accelerating tube is adjustable.
The transmitting device according to claim 1 or 2, wherein the first driving mechanism comprises a first driving member and a first supporting member supporting the first driving member, and a driving shaft of the first driving member Cooperating with the second driving mechanism.
The transmitting device according to claim 10, wherein the first driving mechanism further comprises a first guiding member, the first guiding member is fixed on the first supporting member, and the second driving mechanism is A first guide portion mated with the first guide member is provided.
The transmitting device according to claim 1 or 2, wherein the second driving mechanism comprises a second driving member and a second supporting member supporting the second driving member, and a driving shaft of the second driving member Cooperating with the transmitting mechanism.
The transmitting device according to claim 12, wherein the second driving mechanism further comprises a second guiding member, the second guiding member is fixed on the second supporting member, and the transmitting mechanism is provided with a second guiding portion that cooperates with the second guiding member.
The transmitting device according to claim 1 or 2, wherein the transmitting device further comprises a detecting module and a control module mounted on the mounting base and connected to each other; the detecting module detecting the transmitting of the transmitting mechanism a motion parameter of the projectile and transmitting the motion parameter to the control module;

The control module dynamically controls operating parameters of the first driving mechanism, the second driving mechanism, and the transmitting mechanism according to the preset motion parameter and the motion parameter.
A projectile launching system, comprising: a remote control device and a launching device, wherein the remote control device controls the first drive mechanism, the second drive mechanism, and the launch during a projectile launch by a control module in the launch device Adjustment of the working parameters corresponding to the organization;

The transmitting device is characterized by comprising: a mounting seat, a first driving mechanism, a second driving mechanism and a transmitting mechanism;

The first driving mechanism is mounted on the mounting seat and drives the second driving mechanism and the transmitting mechanism as a whole to move in a first direction; the second driving mechanism drives the transmitting mechanism in a second direction On the movement.
The transmitting system according to claim 15, wherein said transmitting means further comprises an angle adjusting mechanism for adjusting an emission angle of the launching mechanism when the projectile is fired.
The launch system of claim 16 wherein said angle adjustment mechanism comprises a horizontal angle adjustment assembly and a vertical angle adjustment assembly.
The transmitting system according to claim 16, wherein said angle adjusting mechanism is mounted in combination with said transmitting mechanism, said second driving mechanism driving said angle adjusting mechanism to move integrally with said transmitting mechanism; or

The angle adjustment mechanism is mounted in combination with the second drive mechanism, and the angle adjustment mechanism drives the second drive mechanism and the launch mechanism to move integrally.
The transmitting system according to claim 15 or 16, wherein the transmitting mechanism comprises a seat portion, and a bounce portion and a launching portion that are juxtaposedly fixed to the seat portion, and the bounce portion and the radiating portion are combined to form A trajectory of the projectile movement, wherein the plucking portion moves the projectile to cause the projectile to enter the launching portion along the trajectory, and the launching portion accelerates the projectile in the trajectory to cause the projectile to be emitted at an angle.
The transmitting system according to claim 19, wherein the transmitting portion comprises an accelerating tube, a transmitting tube and an acceleration assembly, the accelerating tube is docked with the transmitting tube, and the accelerating assembly is opposite to the projectile in the accelerating tube Acceleration is performed to cause the projectile to be launched through the launch tube.
The launching system according to claim 20, wherein a positioning portion is disposed in the accelerating tube near the entrance of the projectile, and the positioning portion can position the projectile before the accelerating assembly accelerates the projectile.
The transmitting system according to claim 20, wherein said acceleration assembly comprises a friction wheel disposed opposite to both sides of said acceleration tube and a friction wheel motor for driving rotation of said friction wheel, said friction wheel motor being fixed to The seat portion, wherein the portion of the acceleration tube facing the friction wheel is a hollow structure, and the friction wheel is in direct contact with the projectile when the acceleration assembly accelerates the projectile.
The launching system according to claim 22, wherein the relative distance between the friction wheels disposed on both sides of the accelerating tube is adjustable.
The transmitting system according to claim 15 or 16, wherein the first driving mechanism comprises a first driving member and a first supporting member supporting the first driving member, and a driving shaft of the first driving member Cooperating with the second driving mechanism.
The launching system according to claim 24, wherein said first drive mechanism further comprises a first guide member, said first guide member being fixed to said first support member, said second drive mechanism A first guide portion mated with the first guide member is provided.
The transmitting system according to claim 15 or 16, wherein the second driving mechanism comprises a second driving member and a second supporting member supporting the second driving member, and a driving shaft of the second driving member Cooperating with the transmitting mechanism.
The transmitting system according to claim 26, wherein said second driving mechanism further comprises a second guiding member, said second guiding member being fixed to said second supporting member, said transmitting mechanism being provided with a second guiding portion that cooperates with the second guiding member.
The transmitting system according to claim 15 or 16, wherein the transmitting device further comprises a detecting module and a control module mounted on the mounting base and connected to each other; the detecting module detecting the transmitting by the transmitting mechanism a motion parameter of the projectile and transmitting the motion parameter to the control module;

The control module dynamically controls operating parameters of the first driving mechanism, the second driving mechanism, and the transmitting mechanism according to the preset motion parameter and the motion parameter.
A shooting robot, comprising: a chassis, a power system mounted on the chassis, and a launching device,

The transmitting device is characterized by comprising: a mounting seat, a first driving mechanism, a second driving mechanism and a transmitting mechanism;

The first driving mechanism is mounted on the mounting seat and drives the second driving mechanism and the transmitting mechanism as a whole to move in a first direction; the second driving mechanism drives the transmitting mechanism in a second direction On the movement.
The shooting robot according to claim 29, wherein said transmitting means further comprises an angle adjusting mechanism for adjusting an emission angle of the launching mechanism when the projectile is fired.
The shooting robot of claim 30, wherein the angle adjustment mechanism comprises a horizontal angle adjustment assembly and a vertical angle adjustment assembly.
A shooting robot according to claim 30, wherein said angle adjusting mechanism is mounted in combination with said transmitting mechanism, said second driving mechanism driving said angle adjusting mechanism to move integrally with said transmitting mechanism; or

The angle adjustment mechanism is mounted in combination with the second drive mechanism, and the angle adjustment mechanism drives the second drive mechanism and the launch mechanism to move integrally.
The shooting robot according to claim 29 or 30, wherein the transmitting mechanism includes a seat portion, and a bounce portion and a launching portion that are juxtaposedly fixed to the seat portion, and the bounce portion and the launching portion are combined to form A trajectory of the projectile movement, wherein the plucking portion moves the projectile to cause the projectile to enter the launching portion along the trajectory, and the launching portion accelerates the projectile in the trajectory to cause the projectile to be emitted at an angle.
The shooting robot according to claim 33, wherein the emitting portion comprises an accelerating tube, a transmitting tube and an acceleration assembly, the accelerating tube is docked with the transmitting tube, and the accelerating assembly is opposite to the projectile in the accelerating tube Acceleration is performed to cause the projectile to be launched through the launch tube.
The shooting robot according to claim 34, wherein a positioning portion is disposed in the acceleration tube near the entrance of the projectile, and the positioning portion can position the projectile before the acceleration assembly accelerates the projectile.
A shooting robot according to claim 34, wherein said acceleration assembly includes a friction wheel disposed opposite to both sides of said accelerating tube and a friction wheel motor for driving rotation of said friction wheel, said friction wheel motor being fixed to The seat portion, wherein the portion of the acceleration tube facing the friction wheel is a hollow structure, and the friction wheel is in direct contact with the projectile when the acceleration assembly accelerates the projectile.
A shooting robot according to claim 36, wherein said relative distance between the friction wheels disposed on both sides of said accelerating tube is adjustable.
The shooting robot according to claim 29 or 30, wherein the first driving mechanism comprises a first driving member and a first supporting member supporting the first driving member, and a driving shaft of the first driving member Cooperating with the second driving mechanism.
The shooting robot according to claim 38, wherein said first driving mechanism further comprises a first guiding member, said first guiding member being fixed to said first supporting member, said second driving mechanism A first guide portion mated with the first guide member is provided.
A shooting robot according to claim 29 or 30, wherein said second drive mechanism comprises a second drive member and a second support member supporting said second drive member, said drive shaft of said second drive member Cooperating with the transmitting mechanism.
A shooting robot according to claim 40, wherein said second driving mechanism further comprises a second guiding member, said second guiding member being fixed to said second supporting member, said transmitting mechanism being provided with a second guiding portion that cooperates with the second guiding member.
A shooting robot according to claim 29 or 30, wherein said transmitting device further comprises a detecting module and a control module mounted on said mount and connected to each other; said detecting module detecting said launching by said transmitting mechanism a motion parameter of the projectile and transmitting the motion parameter to the control module;

The control module dynamically controls operating parameters of the first driving mechanism, the second driving mechanism, and the transmitting mechanism according to the preset motion parameter and the motion parameter.